Mitsumi electronic MR-J3- A Manual De Usuario

 

 

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3. SIGNALS AND WIRING 

 
3.6.6 Torque/position control change mode 

Set "       5 " in parameter No.PA01 to switch to the torque/position control change mode. 
 
(1) Control change (LOP) 

Use control change (LOP) to switch between the torque control mode and the position control mode from 
an external contact. Relationships between LOP and control modes are indicated below. 

 

(Note) LOP 

Servo control mode 

0 

Torque control mode 

1 

Position control mode 

Note. 0: off  

1: on 

 

The control mode may be changed in the zero speed status. 
To ensure safety, change control after the servo motor has stopped. When position control mode is 
changed to torque control mode, droop pulses are reset. 
If the LOP has been switched on-off at the speed higher than the zero speed and the speed is then 
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown 
below. 

0V

10V

ON

OFF

ON

OFF

Servo motor speed

Zero speed detection (ZSP)

Control change (LOP)

Zero speed
level

Speed

control mode

Torque

control mode

Speed

control mode

Analog torque
command (TC)

 

(2) Speed limit in torque control mode 

As in section 3.6.3 (3). 

 
(3) Torque control in torque control mode 

As in section 3.6.3 (1). 

 
(4) Torque limit in torque control mode 

As in section 3.6.3 (2). 

 
(5) Torque limit in position control mode 

As in section 3.6.1 (5).