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4. OPERATION
(2) Timing chart
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Parameter No. PC35 (Note 3)Parameter No. PC10 Parameter No. PC35
0
ON
OFF
Rough match (MEND)
Home position return
completion (ZP)
Servo motor speed
Forward rotation start (ST1)
Home position address
Parameter No. PC07
Automatic/manual selection
(MD0)
Limiting torque (CPO)
Torque limit value
Stopper time
Parameter No. PC09
Point table No.1
Acceleration time constant
Home position return
speed Parameter No.PC04
Reverse rotation start (ST2)
0r/min
Forward
rotation
Selected point table No.
3ms or less
Stopper
(Note 2)
5ms or more
(Note 1)
3ms or more
Movement finish (MEND)
Note 1. External input signal detection delays by the input filter setting time of parameter No. PD19. Also, make up a sequence that
will change the point table selection earlier by the time that takes into account the output signal sequence from the
controller and the variation of a signal change due to the hardware.
2. TLC turns ON when the torque reaches to the value set in the forward torque limit (parameter No. PA11), reverse torque
limit (parameter No.PA12), internal torque limit 2 (parameter No. PC35), or analog torque limit (TLA).
3. The torque limit that is enabled at this point is as follows.
(Note)
I/O devices
Limit value status
Torque limit to be
enabled
TL1 TL
0 0 Parameter No.PC10
0 1
TLA
Parameter No.PC10 Parameter No.PC10
TLA Parameter No.PC10 TLA
1 0
Parameter No.PC35
Parameter No.PC10 Parameter No.PC10
Parameter No.PC35 Parameter No.PC10 Parameter No.PC35
1 1
TLA
Parameter No.PC10 Parameter No.PC10
TLA Parameter No.PC10 TLA
Note. 0: OFF
1: ON
The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.