User`s manual

5-5

Functions

5. Functions

FOT/ROT terminals

These terminals connect to operating range

limit switches in order to prevent overtravel.

FC-01 : Input terminal polarity setting

Related parameters

• When this signal is turned on, drive is allowed.

• To prevent overtravel, the internal speed command limit value in that direction is

set to 0.

• By changing the "Input terminal polarity" (FC-01) setting, drive is also allowed

when this input terminal is opened.

• An overtravel error (E25) occurs if the servo is ON for more than 1 second after the

FOT and ROT were both set to OFF.

• The FOT and ROT terminal function does not change even if the FA-14 (Motor

revolution direction) setting is changed. The FOT always prohibits drive in the CCW

direction and the ROT prohibits drive in the CW direction.

• When operating the robot with the RDP, the magnetic pole position estimation

should be performed with the FOT and ROT set to ON.

• A magnetic pole position estimation error (E95) occurs if either of the FOT or ROT

is set to OFF while the magnetic pole position is being estimated.

PEN terminal

The position command pulse input is valid

(enabled) only when this signal is ON.

FC-01 : Input terminal polarity setting

Related parameters

• The position command value can be refreshed by pulse train input while this signal

is ON.

• The "Input terminal polarity" (FC-01) setting allows position pulse train input to be

enabled when this input terminal is opened.

CER terminal

This signal clears the deviation (position error)

counter to "0" by setting the position command

value as the current position during position

control.

FC-01 : Input terminal polarity setting

Related parameters

• This signal is only valid during position control. The position command value is set

to the current position value at the instant this signal is switched from OFF to ON.

Since this signal turns on at the pulse edge, the counter clearing does not continue

even if this signal is kept ON. To clear the counter again, set this signal to OFF and

then back ON again.

• By changing the "Input terminal polarity" (FC-01) setting, the deviation counter can

also be cleared when this input terminal is opened.