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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
6.3. Velocity Control Mode Operation
l Positioning with velocity control mode is not available to the B3 and 23 type Driver Units.
l The parameter SL sets the positioning with velocity control mode.
l Either one of positioning with the RS-232C analog command or the analog velocity command
may be selected in the velocity control mode.
6.3.1. RS-232C Position Communication Command Operation
l Motor velocity may be controlled directly through the RS-232C command in the velocity control
mode.
l The parameter AC (AC0) sets validity of DC command.
Inputting as
will make the Motor controlled with the velocity that is proportional to the data.
l Relation between the data of DC command and the velocity is shown in Figure 6-25.
Figure 6-25
－ 5 461
！ Caution: When the DI parameter reverses the sign of coordinate, the polarity of
SL1: Torque control mode
SL2: Velocity control mode
SL3: Position control mode
The parameter AC selects the way of positioning.
AC0 : Analog command invalid. DC command is valid.
AC1 : Analog command valid. When analog velocity command is +: CCW direction
AC–1 : Analog command valid. When analog velocity command is –: CW direction
D
C
（data）
-1
3 s
＋ 5 461
-1
－3 s
the DC command is reversed as well.
— 6-31 —
6.3. Torque Control Mode Opeation
6.3.1. RS-232C Communication Command Operation
ENT
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