Chapter 1 Overview …………………………...............................………………...........………………………………… 1-1 ~ 1-10
1.1 Characteristics ................................................................................................................................................................... 1 - 1
1.2 Signal Flow of Motion Controller ....................................................................................................................................... 1 - 3
1.3 Function Overview of Motion Controller ........................................................................................................................... 1 - 4
1.3.1 Positioning Control ...................................................................................................................................................... 1 - 4
1.3.2 Interpolation Control .................................................................................................................................................... 1 - 5
1.3.3 Speed Control ............................................................................................................................................................. 1 - 9
1.3.4 Torque Control ......................................................................................................................................................... 1 - 10
Chapter 2 Specification ………………………….............................................……………………………………………. 2-1 ~ 2-14
2.1 General Specification ......................................................................................................................................................... 2 - 1
2.2 Power Specification ........................................................................................................................................................... 2 - 2
2.3 Performance Specification ................................................................................................................................................ 2 - 3
2.3.1 Function Specification ................................................................................................................................................. 2 - 3
2.3.2 Communication Specification ..................................................................................................................................... 2 - 6
2.3.3 Internal Input/Output Specification ............................................................................................................................. 2 - 7
2.3.4 Encoder Input Specification ........................................................................................................................................ 2 - 9
2.4 The Name of Each Part .................................................................................................................................................. 2 - 10
2.4.1 The Name of Each Part ........................................................................................................................................... 2 - 10
2.4.2 Specification of Interface with External Device ....................................................................................................... 2 - 11
Chapter 3 Operation Order and Installation ……………........................................................…………………………… 3-1 ~ 3-40
3.1 Operation Order ................................................................................................................................................................. 3 - 1
3.2 Installation ........................................................................................................................................................................... 3 - 2
3.2.1 Safety Precautions ...................................................................................................................................................... 3 - 2
3.2.2 Installation Environment ............................................................................................................................................. 3 - 4
3.2.3 Notice in Handling ....................................................................................................................................................... 3 - 4
3.2.4 Attachment/Detachment of Motion Controller .............................................................................................................. 3 - 5
3.3 Notice in Wiring ............................................................................................................................................................... 3 - 10
3.3.1 Notice in Wiring ........................................................................................................................................................ 3 - 10
3.3.2 Power Wiring ............................................................................................................................................................ 3 - 11
3.3.3 I/O Device Wiring ..................................................................................................................................................... 3 - 12
3.3.4 Ground(LG) Wiring .................................................................................................................................................. 3 - 13
3.3.5 Specifications of Wiring Cable ................................................................................................................................. 3 - 14
3.3.6 Connection Example of Servo Drive ....................................................................................................................... 3 - 15
3.3.7 Encoder Input (DC 5V Voltage Output) Wiring Example ......................................................................................... 3 - 19
3.3.8 Encoder Input (DC 5V Line Driver Output) Wiring Example ................................................................................. 3 - 20
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