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9. INTERFACE MODE
9.5 Control method
9.5.1 Control mode
The control mode is switched by specifying the control mode in the "control mode command". Switching
to/from position control mode to/from speed control mode/torque control mode is performed while the motor is
stopped, and switching between speed control mode and torque control mode is possible at any given time.
Position control mode
Torque control mode
Switch is possible while
motor is stopped
(zero speed (ZSP) is ON)
Speed control mode
Switch is possible
during operation
POINT
• After turning power supply ON, or after SSCNET reconnection, the control
mode is position control mode.
• When a control mode other than position control mode was specified at power
supply ON, or SSCNET reconnection, startup in position control mode, before
switching to the specified control mode.
• When a control mode switch error has occurred, return the control mode
command to the current control mode before performing the control mode
switch again.
• When switching from speed control mode or torque control mode, update the
command position with the current feedback position after confirming zero
speed (ZSP).
• The data for control mode command is applied at the timing of the command
data update cycle.