17．Positioning mode (pushing operation)
During position control mode, INP turns on when the droop pulse is within the set
in-position range. The in-position range can be changed with [Pr.PA10]. If the
in-position range is increased, it may be always on during low-speed rotation.
It is always off during speed control mode and torque control mode.
Positioning mode During point table type pushing operation, INP turns on when
TLC turns on continuously for 100 ms. The continuous detection time of TLC can
be changed with [Pr.PS03].
INP turns off when the servo is off.
INP turns on when PERR (Pushing error) is off.
When the droop pulse is within the set
in position range
When the droop pulse is out of the set
in position range
At the start of pushing, INP turns off.
After TLC is turned on continuously for
100ms, INP is turned on.
During torque
limit /
Pushing torque
reached
In position control mode, TLC turns on when the torque set in [Pr. PA11 forward
rotation torque limit], [Pr. PA12 reverse rotation torque limit] or TLA (analog torque
limit) is reached during torque generation. .
Positioning mode During point table type pushing operation, [Pr. PA11 forward
rotation torque limit], [Pr. PA12 reverse rotation torque limit], TLA (analog torque
limit), pushing torque set in the point table, or [Pr. .PS04 Pushing torque upper
limit value], the TLC turns on. It turns off when the pushing torque falls below the
value.
TLC turns off in the servo off state.
MEND turns on when the droop pulse is the in-position output range set in
[Pr.PA10] and the command remaining distance is "0".
MEND turns on when the servo is turned on.
MEND turns off when the servo is off. However, in the equal division indexing
method, MEND does not turn off even when the servo is off.
Positioning mode MEND turns off during the pushing operation of the point table
method.
Also, when servo lock stop at pushing error is selected in [Pr.PS01] “_ _ _ 1” and
[Pr.PS01] “_ _ 1 _”, PERR is turned off by turning on ST1 (start signal). Become.
The PED turns on when the droop pulse is in the in-position output range set in
[Pr.PA10] and the command remaining distance is "" 0 ".
PED turns on when MEND (movement complete) is on and ZP (home return
complete) is on.
PED turns on when ZP (home return complete) is on and servo is on.
The PED turns off when the servo is off.
Positioning mode PED is turned off during the pushing operation of the point table
method.
Positioning mode Turns ON when the pushing operation cannot be continued or
the pushing operation cannot be started during the pushing operation of the point
table method.
When RES (reset) turns on, PERR turns off.
Also, when servo lock stop at pushing error is selected in [Pr.PS01] “_ _ _ 1” and
[Pr.PS01] “_ _ 1 _”, PERR is turned off by turning on ST1 (start signal). Become.
Positioning mode TFBL turns on during the pushing operation of the point table
method.
When the pushing operation is completed, TFBL turns off.
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