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[Connections and Settings in Torque Control Mode]
Connections and Settings in
Torque Control Mode
ZEROSPD input being ignored, it is determined that it is not speed
zero clamp state at all times.
ZEROSPD input has been enabled. If connection with COM- is
opened, speed command will be regarded as zero.
04 0 – 1Overtravel input
inhibit
In the case of linear driving, in particular, to prevent mechanical damage due to
overtraveling of work, you should provide limit switches on both ends of the axis, as
shown below, whereby driving in a direction of switch action is required to be
inhibited.
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM
-
(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to “abnormal overtrave
l
input inhibit“.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refe
r
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
CW direction CCW direction
CCWL
CWL
Work
Servo Motor
Limit
Switch
Limit
Switch
Driver
Setting
value
0
[1]
Action
CCWL/CWL
Input
Enable
Disable
Input
CCWL
(CN X5-9 pin)
CWL
(CN X5-8 pin)
Connection with COM-
Connected
Open
Connected
Open
Normal condition in which the limit switch on
CCW side is not operating.
CCW direction inhibited, CW direction allowed
Normal condition in which the limit switch on
CW side is not operating.
CW direction inhibited, CCW direction allowed
Both CCWL and CWL inputs are ignored and they normally operate as no
overtravel inhibit being set.
Parameter
No.
Setting
range
Parameter Name Function/Description
Default setting is shown by [
]
07 0 – 9Speed monitor
(SP) selection
The parameter selects/sets a relationship between voltage output to the speed
monitor signal output (SP: CN X5 43-pin) and the actual motor speed or command
speed.
Setting value
0
1
2
[3]
4
5
6
7
8
9
SP Signals
Motor Actual
Speed
Command
Speed
Relationship between Output Voltage Level and Speed
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
06 0 – 1ZEROSPD input
selection
This sets switching of enable and disable of speed zero clamp input (ZEROSPD
,
CNX5 26-pin).
Setting value
[0]
1
Function of ZEROSPD Input (26-pin)