Use a digital input to switch Torque Control and Speed Control. To enable this function, set H1-xx = 71 [MFDI Function Select = Torque Control] to enable this function.
When you switch from Speed Control to Torque Control, the torque limit becomes the torque reference and the speed reference becomes the speed limit. When you switch from Torque Control to Speed Control, the torque reference becomes the torque limit and the speed limit becomes the speed reference. When you must use a delay time to switch between Speed Control and Torque Control, set d5-06 [Speed/Torque Changeover Time]. During this switch delay time, the drive keeps the reference value of the Torque Control and Speed Control when the switch signal was input. Change the reference values from an external control device during this delay time.
Note:
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When you switch between Torque Control and Speed Control, set d5-01 = 0 [Torque Control Selection = Speed Control]. If d5-01 = 1 [Torque Control] and H1-xx = 71 at the same time, the drive will detect oPE15 [Torque Control Setting Error].
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If the Stop command is input, the drive will not apply the delay time set in d5-06. Torque Control will immediately switch to Speed Control and ramp to stop.
Figure 1. Speed/Torque Control Switching Time
