P0-00 = 6: Speed-position switching mode (immediately) P0-00 = 7: Torque-speed switching mode (immediately) P0-00 = 8: Position-torque switching mode (immediately) 104 Technical Manual for EA190 Series Servo Driver V100 in the position control mode. The driver works in the speed-position switching mode and the mode can be switched at any time. Mode switching can be realized through the DI terminal defined as MSEL function. No matter whether the motor rotates, by changing the status of the MSEL terminal, the driver can immediately switch between the speed and position control modes. ☞When it switches from the position control mode to the speed control mode, stranded pulses will be cleared.
☞When the MSEL terminal is invalid, the driver works in the speed control mode. Caution☞ In this mode, mechanical shock or driver alarm may occur during the switching process. The driver works in the torque-speed switching mode and the mode can be switched at any time. Mode switching can be realized through the DI terminal defined as MSEL function. No matter whether the motor rotates, by changing the status of the MSEL terminal, the driver can immediately switch between the torque and speed control modes. ☞When the MSEL terminal is invalid, the driver works in the torque control mode.
Caution☞ If upon switching to the speed control mode, the speed command value is 0, the servo motor will decelerate over the time defined by P2-05 to stop. The driver is working in the position-torque switching mode and can be switched at any time. Mode switching can be realized through the DI terminal defined as MSEL function. No matter whether the motor rotates, by changing the status of the MSEL terminal, the driver can immediately switch between the position and torque control modes. ☞When it switches from the position control mode to the torque control mode, stranded pulses will be cleared. ☞When the MSEL terminal is invalid, the driver works in the position control mode.
Caution☞ In this mode, mechanical shock or driver alarm may occur during the switching process. P0-01 Rotation direction Initial value 0 Communication address 0001H Unit - Time of taking effect Motor static state activated Setting range 0~1 Data size 16bit Control mode P S T Parameter functions: Set the motor rotation direction. P0-01 = 0: In case of a forward direction command, the motor rotates anticlockwise (CCW) P0-01 = 1: In case of a forward direction command, the motor rotates anticlockwise (CCW) Forward direction Reverse direction Factory setting