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Chapter 5 Data Used for Positioning Control
Control details Corresponding item
Set "same setting/individual setting" of the forward torque limit value
or reverse torque limit value in the torque change function.
[Cd.112]
Torque change function switching request
Change "[Md.35] Torque limit stored value/forward torque limit
stored value".
[Cd.22]
New torque value/forward new torque
value
Change "[Md.120] Reverse torque limit stored value".
[Cd.113]
Reverse new torque value
Set whether "[Md.48] Deceleration start flag" is valid or invalid
[Cd.41]
Deceleration start flag valid
Set the stop command processing for deceleration stop function
(deceleration curve re-processing/deceleration curve continuation)
[Cd.42]
Stop command processing for
deceleration stop selection
Set the device used for speed-position switching.
[Cd.45]
Speed-position switching device selection
Switch speed-position control.
[Cd.46]
Speed-position switching command
Turn the servo OFF for each axis.
[Cd.100]
Servo OFF command
Set torque limit value
[Cd.101]
Torque output setting value
Set the connect/disconnect of SSCNET communication.
[Cd.102]
SSCNET control command
Set whether gain changing is execution or not.
[Cd.108]
Gain changing command
Set the semi closed loop control/fully closed loop control.
[Cd.133]
Semi/Fully closed loop switching request
Set the PI-PID switching to servo amplifier.
[Cd.136]
PI-PID switching request
Speed-torque
control
Switch the control mode.
[Cd.138]
Control mode switching request
Set the control mode to switch.
[Cd.139]
Control mode setting
Set the command speed during speed control mode.
[Cd.140]
Command speed at speed control mode
Set the acceleration time during speed control mode.
[Cd.141]
Acceleration time at speed control mode
Set the deceleration time during speed control mode.
[Cd.142]
Deceleration time at speed control mode
Set the command torque during torque control mode.
[Cd.143]
Command torque at torque control mode
Set the time constant at driving of torque control
mode.
[Cd.144]
Torque time constant at torque control
mode (Forward direction)
Set the time constant at regeneration of torque
control mode.
[Cd.145]
Torque time constant at torque control
mode (Negative direction)
Set the speed limit value during torque control mode.
[Cd.146]
Speed limit value at torque control mode
Set the command speed during continuous operation
to torque control mode.
[Cd.147]
Speed limit value at continuous operation
to torque control mode
Set the acceleration time during continuous
operation to torque control mode.
[Cd.148]
Acceleration time at continuous operation
to torque control mode
Set the deceleration time during continuous
operation to torque control mode.
[Cd.149]
Deceleration time at continuous operation
to torque control mode
Set the target torque during continuous operation to
torque control mode.
[Cd.150]
Target torque at continuous operation to
torque control mode
Set the time constant at driving of continuous
operation to torque control mode.
[Cd.151]
Torque time constant at continuous
operation to torque control mode
(Forward direction)
Set the time constant at regeneration of continuous
operation to torque control mode.
[Cd.152]
Torque time constant at continuous
operation to torque control mode
(Negative direction)
Set the switching conditions for switching to
continuous operation to torque control mode.
[Cd.153]
Control mode auto-shift selection
Set the condition value when "[Cd.153] Control mode
auto-shift selection" is set.
[Cd.154]
Control mode auto-shift parameter