TOC-3
TI 71M01D06-01EN 3rd Edition: 2012.12.01
6.1.4
Operation Privilege ........................................................................................................... 6-24
6.1.5
Process Settings in Error State ........................................................................................ 6-26
6.1.6
Methods of Issuing Servo-ON Commands ....................................................................... 6-30
6.1.7
Signal Timing when Turning the Power ON ..................................................................... 6-31
6.1.8
Coordinate Systems ......................................................................................................... 6-33
6.1.9
Velocity Profile .................................................................................................................. 6-37
6.2
Initial Operation Test .................................................................................................................. 6-43
6.2.1
Initial Operation Test Using the Utility Software ............................................................... 6-43
6.3
Jog Move .................................................................................................................................... 6-52
6.4
Table Data Operation ................................................................................................................. 6-56
6.4.1
Table Data Operation ........................................................................................................ 6-56
6.4.2
Setting Table Register ...................................................................................................... 6-64
6.4.3
Auto-tuning Operation ...................................................................................................... 6-68
6.4.4
Test Operation .................................................................................................................. 6-72
6.4.5
Homing ............................................................................................................................. 6-75
6.4.6
ABS (Absolute) Positioning Move .................................................................................... 6-91
6.4.7
INC (Incremental) Positioning Move ................................................................................. 6-94
6.4.8
Dwell ................................................................................................................................. 6-97
6.4.9
Parameter Change ........................................................................................................... 6-98
6.4.10
Conditional Branch ......................................................................................................... 6-102
6.4.11
Command ....................................................................................................................... 6-104
6.4.12
Startup Operation ........................................................................................................... 6-107
6.5
Control Using the PLC .............................................................................................................. 6-108
6.6
Position Settling Signal ............................................................................................................. 6-109
6.7
Signal Monitor Function ............................................................................................................ 6-112
6.8
Area Signal ............................................................................................................................... 6-115
6.9
Torque/thrust Control Function ................................................................................................. 6-116
6.10
Special Functions of CC-Link ................................................................................................... 6-117
6.10.1 Version V1.50 - Additional Function
...........................................................................
6-120
7.
Tuning .................................................................................................................................................... 7-1
7.1
How to Tune the Servo ................................................................................................................. 7-1
7.2
Resonance Prevention ................................................................................................................. 7-3
7.2.1
Prevention of Mechanical Resonance ................................................................................ 7-3
7.2.2
Filters .................................................................................................................................. 7-4
7.2.3
If the Motor Oscillates during Auto-tuning ........................................................................ 7-10
7.3
Settling Time Adjustment ............................................................................................................ 7-11
7.3.1
General Settling Time Adjustment Sequence ....................................................................7-11
7.3.2
Adjustment Using the Feed Forward #parameters ...........................................................7-11
7.4
How to Use the FFT Function ..................................................................................................... 7-14
7.4.1
Overview ........................................................................................................................... 7-14
7.4.2
Measurement Procedure .................................................................................................. 7-14
7.4.3
Usage Example of the FFT Function ................................................................................ 7-15
8.
Utility Software ...................................................................................................................................... 8-1
8.1
Introduction ................................................................................................................................... 8-1