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(9) Active-level detection of DEWD signal (servo response)
Active-level detection
DEWD
BCSY
DWIVE
t6< 115 µ s
*3
T5 and T6 are affected by the
CWP
processing time of the other axis.
CCWP
t5
t6
◆ T5 depends on servo driver characteristics.
(*3)
◆ Cntil the DEWD signal is detected, a delay of about 300μ s is added by an internal CW
filter.
(10) Slow stop and LIMIT slow stop
WW
Command writing
or slow stop
command
Active-level detection
BCSY
DWIVE
Constant
Deceleration start
speed drive
CWP
CCWP
t7
t3
640 µ s< t7< 640 µ s + 1 cycle of drive pulse at slow stop detection time
t3< 72 µ s
*2
T3 is affected by the processing time of the other axis.
◆ Cntil the LIMIT signal is detected, a delay of about 300μ s is added by an internal CW
filter.
(11) Immediate stop and LIMIT immediate stop
or
WW
Command writing
immediate
stop command
Active-level detection
When drive pulse output is at high level
●
BCSY
DWIVE
CWP
t3< 62 µ s
*2
CCWP
T3 is affected by the processing
t3
time of the other axis.
When drive pulse output is at low level
●
BCSY
DWIVE
CWP
CCWP
t3
Active width is secured.
◆ Cntil the LIMIT signal is detected, a delay of about 300μ s is added by an internal CW
filter.