5.7 Combination of Control Modes5-575 Operation5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)Conditions for switching in internal set speed control are as shown below.(1) Factory-set Input Signal Allocations (Pn50A.0 = 0)The control mode can be switched using /P-CL and /N-CL signals.• When Pn000.1 = 5 (Internal set speed control ⇔ Position control), the soft start function will operate onlywhen selecting the internal set speed. The soft start function cannot be used with pulse reference input.• When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rdspeed), the pulse reference will not be received by the SERVOPACK until after the positioning completed(/COIN) signal is output. Always begin the output of the pulse reference from the host controller after thepositioning completed (/COIN) signal is output from the SERVOPACK. Position Control(Pulse Train Reference)>Note 1. The t1 value is not affected by whether the soft start function is used.A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.2. The speed is decelerated for the time set in Pn306, and the speed control will be changed to the position controlafter the motor comes to a stop.3. The position control can be changed to the speed control while the motor is rotating.Use /P-CON signal to switch forward/reverse rotation when internal set speed control is used.(Forward: /P-CON = OFF, reverse: /P-CON = ON)Input Signal MotorRotationDirectionSpeed/P-CON /P-CL /N-CLOFFOFF OFFForwardPulse train reference input (position control)OFF ON Pn301: Internal Set Speed (SPEED 1)ON ON Pn302: Internal Set Speed (SPEED 2)ON OFF Pn303: Internal Set Speed (SPEED 3)ONOFF OFFReversePulse train reference input (position control)OFF ON Pn301: Internal Set Speed (SPEED 1)ON ON Pn302: Internal Set Speed (SPEED 2)ON OFF Pn303: Internal Set Speed (SPEED 3)-SPEED1Motor speed+SPEED3+SPEED2+SPEED1-SPEED2-SPEED30ONDecelerating to a stop/P-CLPulsereferenceSelected speedInternal set speed controlInternalset speedcontrolPosition control1st speed 2ndspeed 3rd speed Switching Pulse train reference 1st speed/COIN/N-CLOFF OFF OFFt1OFFOFFOFF OFFONON ON ON
