5.7 Combination of Control Methods5-495 Operation5.7 Combination of Control MethodsSERVOPACK can switch the combination of control methods. Select the control method with Pn000.1. Analog Voltage Reference (Model: SGDV-ES1A) Pulse Train Reference (Model: SGDV-EP1A)5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)Conditions for switching internal set speed control are as shown below.(1) Factory-set Input Signal Allocations (Pn50A.0 = 0)The control method and internal set speed can be switched using /P-CL and /N-CL signals.It is possible to switch from speed control, position control, or torque control to the internal set speed controleven while the servomotor is rotating.Parameter Combination of Control Methods When Enabled ClassificationPn000n.4 Internal Set Speed Control ⇔ Speed ControlAfter restart Setupn.6 Internal Set Speed Control ⇔ Torque Controln.9 Torque Control ⇔ Speed Controln.A Speed Control ⇔ Speed Control with Zero Clamp Func-tionParameter Combination of Control Methods When Enabled ClassificationPn000n.5 Internal Set Speed Control ⇔ Position ControlAfter restart Setupn.B Position Control ⇔ Position Control with ReferencePulse Inhibit FunctionInput Signal Pn000.1 Settings and Operations/P-CON (CN1-16) /P-CL (CN1-26) /N-CL (CN1-12) n.4 n.5 n.6OFFOFF OFF Speed control Position control Torque controlOFF ON Forward rotation at internal set speed 1 set in Pn301.ON ON Forward rotation at internal set speed 2 set in Pn302.ON OFF Forward rotation at internal set speed 3 set in Pn303.ONOFF OFF Speed control Position control Torque controlOFF ON Reverse rotation at internal set speed 1 set in Pn301.ON ON Reverse rotation at internal set speed 2 set in Pn302.ON OFF Reverse rotation at internal set speed 3 set in Pn303.
