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5-5 Switching the Control Mode Speed and Torque Control Switching Example (Pn02 = 5) Control Mode Switch Input (TVSEL) ON OFF +V Speed Command Input (REF) +V Torque Command Input (TREF) +r/min Operating Functions 5 *1 *2 Servomotor operation Torque Control Mode *1. Deceleration for the torque command. *2. Deceleration due to load inertia energy and load friction torque. • There is a maximum delay of 10 ms in reading the input signal. • Servomotor operation in Torque Control Mode changes according to the Servomotor load conditions (e.g., friction, external power, inertia). Take safety measures on the machine side to prevent Servomotor runaway. Related Functions Refer to the related functions for each control mode. 5-13
