Fuji Electric ALPHA5 Smart, User Manual

Page: 416 / 636

CHAPTER 9 CHARACTERISTICS
9-4
Timing Chart
9
9.1.3 Control Mode Selection Timing
Transition time for each control mode is 2 ms.
After issuing a selection signal, wait for 2 ms or more before issuing next commands.
[Example] Switching from position control to speed control
9.1.4 Alarm Reset Timing
After an alarm occurs, it takes about 0.5 ms until alarm detection output.
It takes about 1.5 ms or 80 ms* after an alarm reset signal is issued until the alarm is actually removed.
Alarm
Servo alarm detection
(normally open contact)
Servo alarm detection
(normally closed contact)
Normal Alarm occurrence
OFF ON
ON OFF
Ready for servo-on
[RDY]
ON OFF
0.5 ms
Servo-on [S-ON]
ON
Alarm reset
OFF ON OFF
ON
1.5 ms/80 ms*
OFF
ON
Normal
1.5 ms/80 ms*
PA01_01 (control mode selection)
OFF ON
Control mode
Speed
control
Manual forward rotation [FWD]
ON OFF
Position
control
Speed command voltage
May not be input Can be input
2 ms
2 ms