3-13
3-4-3 Important Setup Parameters (Cn-01 and Cn-02)
This section explains the particularly important setup parameters. If these parameters aren’t set proper-
ly, the motor might not operate or might operate unpredictably. Set these parameters appropriately for
the system being used.
H
Control Mode Settings
The control mode is determined by the following setup parameters:
•
Input command mode: Cn-02 bit 2 (position control by pulse-train input/internal speed control set-
tings)
•
Pulse stop switch: Cn-01 bit F (The function of this bit depends on the setting of Cn-02 bit 2.)
The following diagram shows the function of these two bits:
Control mode
Cn-02
bit 2
Cn-01
bit F
Cn-01
bit F
Position control by pulse-train input
Position control by pulse-train input
(The pulse stop input (IPG is enabled.)
HA/LA/V/W
Models
Internal speed control settings only.
(servo lock when stopped)
Internal speed control settings and
position control by pulse-train input
HA/LA/V/W
Models
0
1
0
1
0
1
Cn-02 bit 2
Cn-01 bit F
Control mode
0
0
Position control by pulse-train inputs (Factory setting)
1
Position control by pulse-train inputs (pulse stop input (IPG) enabled)
1
0
Internal speed control settings only. (Servo lock when stopped.)
1
Internal speed control se position control by pulse-train input
Note Cn-01 bit F is effective in the HA/LA/V/W Models only. With H/L Models, use Cn-02 bit 2 to select
either “position control by pulse-train inputs” or “internal speed control settings.”
H
Command Pulses in Position Control
Bits 3, 4, and 5 of Cn-02 specify the kind of command pulse mode used for position control, as shown in
the following table.
Cn-02 bit 3
Cn-02 bit 4
Cn-02 bit 5
Selected command pulse mode
0
0
0
Feed pulse (PULS)/Direction signal (SIGN)
1
0
0
Forward pulse (CCW)/Reverse pulse (CW) (Factory setting)
0
1
0
90
_
differential phase (A/B phase) signal (1
×
)
1
1
0
90
_
differential phase (A/B phase) signal (2
×
)
0
0
1
90
_
differential phase (A/B phase) signal (4
×
)
Note One of three multiples can be selected when inputting a 90
_
differential phase signal (1
×
, 2
×
, or
4
×
). If the 4
×
multiple is selected, the input pulses are multiplied by a factor of 4, so the number of
motor revolutions (speed and angle) are 4 times the number when the 1
×
multiple is selected.
Operation
Chapter 3
