5-29
5-6 Fully-closed Control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
Basic Control Mode
Rotation Direction Switching (Pn000)
Set the relation between the command direction and the motor rotation direction.
0: A forward direction command sets the direction to CW as viewed from the shaft end
1: A forward direction command sets the direction to CCW as viewed from the shaft end
Take note that if Pn000 = 1, the scale count direction becomes opposite to the count direction
used for monitoring the total external encoder feedback pulses, etc.
Control Mode Selection (Pn001)
Select the fully-closed control (set value: 6).
Command Pulse Input Process (Pn005, Pn006, Pn007)
Position command input terminals are classified into the input 1 system (+CW, -CW, +CCW, -
CCW) and input 2 system (+CWLD, -CWLD, +CCWLD, -CCWLD).
If the position command output is a line-driver output, set input 2. If it is an open collector
output, set input 1. Although input 2 can also be used for a line-driver output, the allowable
maximum input frequency will become lower than when input 1 is selected.
For information on the settings for command pulse rotation direction and command pulse mode,
refer to "5-1 Position Control"(P.5-1).
Parameter
number
Parameter name Explanation
Setting
range
Unit
Pn005
Command Pulse
Input Selection
Select the command pulse input
terminal.
When using a Servo Relay Unit cable,
set to 0 (photocoupler input).
0: Photocoupler input
(+CW, -CW, +CCW, -CCW)
1: Input for line driver only
(+CWLD, -CWLD, +CCWLD,
-CCWLD)
0 or 1 −
Pn006
Command Pulse
Rotation Direction
Switching
Selection
Set the count direction for the
command pulse input.
0: Command pulse, forward
direction
1: Command pulse, reverse
direction
0 or 1 −
Pn007
Command Pulse
Mode Selection
Set the count method for the
command pulse input.
0: 90° phase difference (A/B) signal
input
1: Forward/reverse pulse
2: 90° phase difference (A/B) signal
input
3: Feed pulse/direction signal
0 to 3 −
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