Speed command value or
speed detection value
Output current
RUN command
“POS-SET”
Brake signal “BRK”
300EHex-60Hex
Brake control Brake-release Torque = 0% setting
Torque command
Servo Lock
300EHex-47Hex: Brake Control Brake-release Timer
Servo Lock
OFF
OFF
OFF OFFON
ON OFF
ON OFF
ON OFF ON
ASR integral term cancel
“P-SEL”
Vector control 300EHex-61Hex bit 6 = 1 Operation time chart
300EHex-45Hex
Brake Control Brake-release Current
300EHex-61Hex bit6
0: Brake signal ON during position control stop
1: Brake signal released during position control stop
7-7-16
Position Store Selection at Power OFF
When 3037Hex-15Hex is set to “1: Store at low voltage status,” the data of the current feedback posi-
tion (3037Hex-63Hex, 3037Hex-64Hex) is stored to EEPROM when an insufficient voltage state oc-
curs, and is restored at the next power ON. When “0: Invalid” is set, the data is cleared to zero at the
next power ON.
Even if store to EEPROM is enabled when an insuf
ficient voltage state occurs, when the motor rotates
with the power supply shut off, the rotation amount cannot be detected and this causes position error.
When this function is used, use of the mechanical brake is recommended.
Parameter No. Function name Data
Default
data
Unit
3037Hex-15He
x
Position Feedback Store Selec-
tion at Power Off
0: Disable
1: Store at low voltage status
0 -
7-7-17
Excessive Positional Deviation
Excessive positional deviation is judged when the deviation between the current reference position
and current feedback position exceeds the detection level of excessive positioning deviation
(3037Hex-18Hex, 3037Hex-19Hex).
When excessive positional deviation occurs, the excessive positional deviation alarm (d0) is immedi-
ately output and the motor runs freely
.
In position control, the current reference position is overwritten with the current feedback position
when inverter output turns OFF
, and the positional deviation of APR is cleared. For this reason, the
7 Vector Control and Applied Functions
7-61
M1 Series EtherCAT Type User’s Manual (I670)
7-7 Position Control
7
7-7-16 Position Store Selection at Power OFF
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