— ii —
7. Handy Terminal Communication -------- 7-1
7.1. When Power is Turned ON ---------------------------- 7-1
7.2. Command Entry ------------------------------------------ 7-2
7.3. Password --------------------------------------------------- 7-2
7.4. Cancelling Command ----------------------------------- 7-3
7.5. Error --------------------------------------------------------- 7-3
7.6. Readout Command -------------------------------------- 7-4
8. Trial Running and Adjustment------------ 8-1
8.1. Adjustment Sequence----------------------------------- 8-1
8.2. Automatic Tuning (Adjustment Level 1) ------------ 8-2
8.2.1. Preparations---------------------------------------- 8-2
8.2.2. Initialize Servo Parameters --------------------- 8-4
8.2.3. Execute Automatic Tuning
(Adjustment Level 1) ----------------------------- 8-5
8.2.3.1 When the load weight is known. -------- 8-5
8.2.3.2 When the load weight is not known. --- 8-5
8.2.4. Trial Running (Adjustment Level 1)----------- 8-7
8.2.5. Minor Servo Gain Adjustment
(Adjustment Level 2) ----------------------------- 8-9
8.3. Manual Adjustment -------------------------------------8-11
8.3.1. Precautions ----------------------------------------8-11
8.3.2. Adjustment of the Velocity Gain (VG)-------8-11
8.3.3. Adjustment of Velocity Integrator
Frequency -----------------------------------------8-13
8.4. Setting Filters (Adjustment Level 2) ----------------8-15
9. Operational Function ----------------------- 9-1
9.1. General Operation and Function --------------------- 9-1
9.1.1. Servo “ON”------------------------------------------ 9-1
9.1.2. Emergency Stop----------------------------------- 9-2
9.1.3. Position Error Counter Clear Input------------ 9-3
9.1.4. Overtravel Limit------------------------------------ 9-4
9.1.4.1. Hardware Overtravel Limit--------------- 9-4
9.1.4.2. Software Overtravel Limit ---------------- 9-5
9.1.5. Alarm Output --------------------------------------- 9-6
9.1.6. In-Position Output--------------------------------- 9-7
9.1.6.1. Output Signal Format --------------------- 9-8
9.1.6.2. Parameter “IN”------------------------------ 9-9
9.1.6.3. Parameter “IS” ------------------------------ 9-9
9.1.6.4. “IPOS” Output for Special
Occasion. ------------------------------------ 9-9
9.1.7. Position Feedback Signal ----------------------9-10
9.1.8. Monitor Functions --------------------------------9-11
9.1.8.1. Velocity Monitor ---------------------------9-12
9.1.8.2. Monitoring the I/O State -----------------9-13
9.1.8.3. Reading the Present Position----------9-14
9.2. To Have More Advanced Operation --------------- 9-15
9.2.1. Position Scale ------------------------------------ 9-15
9.2.1.1. Resolution---------------------------------- 9-15
9.2.1.2. Direction of Position Scale------------- 9-15
9.2.1.3. Position Scale Coordinate ------------- 9-16
9.2.1.4. Position Scale Reset -------------------- 9-16
9.2.1.5. Position Readout ------------------------- 9-16
9.2.1.6. Position Scale Setting Example ------ 9-17
9.2.2. Digital Filter --------------------------------------- 9-18
9.2.3. Feed Forward Compensation ---------------- 9-19
9.2.4. Integrator Limiter : ILV ------------------------- 9-20
9.2.5. Dead Band Setting : DBP --------------------- 9-21
9.3. RS-232C Communication ---------------------------- 9-22
9.3.1. Communication Specification ---------------- 9-22
9.3.2. Communication Procedure-------------------- 9-23
9.3.2.1. When Power is Turned ON ------------ 9-23
9.3.2.2. Command Entry -------------------------- 9-24
9.3.2.3. Password----------------------------------- 9-25
9.3.2.4. Cancelling Command ------------------- 9-26
9.3.2.5. Error ----------------------------------------- 9-27
9.3.2.6. Readout Command---------------------- 9-29
9.3.3. Daisy-Chain Communication ----------------- 9-31
9.3.3.1. Procedure to Set Daisy-chain
Communication --------------------------- 9-31
9.3.3.2. Initial Setting------------------------------- 9-32
9.3.3.3. Interfacing---------------------------------- 9-32
9.3.3.4. Power On ---------------------------------- 9-34
9.3.3.5. Operation----------------------------------- 9-35
10. Positioning ----------------------------------10-1
10.1. Preparation --------------------------------------------- 10-1
10.1.1. Wiring Check------------------------------------ 10-1
10.1.2. Procedure---------------------------------------- 10-1
10.2. Home Return------------------------------------------- 10-2
10.2.1. Home Return Parameter List --------------- 10-4
10.2.2. Adjusting the Home Limit Switch and
Home Offset Value------------------------------ 10-4
10.2.3. Programming the Home Return
Operation (example)---------------------------- 10-7
10.2.4. Position of Origin Limit Switch in TY1
and TY2 I/O Combination --------------------- 10-8
10.3. Programmed Operation ----------------------------- 10-9
10.3.1. Programmable Indexer Channel
Switching -----------------------------------------10-10
10.4. Pulse Train Command------------------------------10-11
10.4.1. Pulse Train Signal Format------------------10-11
10.4.2. Pulse Train Resolution ----------------------10-12
10.4.3. Input Timing ------------------------------------10-13
10.5. RS-232C Position Commands--------------------10-15
10.6. Jog Operation-----------------------------------------10-16
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