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7. OBJECT LIBRARY
(2) Bit definition of control DI2
Bit
Symbol
0
The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
Proportional control
Turn C_PC on to switch the speed amplifier from the proportional integral type to the proportional type.
If the servo motor is stopped and then rotated by even one pulse due to any external factor, it generates
torque to compensate for the droop pulse and returns to the original position. When the servo motor shaft is
to be locked mechanically after positioning completion (stop), switching on the C_PC upon positioning
8
C_PC
completion will suppress the unnecessary torque generated to compensate for a position mismatch.
When the shaft is to be locked for a long time, switch on the C_PC and TL (External torque limit selection)
at the same time to make the torque less than the rated by TLA (Analog torque limit).
Do not use C_PC in the torque control. When C_PC is used in the torque control, operation may be
performed at a speed exceeding the speed limit value.
9
The value at reading is undefined. Set "0" when writing.
10
11
12
13
14
Operation alarm reset
15
C_ORST
Turn on C_ORST from off to reset [AL. F4 Positioning warning].
(3) Bit definition of control DI3
Bit
Symbol
0
The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
Second acceleration/deceleration selection
The device allows selection of the acceleration/deceleration time constant at servo motor rotation in the
speed control mode or torque control mode. The S-pattern acceleration/deceleration time constant is
always uniform.
13
C_STAB2
14
The value at reading is undefined. Set "0" when writing.
15
Bit 13
Acceleration time constant
0
1
Description
Description
Pr. PC01
Pr. PC30
7 - 24
Deceleration time constant
Pr. PC02
Pr. PC31
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