— iii —
10. Operation-------------------------------------- 10-1
10.1. Preparation ---------------------------------------------10-1
10.1.1. Wiring Check------------------------------------10-1
10.1.2. Procedure for Positioning Operation------10-1
10.2. Position Control Mode Operation -----------------10-2
10.2.1. Home Return ------------------------------------10-2
10.2.1.1. Home Return Parameter List --------10-5
10.2.1.2. Adjusting Home Position Switch
and Home Offset Value -----------------10-5
10.2.1.3. Programming Home Return
Operation (example)---------------------10-9
10.2.2. Programmable Indexer --------------------- 10-10
10.2.2.1. Programmable Indexer Channel
Switching --------------------------------- 10-11
10.2.3. Pulse Train Command Operation-------- 10-12
10.2.3.1. Pulse Train Signal Format---------- 10-12
10.2.3.2. Pulse Train Resolution -------------- 10-13
10.2.3.3. Input Timing---------------------------- 10-16
10.2.4. RS-232C Position Commands ------------ 10-17
10.2.5. Jog Operation --------------------------------- 10-18
10.3. Velocity Control Mode Operation---------------- 10-19
10.3.1. RS-232C Communication Command--- 10-20
10.3.2. Analog Velocity Command ---------------- 10-21
10.4. Torque Control Mode Operation ---------------- 10-23
10.4.1. RS-232C Communication Command--- 10-23
10.4.2. Analog Torque Command ----------------- 10-24
11. Programming--------------------------------- 11-1
11.1. Commands and Parameters -----------------------11-2
11.2. Program Editing Command-------------------------11-5
11.3. Inputting a Program -----------------------------------11-6
11.4. Sample Program --------------------------------------11-8
12. Command and Parameter --------------- 12-1
12.1. List of Command and Parameter -----------------12-1
12.2. Glossary -------------------------------------------------12-5
AB
: I/O polarity------------------------------------12-5
AC
: Analog Command Mode -----------------12-6
AD
: Absolute Positioning, Degree -----------12-6
AG
: Analog Command Gain-------------------12-7
AN
: Axis Number---------------------------------12-7
AR
: Absolute Positioning, Resolver ---------12-8
AS
: Ask Daisy Chain Status ------------------12-8
AT
: Automatic Tuning --------------------------12-8
AX
: Axis Select-----------------------------------12-9
AZ
: Absolute Zero Position Set --------------12-9
BM
: Backspace Mode---------------------------12-9
CA
: Channel Acceleration ------------------- 12-10
CC
: Clear Channel----------------------------- 12-10
CH
: Channel Select --------------------------- 12-10
CL
: Clear Alarm --------------------------------12-10
CM
: Communication Mode-------------------12-11
CO
: Position Error Counter Over Limit----12-11
CR
: Circular Resolution-----------------------12-11
CV
: Channel Velocity--------------------------12-12
DB
: Dead Band ---------------------------------12-12
DC
: Digital RS-232C Command ------------12-13
DI
: Direction Inversion -----------------------12-13
FC : Friction Compensation------------------12-13
FD : Feed Back Direction Mode-------------12-14
FF
: Feed Forward Gain ----------------------12-14
FO
: Low-pass Filter OFF Velocity----------12-14
FP
: Low-pass Filter, Primary----------------12-15
FR : Feed back Signal Resolution ----------12-15
FS
: Low-pass Filter, Secondary------------12-15
FW
: FIN Width -----------------------------------12-16
FZ
: Feedback Phase Z Configuration ----12-16
HA
: Home Return Acceleration -------------12-16
HD : Home Return Direction -----------------12-17
HO
: Home Offset -------------------------------12-17
HS
: Home Return Start -----------------------12-17
HV
: Home Return Velocity-------------------12-17
HZ
: Home Return Near-Zero Velocity-----12-18
ID
: Incremental Positioning, Degree -----12-18
ILV : Integration Limit---------------------------12-18
IN
: In-position ----------------------------------12-18
IO
: Input /Output Monitor --------------------12-19
IR
: Incremental Positioning, Resolver ---12-19
IS
: In-position Stability Timer --------------12-19
JA
: Jog Acceleration--------------------------12-20
JP
: Jump-----------------------------------------12-20
JV
: Jog Velocity --------------------------------12-20
LG
: Lower Velocity Gain----------------------12-21
LO
: Load Inertia --------------------------------12-21
LR : Low Torque Ripple -----------------------12-21
MA
: Move Acceleration -----------------------12-22
MI
: Read Motor ID -----------------------------12-22
MM : Multi-line Mode----------------------------12-22
MN
: Monitor --------------------------------------12-23
MO
: Motor Off------------------------------------12-23
MS
: Motor Stop----------------------------------12-23
MT
: Factory Use Only-------------------------12-24
MV
: Move Velocity------------------------------12-24
NP
: Notch Filter, Primary
(primary notch filter frequency) -------12-24
NS
: Notch Filter, Secondary
(secondary notch filter frequency) ---12-25
NW : Neglect Width -----------------------------12-25
OE
: Sequence Option Edit-------------------12-25
OG : Origin Set-----------------------------------12-26
OL : Overload Limit-----------------------------12-26
OS : Origin Setting Mode----------------------12-26
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