Mitsubishi Electronics MR-J2S- A instruction manual Torque/position control change mode, 0V on OFF

3. SIGNALS AND WIRING

3.4.6 Torque/position control change mode

Set "0005" in parameter No. 0 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-SG status and control modes are indicated

below:

(Note) LOP Servo control mode

0Torque control mode

1Position 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 torque 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:

Speed Torque Speed

control mode control mode control mode

	Zero speed
Servo motor speed	level

Analog torque command (TLA)

Zero speed (ZSP)

10V

0V ON

OFF

Control change (LOP)

ON

OFF

(2)Speed limit in torque control mode

As in Section 3.4.3 (3).

(3)Torque control in torque control mode

As in Section 3.4.3 (1).

(4)Torque limit in torque control mode

As in Section 3.4.3 (2).

(5)Torque limit in position control mode

As in Section 3.4.1 (5).

3 - 37