The following is described in terms of the control modes (control modes)

that can be performed by EPS-EB series servo drives:

User parameters Control mode (control mode )

Position control (pulse line command) and external jog control switching.
The position of the servo motor is controlled by the pulse column position
PA4=0 PA110=0 command. The position is controlled by the number of incoming pulses and
the speed by the frequency of the input pulses. Used where positioning action
is required.
BIT8 and BIT9 with input signals have a total of 2 input signals to implement
point-in and point-out functions at a speed of PA131.

Position contact control (internal position command) and external jog control
switching.
PA4=0 PA110=2 The system performs position control in the absence of a host computer.
BIT8 and BIT9 with input signals are a total of 2 input signals to implement
point-in and point-out functions at PA131, BIT10 for internal position start-up
functions.

Position control with external analog switching control

PA4=0 PA110=3
Pulse column position command control and external analog control are
switched via input signal C_MODE (BIT0).

Position control and torque switching control

Pulse column position command control and external analog control are
PA4=0 PA110=4 switched via input signal C_MODE (BIT0). PA45 as the speed limit value and
PA128 as the torque output value (percentage, up to 100). Where the BIT12
signal is used as the torque to take the inverse signal.

Speed Control (Analog Voltage Directive)

Use the analog voltage speed command to control the speed of the servo
motor Please use it in the following situations.
PA4=1 PA110=0 ◆ When you want to control the speed
◆ When using the encoder pulse output of the servo drive, the position ring is
built by the upper device for position control.
◆ Real-time switching of internal three-stage speed and analog signal through
BIT3 and BIT5 of the input signal (CLE and INH signals by default).

Torque Control (Analog Voltage Directive)

PA4=1 PA110=1 The output torque of the servo motor is controlled by analog voltage torque
command. Please use it when you want to output a push action. Torque
control mode needs to set the parameter PA110=1.
 Torque control and speed control switching
Torque control (analog voltage instruction) is switched to speed control via
input signal C_MODE (BIT0). A total of 2 input signals using BIT1 and BIT2 of
PA4=1 PA110=1 the input signals are controlled by a 4-segment operating torque set in
advance in the servo drive (Analog Voltage Instruction, PA128, PA129, PA130).
Using a total of 2 input signals from BIT3 and BIT5 of the input signals, the
speed is controlled by a 4-segment operating speed set in advance in the servo
drive (Analog Voltage Command, PA131, PA132, PA133).

Speed control (internally set speed selection)

A total of 3 input signals are used using bit3, BIT4 and BIT5 (CLE, INH and
PA4=7 PA110=0 A_CLR by default) of the input signals, which are controlled by an 8-segment
operating speed set in advance in the servo drive. When choosing this control
method, no analog instructions are required.

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