Abstract

• The function depends on parameter setup. Refer to P.4-6 to P.4-85.
Refer to the next section "Function assignable to general purpose input".

Note → *1 Operation of Normal Open and Normal Close:
Normal Open: Input signal disconnected from COM-function disabled (OFF state); Input signal connected to COM-function enabled (ON state)
Normal Close: Input signal disconnected from COM-function enabled (ON state); Input signal connected to COM function disabled (OFF state)
[—]: No function assigned

Related page → P.3-54

Caution → • Safety Precautions

Usually, please set drive inhibit input (POT, NOT) and forced alarm input (ESTOP) to Normal Close that is used to stop upon disconnection of cable. When setting the drive inhibit input to Normal Open, verify that the setting will not cause safety problem.
For the same reason as described above, it is recommended to set servo-on input (SRV-ON) to Normal Open.
When setting the input to Normal Close, verify that the setting will not cause safety problem.

• Positive direction over-travel inhibit input.
• The operation with this input turned ON is set up in Pr5.04 "Setup of over-travel inhibit input".
• When using this input, set Pr5.04 "Setup of over-travel inhibit input" to a value other than 1 so that the input is OFF when the moving portion of the machine exceeds this signal range toward positive direction.

• Negative direction over-travel inhibit input.
• The operation with this input turned ON is set up in Pr5.04 "Setup of over-travel inhibit input".
• When using this function, set Pr5.04 "Setup of over-travel inhibit input" to a value other than 1 so that the input is OFF when the moving portion of the machine exceeds this signal range torward negative direction.

• Clears the positional deviation counter.
• Default setup clears the counter at the rising edge of the clear input. To change the setup, modify it in the Pr5.17 "Counter clear input mode".

<Signal width and clear timing>

*1 Deviation counter clear input ON/OFF = input photocoupler ON/OFF

Caution → This function can be assigned to only SI7. Allocation of this function to any other pin will cause an error.

• Ignores the positional command pulse.
• When using this feature, set Pr5.18 "Invalidation of command pulse inhibition input" to 0.

Caution → This function can be assigned to only SI10. Allocation of this function to any other pin will cause an error.

When INH input is ON, the deviation will be caused between the positional command administrated by controller and internal positional command from the filter that receives the positional command from servo drivers, and orginal location before being input INH positional command will be lost. Therefore, it is supposed to reset the original locationwhen it needs to restart return to origin action.

• Selects a control mode.

Caution → • This signal is required in all control modes. No setting will cause an error.
• Do not input any command 10 ms before and after changing the control mode.

• Up to 4 numberators can be used for command dividing/multiplying by using DIV1 and DIV2.

<DIV1 and DIV2 vs numerator/denominator of selected command dividing/multiplying process>

The numerator of command division can be changed by using DIV1 and DIV2 can be switched, the relationship of the positional that send from servo drivers and internal positional command will be change.Therefore, it is supposed to reset the origional location when it needs to restart return to origin action.

• Selects applicable frequency for damping control.
Combination of damping control input changeover 1 and 2 (VS-SEL1, VS-SEL2) enables select of max. 4 options.

Note → Also refer to P.4-25 "Pr2.13 [Damping filter switching selection]"

• Select 1^st or ^2nd gain.

• Select 1^st or 2^2nd torque limit.

  Pr5.21	Torque limit switching input (TL-SEL)	Torque limit switching setup (Pr5.23, Pr5.24)	Positive direction Torque limit	Negative direction Torque limit
  0	—		Analog input *1
  1	—	—	Pr0.13
  2	—	—	Pr0.13	Pr5.22
  3	OFF	Valid	Pr0.13
  	ON		Pr5.22
  4	—		Analog input *1
  5
  6	OFF	—	Pr0.13	Pr5.22
  	ON		Pr5.25	Pr5.26

  *1 To specify the torque limit value by an analog input, refer to Pr5.21 "Analog torque limit function".
• Setup of rate of change after torque limit switchover

  When applying Pr5.21 "Torque limit selection" = 3, changing rate of torque (slope) after selecting new torque limit can be changed.

  When changing from the 1^st torque limit to 2^nd torque limit, the changing rate (slope) set at Pr5.23 "Torque limit selection setup 1" is applied; after changing from the 2^nd torque limit to 1^st torque limit, the changing rate (slope) set at Pr5.24 "Torque limit selection setup 2" is applied. The sign of the changing rate is automatically selected by the driver according to the difference in value between the 1^st and 2^nd torque limit.

  If Pr5.23 "Torque limit selection setup 1" and Pr5.24 "Torque limit selection setup 2" are set to 0, switchover is instantaneous.

Caution → When the 1^st torque limit (Pr0.13) and the 2^nd torque limit (Pr5.22) are changed from the front panel or through communication, the changing rate setup is ignored and the new torque limit value is immediately and directly applied. That is, changing rate setting is effective only when the selection is made by using the torque limit select input (TL-SEL).

• Select one of 8 internal command speeds.

  <Relationship between Pr3.00 "Switching between internal and external speed setup" and internal command speed selection 1-3 and the speed command selected>

Caution → Internal command speed switching pattern should be so arranged as shown below that signal input signals are selected alternately. If 2 or more input signals are selected simultaneously, unspecified internal command speed may be advertently selected, whose setting value and acceleration/decelaration setting will cause unexpected operation.

Example 1) When Pr3.00 = 1 or 2

Example 2) When Pr3.00 = 3

• Set the speed command to 0.
• When using, set Pr3.15 "Speed zero clamp function selection" to a value other than 0.

• Specify the sign of speed command input at velocity control.

  Refer to P.4-31 "Pr3.01 Speed command rotational direction selecction"

• Specify the sign of torque command input at torque control.

  ON	Negative direction
  OFF	Position direction

  Refer to P.4-35 "Pr3.18 Torque command direction selection"

• Generates Err87.0 "Forced alarm input error".

• Selects 1^st inertia ratio or 2^nd inertia ratio according to the inertia ratio select input (J-SEL).

  Inertia ratio switching input (J-SEL)	Applicable inertia ratio
  OFF	1st Inertia ratio (Pr0.04)
  ON	2nd Inertia ratio (Pr6.12)

  Refer to P.4-69 "Pr6.10 Function expansion setup"

• This signal is used to switch dynamic brake (DB) On/Off.
• Switching is only possible when main power supply Off is detected

• Specify the torque limit for each direction value by the analog voltage.

*1 When specifying the torque limit value through the parameter, refer to P.4-58 "Torque limit select function"