57
(2) Positioning data operation
ON
OFF
ON
Speed
Start positioning
Interrupt input
enable
Interrupt input
AD3~AD0
Interrupt position
detection
Interrupting traveling unit amount
（
P2.20
）
Time
OFF
OFF
ON
OFF
ON
ON
OFF
OFF OFF
Disabled
ON
OFF
ON
OFF
ON
In-position[INP]
Note
(1) After the interrupt input enable signal is turned on, the activating edge (OFF-to-ON transition) of
the first interrupt input is enabled.
(2) Allocate the interrupt input to the CN3 terminal of EI1~EI8.
Generally, the external terminal input and output signals are recognized in about 1 to 2ms by the
software, however, the interrupt input detects the signals by the hardware. Therefore, delay in
signal detection (about 0.05 ms) occurs only with the filter circuit of EI1~EI8.
(3) The in-position [INP] signal shown in the figure assumes the level output mode.
4.4.9 Torque Limit
Torque limit is always enabled in the position control, speed control and torque control mode.
If the torque is limited under position or torque control, the designated position or designated speed may not
be achieved.
This function is enabled during positioning data operation.
(1) Position control/speed control
The following limits can be set through combination of the “torque limit 0” and “torque limit 1” sequency
inputs.
Torque limit 1
Torque limit 0
Torque limit
OFF
OFF
Value set at P1.27 and P1.28.
OFF
ON
Smaller value between torque command voltage [TREF] and P1.27
(P1.28).
ON
OFF
Smaller value between P1.27 (P1.28) and P2.58.
ON
ON
Smaller value between torque command voltage [TREF] and P2.58.
If neither “torque limit 0” nor “torque limit 1” is used, P1.27
，
P1.28 are enabled.
