Omron R88D-GT series User Manual

5-12
5-5 Switching the Control Mode
5
Operating Functions
 Operation Examples
Position and Speed Control Switching Example (Pn02 = 3)
• There is a maximum delay of 10 ms in reading the input signal.
• When switching from speed control to position control, turn OFF the Control Mode Switch Input (TVSEL) and
wait at least 10 ms after the Positioning Completed Output (INP) turns ON before inputting the pulse command.
The pulses input before INP turns ON will be ignored.
• The shaded areas for the Positioning Completed Output (INP) in the time chart show that the signal is turned
ON as the Servomotor Rotation Detection Output (TGON). (The meaning of the signal depends on the control
mode.)
Position and Torque Control Switching Example (Pn02 = 4)
• This time chart shows an example of torque thrust.
• There is a maximum delay of 10 ms in reading the input signal.
• When switching from torque control to position control, turn OFF the Control Mode Switch Input (TVSEL) and
wait at least 10 ms after the Positioning Completed Output (INP) turns ON before inputting the pulse command.
The pulses input before INP turns ON will be ignored.
ON
OFF
ON
OFF
ON
OFF
+r/min
+V
Control Mode Switch
Input (TVSEL)
Speed Command Input
(REF)
Pulse commands
Positioning Completed
Output (INP)
Motor Rotation Speed
Detection Output (TGON)
Servomotor operation
10 ms min.
10 ms min.
ON
OFF
ON
OFF
ON
OFF
+r/min
+V
Control Mode Switch
Input (TVSEL)
Torque Command Input
(TREF)
Pulse commands
Positioning Completed
Output (INP)
Servomotor operation
10 ms min.
10 ms min.
(Forward operation)
(Reverse operation)
Impact

Omron R88D-GT series Specifications

General

Brand	Omron
Model	R88D-GT series
Category	Controller
Language	English