Instruction manual

45
Control mode switchover timing
CONTROL
4
4.4 Control mode switchover timing
Depending on a parameter setting change or whether the MC terminal turns on/off, the control mode switches at the
following timing.
〈Example: Speed Position, when Pr. 800 = 4〉
z Terminals and terminal functions changed by control mode switchover
The terminal functions vary with the control mode as indicated in the following table.
Switchover Pattern Switchover Operation
Speed Torque
The mode can be changed any time independently of whether the motor is at a stop or running or
the DC brake (servo lock) is operating.
Speed Position
The mode can be changed when the speed is equal to or lower than the low speed detection level.
When the speed is higher than the low speed detection level, changing the MC signal during rotation
will not switch the control mode to the other, and as soon as the speed falls to or below Pr. 865
"low speed detection level", the control mode is changed according to the terminal status.
Position Torque
Classification
Description
Pr.800
setting
01234 5
Terminal
name
Speed
control
Torque
control
MC signal
Position
control
MC signal MC signal
ON OFF ON OFF ON OFF
Speed
control
Torque
control
Speed
control
Position
control
Position
control
Torque
control
Contact
input
signal
STF
Forward
rotation
command
←←←← ←
STR
Reverse
rotation
command
←←←← ←
DI1
Multi-function
input 1
←←←← ←
DI2
Multi-function
input 2
←←←← ←
DI3
Multi-function
input 3
←←←← ←
DI4
Multi-function
input 4
←←←← ←
Contact
output
ABC
Alarm
contact
←←←← ←
Open
collector
output
DO1
Multi-function
output 1
←←←← ←
DO2
Multi-function
output 2
←←←← ←
DO3
Multi-function
output 3
←←←← ←
Analog
input
2
Speed
command
Speed
limit
Speed
command
Speed
limit
Invalid
Speed
command
Invalid Invalid
Speed
limit
1*
Speed
command
auxiliary
Speed
limit
auxiliary
Speed
command
Speed
limit
Invalid
Speed
command
Invalid Invalid
Speed
limit
3 Torque limit
Torq ue
command
Torque
limit
Torque
command
Torque
limit
Torque
limit
Torq ue
limit
Torq ue
limit
Torque
command
MC
STF
Low speed detection
level (Pr. 865)
Speed control Position control