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Position control
4.5.6 Stopper control function (Pr.512 to Pr.515, X29 signal)
(1) Stopper control by the X29 signal (Pr.512 = "1", Pr.513, X29 signal)
When the X29 signal (stopper control switchover signal) is assigned to the input terminal, the Pr.513 setting is applied and
E.OLT is disabled.
To input the X29 signal, set "29" in any of Pr.178 to Pr.184 (input terminal function selection) to assign the function to a
terminal.
Stopper control by the X29 signal is compatible with both speed control or position control.
When Pr.513 Stopper control torque limit has been activated and has stopped the motor, E.OLT does not occur, but the
electronic thermal O/L relay is activated. Thus, performing stopper control at a high load for a long time may cause the
motor overload trip fault (E.THM) or drive unit overload trip fault (E.THT).
The Pr.513 setting must be 80% or lower to prevent the motor from overheating.
Under stopper control, the motor outputs holding torque to press a workpiece to a mechanical stopper for more
accurate positioning. This function enables a stable stop for positioning.
Parameter
number
Name
Initial
value
Setting
range
Description
512
Stopper control function
selection
0
Set a condition to apply the Pr.513 setting, not to activate, and
E.OLT.
0 Stopper control disabled
1
When the X29 signal is turned ON (speed control, position
control)
10
Under position control,
Current position [before electronic gear] Pr.515 + Pr.514
or
Current position [before electronic gear] -(Pr.515 + Pr.514 )
11
Under position control,
Current position [before electronic gear] Pr.515 + Pr.514
12
Under position control,
Current position [before electronic gear] -(Pr.515 + Pr.514 )
513 Stopper control torque limit
40% 0 to 200% Set the torque limit value under stopper control.
514
Stopper control switchover
position lower 4 digits
0 0 to 9999
When the current position [before the electronic gear] enters
the range set by Pr.512 under position control, the torque limit
operation is activated according to the Pr.513 setting.
515
Stopper control switchover
position upper 4 digits
0 0 to 9999
The above parameters can be set when Pr.160 Extended function display selection = "0". (Refer to page 182)
SON signal
SON signal
RH signal
RH signal
RM signal
RL signal
X29 signal
X29 signal
STF signal
STF signal
STR signal
Torque limit
Torque limit
Rotation
speed
Rotation
speed
0
Pr.22 Pr.513 Pr.22
Stopper
control
Time
ON ON
ON
ON
ON
ON
ON
ON
Example of speed control Example of position control
ON
ON
ON ON
Pr.22 Pr.513
Position
Stopper
control
Pressing
Current positon
Position
command
Time
Time
ON