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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
2.7.2. Functional Specification
Table 2-11
Control
mode
Resolution of position
sensor (Resolver)
Maximum velocity
Position feed back
output signal
Control
signal
Alarm
Monitors
Communication
Data backup
*1:
The parameter SL sets control mode.
*2:
These functions have some limitation for B3 and 23 type Driver Units.
*3:
Function of B5 and 25 types Driver Unit.
*4:
Pulse train or line receiver inputs are available.
(Please specify either one of them when ordering.)
*5:
Quadruple multiplication of this value is 204 800 [pulse/rev]. This is equivalent to a
quarter of position sensor resolution.
Items
Programmable Indexer (64 channels
Position
Pulse train position command
*1
control
quadrature)
RS-232C serial communication, Jog, Home Return operation
Velocity
RS-232C serial communication, Analog velocity command
*1
control
Torque
RS-232C serial communication, Analog torque command
*1
control
Output format
ø A • ø B
ø Z
ø A • ø B
51 200
Emergency stop, Servo ON, Internal program channel switching
Programmable Indexer start, Jog
*2
Input
direction
sensor, Clear
loop lower gain
Driver Unit ready, Home Return completed/Home position detected,
In-Position,
Output
*3
Warning
, Brake / Brake control
*2
threshold
Excess position error, Velocity error over, Software thermal sensor,
RS-232C error, Travel limit over, CPU error, Resolver circuit error,
Over current, Heat sink overheat, Abnormal main AC line voltage, Control AC
line under voltage
Analog velocity monitor, Analog velocity control monitor
communication monitor, (Current position, Alarm state, Servo parameter, etc.)
Asynchronous RS-232C serial communication, Baud rate: 9 600bps
EEPROM (500 000 times of erasing/overwriting data is possible.)
à SL1: Torque control mode
à SL2: Velocity command
à SL3: Position control mode
à Refer to "2.7.3. Function List of Respective Driver Unit Types."
Specifications
*2
)
*4
(CW/CCW, Pulse and direction, and
819 200 [pulse/rev]
3 [s
: Line driver
: Line driver/Open collector, selectable
[Unit: pulse/rev]
ø Z (MSB)
*5
50
*2
, Home Return start
, Interruption of Programmable Indexer
*2
*2
, Over travel limit
, Velocity loop integration OFF
*2
, Prohibition of pulse train/analog command input
*2
, Home position defined
*2
, Target proximity/In target
— 2-24 —
2.7. Specifications of Driver Unit
2.7.2. Functional Specification
*3
: ± 10 V
*3
: ± 10 V
-1
]
*2
*2
, Select rotational
*2
, Home position limit
*2
*2
*2
, Velocity
*3
, RS-232C
, Velocity
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Troubleshooting
