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(2) Timing chart
Forward
rotation
0r/min
ON
OFF
Automatic/manual
selection (MD0)
ON
OFF
Travel completion
(MEND)
ON
OFF
Rough match (CPO)
Servo motor
speed
Acceleration time
constant parameter
No. PE07
Home position return
speed parameter No. PE04
Home position
address parameter
No. PE 08
3ms or less
ON
OFF
6ms or more
Forward rotation start
(ST1)
ON
OFF
Reverse rotation start
(ST2)
Stopper time
parameter No. PE10
ON
OFF
Limiting torque (TLC)
Parameter No. PC14
(Note 3) Parameter No. PE 11
Parameter No. PC14
Torque limit value
(Note 4)
DI0, DI1, and DI2
ON
OFF
Home position return
completion (ZP)
Stopper
(Note 1)
6ms or more
(Note 2)
Note 1. External input signal detection is delayed by the input filter setting time of parameter No. PD19. Implement a sequence that changes DI0,
DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC and variations of a signal change due to
hardware.
2. TLC turns ON when the torque reaches the value set in forward torque limit (parameter No. PA11),reverse torque limit (parameter No.
PA12) or internal torque limit (parameter No. PC14).
3. The torque limit that is enabled at this point is as follows.
(Note)
Input device
Limit value status
Validated torque limit values
TL1
0
Parameter No. PE11
1
Parameter No. PC14
>
Parameter No. PE11
Parameter No. PE11
Parameter No. PC14
<
Parameter No. PE11
Parameter No. PC14
Note. 0: off
1: on
4. Point table method: Select the home position return mode by turning OFF DI0, DI1 and DI2.
Program method: Select the program that has the home position return "ZRT" command.
The set value in parameter No. PE08 (home position return position data) is applied as position address at the time of
the home position return being completed.
ON
OFF
ON
OFF
ON
Forward rotation
stroke end
(LSP)
Reverse rotation
stroke end (LSN)
Forced stop (EM1)
OFF