CHAPTER 9 CHARACTERISTICS

9.1.3 Control Mode Selection Timing

Transition time for each control mode is 2 ms.

After issuing a selection signal, wait for 2 ms or more before issuing next commands.

[Example] Switching from position control to speed control

9

PA01_01 (control mode selection)

Control mode

OFF

Position

control

2 ms

ON

Speed

control

Manual forward rotation [FWD]

Speed command voltage

OFF

2 ms

May not be input

ON

Can be input

9.1.4 Alarm Reset Timing

After an alarm occurs, it takes about 0.5 ms until alarm detection output.

It takes about 1.5 ms or 80 ms* after an alarm reset signal is issued until the alarm is actually removed.

Alarm

Alarm reset

Servo-on [S-ON]

Ready for servo-on

[RDY]

Servo alarm detection

(normally open contact)

Servo alarm detection

(normally closed contact)

Normal

OFF

0.5 ms

ON

OFF

ON

Alarm occurrence

ON

OFF

ON

OFF

Normal

1.5 ms/80 ms*

ON

OFF

1.5 ms/80 ms*

ON

OFF

ON

9-4 Timing Chart