2
Catalog
1. PRODUCT INTRODUCTION ........................................................................................................................... 4
1-1.
M
ODEL NAMING RULE
...................................................................................................................................... 4
1-2.
P
ERFORMANCE
................................................................................................................................................. 4
1-3.
A
PPLICATION FIELD
.......................................................................................................................................... 4
1-4.
E
LECTRICAL SPECIFICATION
............................................................................................................................. 5
1-5.
S
AFETY CAUTION
............................................................................................................................................. 5
2. INSTALLATION AND WIRING ........................................................................................................................ 6
2-1.
I
NSTALLATION
.................................................................................................................................................. 6
2-1-1. Dimension ................................................................................................................................................ 6
2-1-2. Installation environment .......................................................................................................................... 6
2-2.
W
IRING
............................................................................................................................................................ 7
2-2-1. Typical wiring diagram ............................................................................................................................ 7
2-2-2. Wiring caution ......................................................................................................................................... 7
3. DRIVER INTERFACE ........................................................................................................................................ 8
3-1.
LED
DISPLAY AND FAULT SOLUTION
................................................................................................................. 8
3-2.
E
THER
CAT
TERMINAL
...................................................................................................................................... 9
3-3.
C
ONTROL SIGNAL INTERFACE
......................................................................................................................... 10
3-3-1. Interface functions ................................................................................................................................. 10
3-4.
E
NCODER SIGNAL INPUT PORT
........................................................................................................................ 11
3-4-1. Power supply requirements .................................................................................................................... 11
3-5.
M
OTOR WINDING TERMINAL
........................................................................................................................... 11
3-6.
P
OWER SUPPLY TERMINAL
.............................................................................................................................. 12
3-7
U
PPER COMPUTER COMMUNICATION PORT
...................................................................................................... 12
4. PARAMETER AND SETTING ......................................................................................................................... 13
4-1.
P
ARAMETER LIST
............................................................................................................................................ 13
Group P0: basic function ................................................................................................................................. 13
Group P1: gain control .................................................................................................................................... 13
Group P2: IO configuration ............................................................................................................................. 14
Group P3: protection function .......................................................................................................................... 14
Group P4: motor parameters ........................................................................................................................... 14
Group P8: curve collection .............................................................................................................................. 15
Group U0 .......................................................................................................................................................... 15
Group U1 .......................................................................................................................................................... 16
Group U2 .......................................................................................................................................................... 17
Group U3 .......................................................................................................................................................... 17
Group F0 .......................................................................................................................................................... 17
5. ETHERCAT COMMUNICATION SPECIFICATION ................................................................................... 18
6. ETHERCAT OPERATION MODE .................................................................................................................. 19
6-1.
H
OMING
M
ODE
.............................................................................................................................................. 19
6-1-1. Overview ................................................................................................................................................ 19
6-1-2. Operation steps ...................................................................................................................................... 19
