Specifications

11 - 4
11.1.7 Clutch
The smoothing clutch and direct clutch can be used.
The control includes the ON/OFF mode (X, Y, M, L, B, F), address mode (D, W) and
external input mode (TREN tracking enable signal of Q172EX serial ABS synchronous
encoder input unit).
The address mode is always used together with the ON/OFF mode. In addition, the
address clutch reference setting (M3213/Axis 1) must be turned and the reference
must be set.
No. Parameter setting item Default value Setting range
1 Control mode
ON/OFF
mode
ON/OFF mode
ON/OFF mode and
address mode
combination
ON/OFF mode and
external input
mode combination
2
Mode setting device
(1-word)
– –
Word device
D,W
3
Clutch ON/OFF
designation device
– Bit device X, Y, M, L, T, C, B, F
4
Clutch ON address
setting device (2-word)
5
Clutch OFF address
setting device (2-word)
– –
Even number of
word devices
D, W
–
6
Clutch status storage
device
– –––––
7 Clutch type Direct clutch Direct clutch/smoothing clutch
8 Smoothing method
Time constant
designation
Time constant designation/slip amount designation
9
Smoothing time
constant
0 0 to 65535ms
10
Smoothing amount
setting device (2-word)
– Even number of word devices D, W
(a) Smoothing clutch
When the clutch turns ON/OFF, the acceleration/deceleration process (smoothing
process) set with parameter No. 8 to 10 is carried out, and the control is output to
the output shaft.
(b) Direct clutch
When the clutch turns ON/OFF, as nothing is set in parameter No. 8 to 10, the
smoothing acceleration/deceleration process is not carried out, and the control is
output to the output shaft.
V
V
V
A
B
t
A
t
×
100
=
63%
A
B
Input to clutch
Output to output axis
using smoothing clutch
Output to output axis
using direct clutch
Clutch ON
Acceleration with smoothing
process
Deceleration with
smoothing process
Clutch OFF
t: Smoothing time constant