18．EtherCAT COMMUNICATION
18.5.2.2 Bit definition of Control DI
Control DI can control the FSA state and issue control commands. The following table shows the bit definition
of Control DI.
(1) Control DI 1
The value at reading is undefined. Set "0" at writing.
Gain switching
Turn on C_CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
PB60] as the load to motor inertia ratio and gain values.
Fully closed loop control switching
Use this bit when the semi closed loop control/fully closed loop control switching is
enabled with [Pr. PE01].
Turn off C_CLD to select the semi closed loop control, and turn on C_CLD to select the
fully closed loop control.
The value at reading is undefined. Set "0" at writing.
The value at reading is undefined. Set "0" at writing.
Proportional control
Turn C_PC on to switch the speed amplifier from the proportional integral type to the
proportional type.
If the servo motor at a stop is rotated even one pulse due to any external factor, it
generates torque to compensate for a position mismatch. When the servo motor shaft
is to be locked mechanically after positioning completion (stop), switching on the C_PC
upon positioning completion will suppress the unnecessary torque generated to
compensate for a position mismatch.
When the shaft is to be locked for a long time, use the C_PC and torque limit at the
same time to make the torque less than the rated torque.
The value at reading is undefined. Set "0" at writing.
Operation alarm reset
Turn on C_ORST from off to reset [AL. F4 Positioning warning].
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