8.5 P0-xx Basic control parameters Parameter functions: Select the control mode of the servo system P0-00 = 0: Speed control mode The servo driver works in the speed control mode, and can determine the rotating speed of the motor through communication, parameter setting and multi-segment speed. Default functions of DI and DO terminals will change automatically. See description of group P6. P0-00 = 1: Position control mode The servo driver works in the position control mode. The rotating position of the motor can be determined through external position pulse and internal multi-segment position setting. The motor running speed can be regulated through the pulse frequency.
Default functions of DI and DO terminals will change automatically. See description of group P6. P0-00 = 2: Torque control mode The servo driver works in the torque control mode, and can determine the output torque of the motor by communication and parameter setting. Default functions of DI and DO terminals will change automatically. See description of group P6. P0-00 = 3: Speed-position switching mode (zero speed) P0-00 = 5:
Position-torque switching mode (zero speed) 103 Technical Manual for EA190 Series Servo Driver V100 P0-00 Control mode selection Initial value 1 Communication address 0000H Unit - Time of taking effect Taking effect upon power-on again Setting range 0~8 Data size 16bit Control mode P S T The driver works in the speed-position switching mode and switching occurs only at zero speed. Mode switching can be realized through the DI terminal defined as MSEL function. When the motor is at zero speed, the driver can switch between the speed and position modes by changing the status of the MSEL terminal.
☞When it switches from the position control mode to the speed control mode, stranded pulses will be cleared. ☞Zero speed is the set value of P0-03. ☞ When the zero-speed condition is dissatisfied, even if the mode switching MSEL signal switches between ON/OFF to subsequently meet the zero-speed condition, the driver still cannot switch between the control modes. ☞ When the MSEL terminal is invalid, the driver works in the speed control mode. The driver works in the position-torque switching mode and switching occurs only at zero speed. Mode switching can be realized through the DI terminal defined as MSEL function.
When the motor is at zero speed, the driver can switch between the position and torque modes by changing the status of the MSEL terminal. ☞ When it switches from the position control mode to the torque control mode, stranded pulses will be cleared. ☞Zero speed is the set value of P0-03. ☞When the zero-speed condition is dissatisfied, even if the mode switching MSEL signal switches between ON/OFF to subsequently meet the zero-speed condition, the driver still cannot switch between the control modes. ☞When the MSEL terminal is invalid, the driver works