Bit Definition Of Control Di - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.2.2 Bit definition of Control DI

Control DI can control the FSA state and issue control commands. The following table shows the bit
definition of Control DI.
(1) Control DI 1
Bit Symbol
0
1
2
3
4 C_CDP
5 C_CLD
6
7
8
9
10
11
12
13
14
15
(2) Control DI 2
Bit Symbol
0
1
2
3
4
5
6
7
8 C_PC
9
10
11
12
13
14
15 C_ORST
The value at reading is undefined. Set "0" at writing.
Gain switching
Turn on C_CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60]
as the load to motor inertia ratio and gain values.
Fully closed loop control switching
Use this bit when the semi closed loop control/fully closed loop control switching is enabled
with [Pr. PE01].
Turn off C_CLD to select the semi closed loop control, and turn on C_CLD to select the
fully closed loop control.
The value at reading is undefined. Set "0" at writing.
The value at reading is undefined. Set "0" at writing.
Proportional control
Turn C_PC on 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 mismatch. When the servo motor shaft is to
be locked mechanically after positioning completion (stop), switching on the C_PC upon
positioning completion will suppress the unnecessary torque generated to compensate for
a position mismatch.
When the shaft is to be locked for a long time, use the C_PC and torque limit at the same
time to make the torque less than the rated torque.
The value at reading is undefined. Set "0" at writing.
Operation alarm reset
Turn on C_ORST from off to reset [AL. F4 Positioning warning].
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Description
Description