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3 BASIC FUNCTION
3.21 Command pulse train monitoring function [A]
3.21
Command pulse train monitoring function [A]
Available on servo amplifiers with firmware version A5 or later.
It is recommended to use this function for safety aspect.
Use this function so that a command pulse train will not be input incorrectly due to such a factor as noise, which results in
unexpected operation.
Setting a command frequency error threshold
Set [Pr. PC90 Command frequency error threshold].
If the frequency of a command pulse train input is detected to be larger than the setting value, [AL. 035 Command frequency
error] occurs.
Setting PEN (Command input permission signal)
Assign PEN (Command input permission signal) to an input device.
Page 117 Assigning I/O devices
A command pulse train input is not accepted while PEN is turned off.
A command pulse train input is accepted by turning on PEN.
If PEN has not been assigned to the input device, a command pulse train input is always accepted.
If PENS (Command pulse train input permitted) has been assigned to an output device, PENS is turned on when a command
pulse train input can be acceptable.
There is a delay from the time PEN is turned on until PENS is turned on, or from the time PEN is turned off until PENS is
turned off.
The following shows a timing chart of command pulse train input acceptance.
PEN
PENS
RD
Command pulse train input not permitted
Less than
100 ms
Less than
100 ms
Command pulse train input not permitted
Command pulse train input permitted
