— 2-25 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2.7. Specifications of Driver Unit
2.7.3. Function List of Respective Driver Unit Types
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
2.7.3. Function List of Respective Driver Unit Types
Table 2-12
Type of Driver Unit
Items
B3 and 23 type
B5 and 25 type
Control mode
·
Exclusive for position control
·
Position control
·
Velocity control
·
Torque control
·
Emergency stop
·
Servo ON
·
Start Programmable Indexer
·
Home position limit sensor
à
Select applicable input combination by parameters
Setting
Control signal
Number of
channels
available
TY1
----
16
TY2
Jog, Select direction of
rotation
4
TY3
Over travel
4
TY4
Home Return start,
Clear, Over travel
1
TY7
Jog, Select direction of
rotation, Over travel
1
TY8
Integration OFF/Lower gain
or release brake clumping
8
Input
·
Emergency stop
·
Servo ON
·
Selection of internal program
(64 channels)
·
Start Programmable Indexer
(Internal program)
·
Jog operation
·
Home Return start
·
Select direction of rotation
·
Interruption of Programmable
Indexer
·
Home position limit sensor
·
Over travel limit
·
Clear
·
Velocity loop, integration OFF
·
Lower velocity loop gain,
·
Input command prohibited,
pulse train input / analog
command
·
Driver Unit ready
·
In-Position
à
Select a combination by following parameters
Setting
Control signal
OM0
Brake
OM1
Velocity detection
OM2
Target proximity/In target
OM3
Warning
Control
signal
O
utput
·
Driver Unit ready
·
Home return completed/
Home position detected
·
Warning
·
Brake
·
Home position defined
·
Velocity threshold
·
Target proximity/In target
·
Velocity monitor
·
Control monitor
Velocity
Velocity command
Velocity deviation
Output torque
command
ø C driving current
command
Position command
Position deviation
ø C thermal load
Analog monitor
·
Velocity monitor
Pulse train input
Photo coupler or line driver input
Analog command
None
Available