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[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
03 0 to 3
<1>
Selection of
torque limit
You can set up the torque limiting method for CCW/CW direction.
When the setup value is 0, CCWTL and CWTL will be limited by Pr5E (1st torque
limit setup). At the torque control, Pr5E becomes the limiting value for CCW/CW
direction regardless of the setup of this parameter.
Setup value
0
<1>
2
3
CCW
X5 CCWTL : Pin-16
Set with Pr5E
When GAIN/TL-SEL input is open, set with Pr5E
When GAIN/TL-SEL input is shorted, set with Pr5F
Pr5E is a limit value for both CCW and CW direction
CW
X5 CWTL : Pin-18
Set with Pr5F
07 0 to 9
<3>
Selection of speed
monitor (SP)
You can set up the content of analog speed monitor signal output (SP : CN X5,
Pin43) and the relation between the output voltage level and the speed.
Setup value
0
1
2
<3>
4
5
6
7
8
9
Signal of SP
Motor actual
speed
Command
speed
Relation between the output voltage level and the speed
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
04
*
0 to 2
<1>
Setup of
over-travel
inhibit input
In linear drive application, you can use this over-travel inhibiting function to inhibit the
motor to run to the direction specified by limit switches which are installed at both ends
of the axis, so that you can prevent the work load from damaging the machine due to
the over-travel. With this input, you can set up the action of over-travel inhibit input.
<Cautions>
1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor deceler-
ates and stops according to the preset sequence with Pr66 (Sequence at over-
travel inhibition). For details, refer to the explanation of Pr66.
2. When both of CCWL and CWL inputs are opened while Pr04 is set to 0, the driver
trips with Err38 (Overtravel inhibit input error) judging that this is an error.
3. When you turn off the limit switch on upper side of the work at vertical axis applica-
tion, the work may repeat up/down movement because of the loosing of upward
torque. In this case, set up Pr66 to 2, or limit with the host controller instead of us-
ing this function.
CW direction CCW direction
CCWL
CWL
Work
Servo motor
Limit
switch
Limit
switch
Driver
Setup
value
0
<1>
2
Action
CCWL/CWL
input
Valid
Invalid
Valid
Input
CCWL
(CN X5,Pin-9)
CWL
(CN X5,Pin-9)
Connection to COM–
Close
Open
Close
Open
Normal status while CCW-side limit switch is not activated.
Inhibits CCW direction, permits CW direction.
Normal status while CW-side limit switch is not activated.
Inhibits CW direction, CCW direction permitted.
Both CCWL and CWL inputs will be ignored, and over-travel inhibit function will be
invalidated.
Err38 (Over-travel inhibit input protection) is triggered when either one
of the connection of CW or CCW inhibit input to COM– become open.
PrNo.
Setup
range
Title Function/Content
Standard default : < >