User manual

9 Functions and operations in the position control mode
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Freeing the motor output shaft: FREE input
When the FREE input is turned ON, the motor current will be cut off. The motor will lose its holding torque,
and the output shaft can be turned with an external force. The deviation counter will also be cleared.
If the FREE input is turned ON while the position is held with the electromagnetic brake, the electromagnetic
brake will be released. Accordingly, the position can no longer be held.
30 ms
or less
20 ms or less
60 ms or less
60 ms or less
2 ms or less
2 ms
or less 2 ms or less
2 ms
or less
2 ms
or less
60 ms
or less
ON
OFF
Release
Hold
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Electromagnetic
brake
S-ON input
(normally open)
FREE input
READY output
MBC output
Motor
excitation
9.4 Torque limit
The maximum output torque of the motor can be limited by turning the TL input ON. Use this input to
suppress motor torque, for your safety.
Follow the steps below to limit the maximum output torque of the motor during positioning operation:
Step 1 Setting the torque limit value
Step 2 Limiting the torque
Step 1 Setting the torque limit value
Set the torque limit value as an integer percentage of the rated torque being 100%, under each of four
operation data numbers from 0 to 3.
When the system parameter for analog input signals [SyS-1-05] is set to “Enable,” one analog point as well as
three digital points are available to assign settings. If the parameter is set to “Disable,” four digital points are
available to assign settings.
Analog input signals [SyS-1-05]
Operation data Enable (initial value) Disable
No.0
Analog setting
(External potentiometer or
external DC voltage)
Digital setting
No.1 Digital setting
No.2 Digital setting
No.3 Digital setting
Note
If operation data No. 0 is selected as the torque limit, the damping control frequency
(p.69) set under operation data No. 0 will also be selected. Different operation data
numbers cannot be selected for the two parameters.
Operation data M1 input M0 input
No.0 OFF OFF
No.1 OFF ON
No.2 ON OFF
Select a desired torque limit value from among the
predefined settings, based on a combination of ON/OFF
statuses of M0 and M1 inputs.
No.3 ON ON