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Chapter 5 Data Used for Positioning Control
Control details Corresponding item
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 whether gain switching is execution or not.
[Cd.108]
Gain switching command flag
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
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