
Chapter 8 Program
8-59
(a) Condition of Position/ Torque Switching Control
Condition of Position/ Torque Switching Control Command (XPTT)
(b) Axis ready status
If communication between positioning module and s ervo drive is done, the signal corresponding to each
signal will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position/ Toque Switching Control
while it is running, the “error 561” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no er ror. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Signal from Position Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Position Control state” for
each axis. It turns on when it is operating. Position/ Torque Switching Control Setting can only be configured
while it is running. If you execute Position/Torque Switching Control while it is not running, the “error 317”
would be appeared.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Position/ Torque Switching Control. XBF-PN04(8)B series supports for 4(8) axes. In the
“execution of axis” from the configuration of Position/ Torque Switching Control, you can set a value for axis 1
through 4(8) axis.
(h) It sets torque value. After position/torque switching command, it operates with that torque value. Range is
-32768~32767%.
(i) For more information, reference of Position/ Torque Switching Control is in the “Chapter 9.2.15.”
Содержание XBF-PN04B
Страница 1: ...Programmable Logic Controller Positioning Module EtherCAT XGB Series XBF PN04B XBF PN08B ...
Страница 626: ...Chapter 9 Functions BPS37 setup RS232 and PC connection BPS37 option board LED 9 193 ...
Страница 628: ...Chapter 9 Functions c Execute BPS37 set up program and enter the setting values as follows 9 195 ...
Страница 796: ...Appendix3 Dimension A3 1 Appendix 3 Dimension Appendix 3 1 Dimension of XBF PN04B PN08B ...