Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 231 / 514

5.8 Parameter functions
5-108
5
O
per
ation
－ Group9 －
ID Contents
10
Control mode switching function
[MS]
■
2 types of control mode can be switched and used.
The control mode combination is selected by system parameter and can be switched with
control mode switching function.
 Selecting control modes from system parameters ID06.
✔ After setting changed --> The setting is enabled by re-turning on control power supply.
 Allocating conditions to enable control mode switching function. When MS signal is valid,
control mode is switched.
 When using control mode switching type, “Auto-notch frequency tuning”, “Auto-vibration
suppression frequency tuning”, and “JOG-operation” may not be used. Please use
“Auto-notch frequency tuning”, “Auto-vibration suppression frequency tuning,” and
“JOG-operation” after changing control mode to primary side (turning off “input signal”).
11
Position command pulse inhibiting function
･
velocity-zero stop function
[INH/Z-STP]
■
When operating in position control mode, you use position command pulse inhibiting function
(INHIBIT function), when in velocity control mode, you use velocity-zero stop function.
 Enabling the function during servo motor operation inhibits input command, and then
servo motor stops with the state servo motor being excited.
✔ When operating in position control mode, input pulse is not counted inside of the servo
amplifier 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.
ID Name Setting range
06 Control mode 6 methods
Setting Contents
03: Velo
－
Torq Velocity control - torque control switching type
04: Posi
－
Torq Position control - torque control switching type
05: Posi
－
Velo Position control - velocity control switching type
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