User manual

19 References
−153−
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TL input [position control mode, speed control mode]
TL input
M0 to M2
input
∗1
2 ms or less
Torque
0 %
300 %
2 ms or less 2 ms or less
TLC output
10 ms or less 10 ms or less
10 ms or less
Torque limit
Detected torque
ON
OFF
ON
OFF
ON
OFF
∗2
∗2
∗1 In the position control mode, the M0 and M1 inputs are used instead.
∗2 The specific time varies depending on the load condition and gain.
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END output/NEAR output [position control mode]
END output
∗1
Internal speed
command
Position deviation
ON
OFF
ON
OFF
NEAR output
∗2
2 ms or less
Positioning near
output band
Internal speed command
after application of command filte
r
Internal speed command
2 ms or less
2 ms or less
2 ms or less
Positioning complete
output band
∗1 The END output will turn ON when the internal speed command becomes “0” while the position deviation
remains within the range set in the application parameter for positioning complete output band [APP-1-04].
∗2 The NEAR output will turn ON when the internal speed command becomes “0” while the position deviation
remains within the range set in the application parameter for positioning near output band [APP-1-05].
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VLC output [torque control mode, tension control mode]
M0 to M2 input
Motor speed
2 ms or less
VLC output
2 ms or less
2 ms or less
2 ms or less
Speed limit
Detected
speed
Attained speed
output band
2 ms or less
ON
OFF
ON
OFF