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3. SIGNALS AND WIRING
(3) Ready (RD)
Servo-on (SON)
Alarm
Ready (RD)
ON
OFF
Yes
No
100ms or less
10ms or less
10ms or less
ON
OFF
(4) Electronic gear switching
The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the
parameters.
As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if any
shock occurs at this change, use position smoothing (parameter No.PB03) to relieve shock.
(Note) Input device
Electronic gear molecule
CM2
CM1
0
0
Parameter No.PA06
0
1
Parameter No.PC32
1
0
Parameter No.PC33
1
1
Parameter No.PC34
Note. 0: off
1: on
(5) Torque limit
CAUTION
If the torque limit is canceled during servo lock, the servo motor may suddenly rotate
according to position deviation in respect to the command position.
(a) Torque limit and torque
By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation
torque limit), torque is always limited to the maximum value during operation. A relationship between the
limit value and servo motor torque is shown below.
0
100
100
[%]
CW direction
Max. torque
CCW direction
To
rq
ue
Torque limit value in
parameter No.PA12
Torque limit value in
parameter No.PA11
