YOKOGAWA DrvPIII UR5AP3, Техническая информация, Страница: 93 / 326

6-7
TI71M01D06-01EN 3rd Edition: 2012.12.01
List of Logic I/O Contact Input Signals (Block 2)
 : Frequently used signals
Δ : Signals assigned as necessary
No mark: Not applicable
Logic I/O
Contact input
Abbreviated signal
name
Signal name
Table data op
era
tion
Jog move
Description
I/O pr
ocessing cycle
Block bit
Block 2
0 IN_POSFREQ_SEL
Position control
bandwidth select
Δ Δ
Use this signal if there are large fluctuations in the load or it is
desired to use different servo gains for different cases.
When this signal is turned ON, the position control band,
position control integration time and position integral limiter
#parameters are switched to their alternative values.
H
1 IN_POSINT_INH
Pos. control
integration
prohibited
Δ Δ
Integral action for position control is not performed while this
signal is turned ON.
H
2 IN_POSINT_RST
Reset position
control integrator
Δ Δ
The integrator information is reset in position control when this
signal is turned ON.
H
3 (reserve) (Reserved)
4 IN_VELFREQ_SEL
Velocity control
bandwidth select
Δ Δ
Use this signal if there are large fluctuations in the load or it is
desired to use different servo gains for different cases.
When this signal is turned ON, the velocity control band,
velocity control integration time and velocity integral limiter
#parameters are switched to their alternative values.
H
5 IN_VELINT_INH
Prohibit velocity
control integral
action
Δ Δ
Integral action for velocity control is not performed while this
signal is turned ON. It functions only when the "velocity control
method setting" is set to "proportional integral control" in
system setup register 1.
H
6 IN_VELINT_RST
Reset velocity
control integrator
Δ Δ
The velocity integrator information is reset in velocity control
while this signal is turned ON. It functions only when the
"velocity control method setting" is set to "proportional integral
control" in system setup register 1.
H
7 (reserve) (Reserved)
IN_POSFREQ_SEL input status
OFF ON
Position control
bandwidth
frequency #8 [position control
bandwidth #1] #9 [position control
bandwidth #2]
Position control
integration time #10 [Integral time for
position control #1] #11 [Integral time for
position control #2]
Position integral
limiter #12 [Position integral
limiting value #1] #13 [position integral
limiting value #2]
IN_VELFREQ_SEL input status
OFF ON
Velocity control
band frequency #2 [Velocity control
bandwidth 1] #3 [Velocity control
bandwidth 2]
Velocity control
integration time #4 [Integral time for
velocity control #1] #5 [Integral time for
velocity control #2]
Velocity integral
limiting #6 [Velocity integral
limiting value #1] #7 [Velocity integral
limiting value #2]