Chapter 5 Collision Detection Feature······································································ 265
5.1 Collision Detection Judgement..................................................................................... 265
5.2 Settings......................................................................................................................... 266
5.3 Adjustment.................................................................................................................... 267
Chapter 6
Power-saving Function ··········································································· 269
6.1 Automatic Servo-off and Full Servo Functions............................................................. 269
6.1.1 Setting of periods taken until automatic servo OFF................................................. 270
6.1.2 Set of power-saving mode ....................................................................................... 270
6.1.3 Status of positioning complete signal in selection of automatic servo OFF............. 271
6.2 Selecting Automatic Current Reduction Feature.......................................................... 272
6.2.1 Process When Feature is Active.............................................................................. 273
6.2.2 Caution..................................................................................................................... 273
Chapter 7
Absolute Reset and Absolute Battery ························································· 275
7.1 Absolute Reset ............................................................................................................. 275
7.2 Absolute Battery (for Simple Absolute Type)................................................................ 279
7.2.1 Absolute encoder backup specifications ................................................................. 280
7.2.2 Absolute Battery Charge.......................................................................................... 280
7.2.3 Absolute Battery Voltage Drop Detection ................................................................ 281
Chapter 8
Parameter···························································································· 283
8.1 Parameter List .............................................................................................................. 284
8.2 Detail Explanation of Parameters................................................................................. 289
8.3 Servo Adjustment ......................................................................................................... 322
8.3.1 Adjustment of Pulse Motor and Servo Motor........................................................... 322
8.3.2 Adjustment of Brushless DC Electric Motor............................................................. 324
Chapter 9
Troubleshooting ···················································································· 325
9.1 Action to Be Taken upon Occurrence of Problem ........................................................ 325
9.2 Fault Diagnosis............................................................................................................. 327
9.2.1 Impossible operation of controller............................................................................ 327
9.2.2 Positioning and speed of poor precision (incorrect operation) ................................ 328
9.2.3 Generation of noise and/or vibration........................................................................ 329
9.2.4 Impossible Communication...................................................................................... 329
9.3 Gateway Alarm ............................................................................................................. 330
9.3.1 Gateway Alarm Codes ............................................................................................. 330
9.4 Driver Alarm.................................................................................................................. 333
9.4.1 Alarm Level .............................................................................................................. 333
9.4.2 Simple Alarm Code .................................................................................................. 333
9.4.3 Alarm Codes for Driver Board (Each Axis) .............................................................. 335
Chapter 10
Appendix ····························································································· 349
10.1 Conformity to Safety Category ..................................................................................... 349
10.2 When Connecting Power Supply with + Grounding ..................................................... 360
10.3 Maintenance ................................................................................................................. 361
10.3.1 Consumed Parts ...................................................................................................... 361
10.3.2 Maintenance Information ......................................................................................... 361
10.3.3 Replacement of Fan ................................................................................................ 362
10.4 List of Specifications of Connectable Actuators ........................................................... 363
10.4.1 Specifications for Pulse Motor Type Actuator .......................................................... 363
10.4.2 Specifications for Servo Motor Type Actuator.......................................................... 393
10.4.3 Specifications for Brushless DC Electric Motor Actuator ......................................... 400
Correlation diagram of speed and loading capacity................................................................ 401
Pressing Force/Gripping Force and Current Limit Value ........................................................ 452
Rotational speed and Output torque / Allowable inertial moment ........................................... 462
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