NSK M-EGA-15A2301, User Manual

Page: 131 / 237

5.Operation
Group A General output terminal output condition
/ Monitor output selection/ Serial communication settings
5-66
ID
Description
11
Position command pulse inhibiting function
･
velocity-zero stop function [INH/Z-STP]
■
This may be used as a function to inhibit the position command pulse (INHIBIT function).
◆ Enabling the function during motor operation inhibits input command, and then motor stops with the
state motor being excited.
✔
When operating in position control mode, input pulse is not counted inside of the driver even if
position command pulse is input.
◆
Allocating conditions to enable position command pulse inhibiting function/ velocity-zero stop
function. This functions when INH/Z-STP signal is enabled.
13
14
Gain switching condition 1 [GC1]
Gain switching condition 2 [GC2]
■
4 types of gain can be used by switching them.
◆
Allocating conditions to enable gain switching condition. You can switch GAIN 1 to 4 by combination of
GC1 and GC2 setting.
GC1: Gain switching condition 1 Invalid Valid Invalid Valid
GC2: Gain switching condition 2 Invalid Invalid Valid Valid
↓ ↓ ↓ ↓
Gain becoming valid GAIN1 GAIN2 GAIN3 GAIN4
15
16
FF vibration suppression frequency selecting input 1 [SUPFSEL1]
FF vibration suppression frequency selecting input 2 [SUPFSEL2]
■
4 types of FF vibration suppression frequency can be used by switching them.
◆ Allocating conditions to enable FF vibration suppression frequency selecting input. You can switch FF
vibration suppression frequency 1 to 4 by combination of SUPFSEL1 and SUPFSEL2 setting.
SUPFSEL1: FF vibration suppression
frequency selecting input 1
Invalid Valid Invalid Valid
SUPFSEL2: FF vibration suppression
frequency selecting input 2
Invalid Invalid Valid Valid
↓ ↓ ↓ ↓
Vibration suppression becoming valid
FF vibration
suppression
frequency 1
Group 2 ID00
FF vibration
suppression
frequency 2
Group 4 ID40
FF vibration
suppression
frequency 3
Group 4 ID41
FF vibration
suppression
frequency 4
Group 4 ID42
17
Position loop proportional control switching function [PLPCON]
■
You can switch between position loop PI control and P control. Enabling position loop proportional control
switching function (PLPCON) enable switching.
◆
Allocating conditions to enable position loop proportional control switching function. When PLPCON
signal enabled, the control is switched to proportional control.

PI control (proportional
･
integral control)
……
Position loop proportional gain (KP)/
integral time constant (TPI)

P control (proportional control)
……
Position loop proportional gain (KP)
✔
In the standard setting, position loop integral time constant (TPI) is 1000.0ms, so integration
function is disabled.