-ii-
4.8
Performing the Basic Settings of Pulse Commands ............................................... 4-18
4.8.1 About Position Command Pulse Input.........................................................................................4-18
4.8.2 Example of Operation ..................................................................................................................4-19
Chapter 5 Functions 5-1
5.1
Parameters and Monitors .......................................................................................... 5-2
5.1.1 General Parameters ........................................................................................................................5-2
5.1.2 Mechanical Setting Parameters......................................................................................................5-2
5.1.3 Monitors.........................................................................................................................................5-2
5.2
Operation Functions.................................................................................................. 5-3
5.2.1 Jog Move........................................................................................................................................5-3
5.2.2 Test Operation................................................................................................................................5-4
5.2.3 Auto-Tuning Operation..................................................................................................................5-4
5.2.4 Homing Move ................................................................................................................................5-5
5.2.5 Mechanical Setting Mode ..............................................................................................................5-9
5.3
Coordinate System.................................................................................................... 5-9
5.3.1 Coordinate System .........................................................................................................................5-9
5.3.2 Switching Position Command Pulse Weights ................................................................................5-9
5.4
Control System ....................................................................................................... 5-10
5.4.1 Velocity Control Part....................................................................................................................5-11
5.4.2 Position Control Part....................................................................................................................5-12
5.4.3 Feed Forward ...............................................................................................................................5-12
5.4.4 Servo Stiffness Parameter ............................................................................................................5-13
5.5
Acceleration/Deceleration Function ....................................................................... 5-14
5.5.1 Velocity Override Function..........................................................................................................5-14
5.5.2 Velocity Profile ............................................................................................................................5-15
5.6
Other Functions ...................................................................................................... 5-17
5.6.1 Settling Wait, Position Settling Status, and Positioning Status ....................................................5-17
5.6.2 Velocity Monitor and Analog Monitor.........................................................................................5-18
5.6.3 Brake Signal.................................................................................................................................5-18
5.7
Special Parameter Processing ................................................................................. 5-19
5.7.1 Internal Generation of Parameter Initial Values...........................................................................5-19
5.7.2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling
Weighted Data and Maximum Velocity Parameters.....................................................................5-19
5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data .......5-20
5.7.4 Limiting the Maximum Parameter Values ...................................................................................5-20
Chapter 6 Control Interfaces 6-1
6.1
Terminal Function..................................................................................................... 6-2
6.1.1 Connection, Setting, and I/O Mapping ..........................................................................................6-2
6.1.2 Explanation of Terminals ...............................................................................................................6-3
6.1.3 Electrical specifications .................................................................................................................6-4
6.1.4 I/O logic setting..............................................................................................................................6-5
6.2
Position Command Pulse Input ................................................................................ 6-6
6.3
Encoder Pulse Output ............................................................................................... 6-6
6.4
Operations................................................................................................................. 6-7
6.4.1 Starting an Operation .....................................................................................................................6-7
6.4.2 Aborting an Operation ...................................................................................................................6-7
6.4.3 Timing Charts ................................................................................................................................6-8
