Chapter 4 Field Network ··············································································· 185
Chapter 5 Vibration Suppress Control Function ················································· 187
5.1 Setting Procedure ························································································189
5.2 Settings of Parameters for Vibration Suppress Control ········································· 190
[1] Damping Characteristic Coefficient 1,2 (Parameter No.97, 98, 101, 102, 105, and
106) Do Not Change.·················································································190
[2] Natural Frequency [1/1000Hz] (Parameter No.99, 103 and 107) ·························190
[3] Notch Filter Gain (Parameter No.100, 104 and 108) ········································· 190
[4] Default Vibration Suppress No. (Parameter No.109)·········································191
[5] Stop method at Servo OFF (Parameter No.110) ·············································· 191
5.3 Setting of Position Data ················································································· 191
Chapter 6 Power-saving Function (Auto Servo-motor OFF Function) ····················· 193
Chapter 7 Absolute Reset and Absolute Battery ················································ 195
7.1 Absolute Reset ····························································································195
[1] Absolute Reset Procedure from Teaching Tool ················································ 195
[2] Absolute Reset Using PIO ·········································································· 198
7.2 Absolute Battery ··························································································199
7.2.1 Absolute Encoder Backup Specifications······················································199
7.2.2 Replacement of Absolute Battery ······························································· 201
Chapter 8 I/O Parameter ·············································································· 203
8.1 I/O Parameter List ························································································ 204
8.2 Detail Explanation of Parameters·····································································209
8.3 Servo Adjustment ·························································································244
Chapter 9 Troubleshooting ············································································ 247
9.1 Action to Be Taken upon Occurrence of Problem·················································247
9.1.1 WRG LED (Specified only for SCON-CA/CGAL) ···········································248
9.2 Fault Diagnosis···························································································· 249
9.2.1 Impossible Operation of Controller····························································· 249
9.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) ························252
9.2.3 Generation of Noise and/or Vibration··························································254
9.2.4 Impossible Communication ······································································255
9.3 Alarm Level ································································································256
9.4 Alarm List ···································································································257
Chapter 10 Appendix··············································································· 271
10.1 Conformity to Safety Category ········································································271
[1] System Configuration ················································································271
[2] Wiring and Setting of Safety Circuit·······························································272
[3] Examples of Safety Circuits ········································································ 274
[4] TP Adapter and Related Components ···························································280
10.2 Way to Set Multiple Controllers with 1 Teaching Tool ············································283
10.2.1 Connecting Example ··············································································283
10.2.2 Detailed Connection Diagram of Communication Lines ·································· 284
10.2.3 Axis No. Setting·····················································································285
[1] SCON-CA····························································································285
[2] SCON-CAL/CGAL ·················································································285
10.2.4 Handling of e-CON Connector (How to Connect) ··········································286
10.2.5 SIO Converter·······················································································287
10.2.6 Communications Cable ···········································································289
10.2.7 External Dimension ················································································289
10.3 Maintenance ·······························································································290
10.3.1 Consumed Parts····················································································290
10.3.2 Maintenance Information ········································································· 290
10.3.3 Replacement of Fan Unit (Specified only for SCON-CAL/CGAL) ······················291
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