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3. SIGNALS AND WIRING
Control
Mode
Signal Symbol
Connec-
tor Pin
No.
Functions/Applications
I/O
Division
PST
Proportion
control
PC CN1B
8
Connect PC-SG to switch the speed amplifier from the
proportional integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position
shift. When the servo motor shaft is to be locked mechanically
after positioning completion (stop), switching on the proportion
control signal (PC) upon positioning completion will suppress the
unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control signal and torque control signal (TL) at the
same time to make the torque less than the rated by the analog
torque limit.
DI-1
{ ∆
Forced stop EMG CN1B
15
Disconnect EMG-SG to bring the servo motor to a forced stop
state, in which the servo is switched off and the dynamic brake is
operated.
Connect EMG-SG in the forced stop state to reset that state.
DI-1
{{{
Clear CR CN1A
8
Connect CR-SG to clear the position control counter droop pulses
on the leading edge of the signal. The pulse width should be 10ms
or more.
When the parameter No. 42 setting is 1, the pulses are
always cleared while CR-SG are connected.
DI-1
{
<Position/speed control change mode>
Used to select the control mode in the position/speed control
change mode.
(Note) LOP Control Mode
0 Position
1 Speed
Note.0: OFF (LOP-SG open)
1: ON (LOP-SG shorted)
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.
(Note) LOP Control Mode
0 Speed
1Torque
Note.0: OFF (LOP-SG open)
1: ON (LOP-SG shorted)
<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.
(Note) LOP Control Mode
0Torque
1 Position
Control change LOP CN1B
7
Note.0: OFF (LOP-SG open)
1: ON (LOP-SG shorted)
DI-1
Refer to
Functions/
Appli-
cations.