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3.WIRING
Signal
Symbol
Proportion control
PC
Emergency stop
EMG
Clear
CR
Control change
LOP
Note: 1. Refer to Section 3-1-4.
2. P: Position control mode, S: Speed control mode, T: Torque control mode
Connec-
tor
Pin No.
Connect PC-SG to switch the speed amplifier from the
CN1B
proportional integral type to the proportional type.
8
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 shift. When the servo motor shaft is to be locked
mechanically after positioning completion (stop), switching
on the proportion control signal (PC) upon positioning
completion will suppress the unnecessary torque generated
to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control signal and torque control signal (TL) at
the same time to make the torque less than the rated by the
analog torque limit.
CN1B
Disconnect EMG-SG to bring the servo motor to an
15
emergency stop state, in which the servo is switched off and
the dynamic brake is operated.
Connect EMG-SG in the emergency stop state to reset that
state.
CN1A
Connect CR-SG to clear the position control counter on the
8
leading edge of the signal. The pulse width should be 10ms
or more.
CN1B
<Position/speed control change mode>
7
Used to select the control mode in the position/speed control
change mode.
Across LOP-SG
Control Mode
Open
Short
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control
change mode.
Across LOP-SG
Control Mode
Open
Short
<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.
Across LOP-SG
Control Mode
Open
Short
Functions/Applications
Position
Speed
Speed
Torque
Torque
Position
3– 12
Control
I/O
Mode
Division
(Note 2)
(Note 1)
P S T
DI–1
DI–1
DI–1
DI–1
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