Mitsubishi Electronics MR-J2S- A Position/speed control change mode, Control change LOP

3. SIGNALS AND WIRING

3.4.4 Position/speed control change mode

Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system.

(1)Control change (LOP)

Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:

(Note) LOP Servo control mode

0Position control mode

1Speed control mode

Note.0: LOP-SG off (open) 1: LOP-SG on (short)

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 speed control mode, droop pulses are reset.

If the signal 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:

	Position	Speed	Position
control mode		control mode	control mode

	Zero speed
Servo motor speed	level
Zero speed (ZSP)	ON
	OFF

ON
Control change (LOP) OFF	(Note)

(Note)

Note: When ZSP is not on, control cannot be changed if LOP is switched on-off.

If ZSP switches on after that, control cannot not be changed.

(2)Torque limit in position control mode

As in Section 3.4.1 (5).

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