4.6.2 External Torque Limit........................................................................................................4-31
4.6.3 Checking Output Torque Limiting during Operation..........................................................4-32
4.7 Absolute Encoders.........................................................................................4-33
4.7.1 Connecting the Absolute Encoder.....................................................................................4-34
4.7.2 Absolute Data Request (SENS ON Command).................................................................4-35
4.7.3 Battery Replacement.........................................................................................................4-36
4.7.4 Absolute Encoder Setup and Reinitialization.....................................................................4-38
4.7.5 Multiturn Limit Setting........................................................................................................4-39
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)....................................................................4-40
4.7.7 Absolute Encoder Origin Offset.........................................................................................4-41
4.7.8 Absolute Data Reception Sequence..................................................................................4-41
4.8 Other Output Signals......................................................................................4-45
4.8.1 Servo Alarm Output Signal (ALM).....................................................................................4-45
4.8.2 Warning Output Signal (/WARN).......................................................................................4-45
4.8.3 Rotation Detection Output Signal (/TGON).......................................................................4-46
4.8.4 Servo Ready Output Signal (/S-RDY)...............................................................................4-46
4.8.5 Speed Coincidence Output Signal (/V-CMP).....................................................................4-47
4.8.6 Positioning Completed Output Signal (/COIN)..................................................................4-48
4.8.7 Positioning Near Output Signal (/NEAR)...........................................................................4-49
4.8.8 Speed Limit Detection Signal (/VLT).................................................................................4-50
4.9 Safety Function..............................................................................................4-52
4.9.1 Hard Wire Base Block (HWBB) Function...........................................................................4-52
4.9.2 External Device Monitor (EDM1).......................................................................................4-59
4.9.3 Application Example of Safety Functions..........................................................................4-61
4.9.4 Confirming Safety Functions.............................................................................................4-62
4.9.5 Connecting a Safety Function Device...............................................................................4-63
4.9.6 Precautions for Safety Function........................................................................................4-64
5. Adjustments.................................................................................................5-2
5.1 Type of Adjustments and Basic Adjustment Procedure...................................5-2
5.1.1 Adjustments........................................................................................................................5-2
5.1.2 Basic Adjustment Procedure...............................................................................................5-3
5.1.3 Monitoring Operation during Adjustment.............................................................................5-4
5.1.4 Safety Precautions on Adjustment of Servo Gains..............................................................5-7
5.2 Tuning-less Function......................................................................................5-10
5.2.1 Tuning-less Function.........................................................................................................5-10
5.2.2 Tuning-less Levels Setting (Fn200) Procedure.................................................................5-13
5.2.3 Related Parameters..........................................................................................................5-15
5.3 Advanced Autotuning (Fn201).......................................................................5-16
5.3.1 Advanced Autotuning........................................................................................................5-16
5.3.2 Advanced Autotuning Procedure.......................................................................................5-19
5.3.3 Related Parameters..........................................................................................................5-32
5.4 Advanced Autotuning by Reference (Fn202).................................................5-33
5.4.1 Advanced Autotuning by Reference..................................................................................5-33
5.4.2 Advanced Autotuning by Reference Procedure................................................................5-35
5.4.3 Related Parameters..........................................................................................................5-40
5.5 One-parameter Tuning (Fn203).....................................................................5-41
5.5.1 One-parameter Tuning......................................................................................................5-41
5.5.2 One-parameter Tuning Procedure....................................................................................5-42
5.5.3 One-parameter Tuning Example.......................................................................................5-45
5.5.4 Related Parameters..........................................................................................................5-46
5.6 Anti-Resonance Control Adjustment Function (Fn204)..................................5-47
5.6.1 Anti-Resonance Control Adjustment Function..................................................................5-47
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure................................5-48
5.6.3 Related Parameters..........................................................................................................5-48
5.7 Vibration Suppression Function (Fn205)........................................................5-49
5.7.1 Vibration Suppression Function........................................................................................5-49
5.7.2 Vibration Suppression Function Operating Procedure......................................................5-50
5.7.3 Related Parameters..........................................................................................................5-52
5.8 Additional Adjustment Function......................................................................5-53
5.8.1 Switching Gain Settings....................................................................................................5-53
5.8.2 Manual Adjustment of Friction Compensation...................................................................5-58
Summary of Contents for LECYU Series
Page 30: ...1 Outline 1 9 1 4 3 Three phase 200 V LECYU2 V9 Models ...
Page 65: ...3 Wiring and Connection 3 11 3 Wiring Example with DC Power Supply Input DRIVER ...
Page 92: ...3 Wiring and Connection 3 38 External Dimensions Units mm 1 FN Type by Schaffner EMC Inc ...
Page 93: ...3 Wiring and Connection 3 39 2 FN Type ...
Page 143: ...4 Operation 4 44 ...
