5.1 Control Method Selection5-35 Operation5.1 Control Method SelectionThe control methods supported by the multi-winding drive unit are described below.The control method can be selected with parameter Pn000.1.Control Method SelectionPn.000.1 Control Description ReferenceSectionn.0[Factory setting] Speed ControlControls servomotor speed by means of an analog voltage speedreference. Use in the following instances.• To control speed• For position control using the encoder pulse output from themulti-winding drive unit to form a position loop in the hostcontroller.5.3 SpeedControln.1 Position ControlControls the position of the machine by means of a pulse trainposition reference.Controls the position with the number of input pulses, and con-trols the speed with the input pulse frequency. Use when posi-tioning is required.5.4 PositionControln.2 Torque ControlControls the servomotor’s output torque by means of an analogvoltage torque reference. Use to output the required amount oftorque for operations such as stopping on contact.5.5 TorqueControln.3 Internal Set Speed Con-trolUses three operating speeds set in advance in the multi-windingdrive unit as references to preform speed control.When selecting this control, an analog reference is not necessary.5.6 InternalSet SpeedControln.4 Internal Set Speed Con-trol ↔ Speed ControlThese are switching modes for using the four control methodsgiven above in combination.Select the control switching method that best suits the applica-tion.5.7 Combina-tion of ControlMethodsn.5 Internal Set Speed Con-trol ↔ Position Controln.6 Internal Set Speed Con-trol ↔ Torque Controln.7 Position Control ↔Speed Controln.8 Position Control ↔Torque Controln.9 Torque Control ↔Speed Controln.ASpeed Control ↔ SpeedControl with ZeroClamp FunctionThe zero clamp function can be used in speed control.5.3.5 ZeroClamp Func-tionn.BPosition Control ↔Position Control withReference Pulse InhibitFunctionThe reference pulse inhibit function can be used in position con-trol.5.4.8 Refer-ence PulseInhibit Func-tion
