6-9
6.5
Other Inputs
6.5.1
Pulse Weight Selection PLS_DIRECT
When the status of the PLS_DIRECT pulse weight selection input signal is 1, it is independent of the
#
207
Simplified scaling weighted data
parameter; the position command pulse that is input is directly used as the
internal position command pulse. For more details, see Section 5.3.2, “Switching Position Command Pulse
Weights” and Section 6.2, “Position Command Pulse Input.”
6.5.2
Position Control Bandwidth Selection FN
The FN position control bandwidth selection signal selects to use either
#50
Position control bandwidth 1
parameter or the
#48
Position control bandwidth 2
parameter for the position control bandwidth value.
Position control bandwidth 2 is selected with status 1, and position control bandwidth 1 is selected with status 0.
6.5.3
Velocity Control Bandwidth Selection GAIN
The GAIN velocity control bandwidth selection signal selects to use either
#51 Velocity control bandwidth 1
parameter or the
#49 Velocity control bandwidth 2
parameter for the velocity control bandwidth value.
Velocity control bandwidth 2 is selected with status 1, and velocity control bandwidth 1 is selected with status 0.
6.5.4
Settling Width Selection POSW [1..0]
The POSW [1..0] settling width selection signal selects to use either one of
#58
and
#45
to
#47 Position
settling width pulse 1 to 4
parameters for the settling width used as the specified range for generating settling
signals.
POSW [1..0]
1
0
Settling width value
Status 0
Status 0
#58 Position settling width pulse 1
Status 0
Status 1
#45 Position settling width pulse 2
Status 1
Status 0
#46 Position settling width pulse 3
Status 1
Status 1
#47 Position settling width pulse 4
6.5.5
Disable Position Control Integral Operation PACT
The PACT disable position control integral operation signal disables the integral operation of the position control
part.
Integral operation is disabled with status 1, and integral operation is enabled with status 0.
6.5.6
Error reset (ERR_RESET)
The error reset command, ERR_RESET, cancels an error status in the driver. It functions irrespectively of the
operation mode. It can only be executed while in the idle status.
The error reset command is issued as the status 1.
Depending on the error content, there are errors that cannot be canceled or errors that cause identical errors
immediately after canceling. Avoid creating a program that maintains ERR_RESET and waits until ERR, the
error status output, is canceled.
ERR_RESET
50 ms or more
Status 1
Status 0
6
