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7 Applied Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
7-2 General-purpose Output Signals
7
7-2-3 Function Output Details
Velocity Conformity Output (VCMP)
• This output turns ON when the motor speed conforms to the command velocity.
• The velocity conformity is determined when the difference between the velocity command inside
the Servo Drive before acceleration or deceleration process and the motor rotation speed is within
the range set in the Speed Detection Function - Velocity Conformity Detection Range
(3B60-03 hex).
• The detection range has a hysteresis of 10 r/min.
• This output remains OFF in controls other than velocity control.
Warning Output (WARN1 and WARN2)
• The Warning Output 1 (WARN1) turns ON when the warning that is set in Warning Output 1 Set-
ting (4021 hex) is detected.
• The Warning Output 2 (WARN2) turns ON when the warning that is set in Warning Output 2 Set-
ting (4022 hex) is detected.
Position Command Status Output (PCMD)
• This output turns ON when a position command is issued in the position control.
• It is recognized that there is a position command when the command position changes from the
last one.
Velocity Limiting Output (VLMT)
• This output turns ON when the motor speed reaches the following limit values.
a) Maximum motor speed
b) Velocity Limit in Torque Control - Velocity Limit Value (3031-01 hex)
c) Max profile velocity (607F hex)
• This output remains OFF in controls other than torque control.
Error Clear Attribute Output (ERR-ATB)
• This output turns ON when an error that can be reset occurs.
ON ONOFF OFF
Velocity [r/min]
Velocity command
after acceleration/
deceleration process
Velocity command
Motor speed
Velocity Conformity
Detection Range
Velocity Conformity
Detection Range
Velocity Conformity Detection Range
Time
Velocity Conformity
Output (VCMP)
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