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The function differs depending on the control mode.
The function differs depending on the control mode.
GAIN/
ZEROSPD
DIV/
INTSPD1
Gain
switching/
Speed zero
clamp
Command
pulse scaler
switch/
Internal
command
velocity
selection 1
5
6
Signal
Pin
Symbol Function
I/F
No.
circuit
Pr06 value
0
1
[Default]
Meaning
ZEROSPD is disabled.
ZEROSPD is enabled
•
The functions depend on the value of Pr30.
•
Gain switching input results. Input for switching PI/P
operation and No. 1/No. 2 gains.
•
For No.2 Gain change Funcution, see Protective Adjustments on page 57.
•
Speed zero clamp input results. With COM- open, the
velocity command is considered zero.
• This input can be made disabled using Pr06.
• Default: Contact is set. With COM- open, the velocity
command is considered zero.
Preparations and Adjustments
SI
page 33
SI
page 33
At Pr31 value of 2
Position
control
Internal
velocity
control
Function
Speed loop:PI(ProportionalÅEIntegration) operation
Speed loop: P (Proportion) operation
#1 gain selection (Pr10, 11, 12, 13, 14)
#2 gain selection (Pr 18, 19, 1A, 1B, 1C)
Connection
to COM-
Open
Close
Open
Close
Pr30
value
0
(Default)
1
Position
control
Internal
velocity
control
•
This is the input to switch command pulse scaler.
•
With COM- closed, the numerator of the command scaler is changed
from the value stored in Pr46 (Numerator of 1st Command Scaler) to
the value stored in Pr47 (Numerator of 2nd Command Scaler).
<Note>
Don't enter command pulses 10 ms after or before switching.
•
The internal velocity selection 1 (input) is valid. 4 kinds of velocity
settings are available by the combination with CL/INTSPD2 input.
• See control mode setting Pr02 (APP. 16).