Yaskawa DR2 Sigma Servo - Manual (Page 139)

APPLICATIONS OF Σ-SERIES PRODUCTS
3.6.6 Using Mode Switch cont.
126
Cn-01 Bit C
Mode Switch Selection Factory
Setting: 0
For Speed/Torque Control
and Position Control
Cn-01 Bit D
Mode Switch Selection Factory
Setting: 0
For Speed/Torque Control
and Position Control
Use the following user constants to set the mode switch to be used.
Memory
Switch
Cn-01 Mode Switch Type
User Constant
for Setting
Detection
Bit D Bit C
Detection
Point
0 0 Uses torque reference as a detection point. Cn-0C
0 1 Uses speed reference as a detection point. Cn-0D
1 0 Uses acceleration reference as a detection point. Cn-0E
1 1
For speed/
torque con-
trol
Does not use mode switch.
For position
control
Uses error pulse as a detection point. Cn-0F
Mode switch is used to reduce settling time and suppress undershoot when the motor
stops. It switches PI control to P control when certain conditions are met.
3