— iii —
7.4.2. Customization of Monitor Data --------------- 7-36
7.4.2.1. Analog Monitor for State of Control
Inputs and Outputs Functions --------- 7-37
8. More Advanced Function ------------------ 8-1
8.1. Assignment of Input/Output Function ---------------- 8-1
8.1.1. Function of Control Input ------------------------- 8-2
8.1.2. Function of Control Output ---------------------- 8-4
8.1.3. Editing Function of Control Input and Output -- 8-6
8.1.3.1. Editing Control Input Function ---------- 8-6
8.1.3.2. Editing Control Output Function -------- 8-8
8.1.3.3. Masking Control Output Function ---- 8-10
8.1.3.4. Forcible Output in Setting of Output
Port Function ------------------------------ 8-11
8.2. Extended Control Input -------------------------------- 8-12
8.2.1. Input HOLD: HLD -------------------------------- 8-12
8.2.2. Velocity Override: ORD ------------------------ 8-13
8.2.3. Integration OFF: IOFF -------------------------- 8-14
8.2.4. Home Return Start: HOS ---------------------- 8-15
8.2.5. Home Position Limit: HLS --------------------- 8-15
8.3. Extended Control Output ------------------------------ 8-16
8.3.1. In-zone Output: ZONEA, ZONEB,
and ZONEC--------------------------------------- 8-16
8.3.2. Outputs of Operating Conditions ------------- 8-17
8.3.2.1. Position Error: TEU (Position Error, Under)
and TEO (Position Error, Over) ----------- 8-18
8.3.2.2. Velocity: Outputs TVEU (Velocity Error,Under)
and TVEO (Velocity Error, Over) ------- 8-19
8.3.2.3. Velocity: Outputs TVU (Velocity, Under)
and TVO (Velocity, Over) ------------------ 8-19
8.3.2.4. Torque Command: Outputs TTU
(Torque Command, Under) and
TTO (Torque Command, Over) ------- 8-19
8.3.2.5. Thermal Loading:
Outputs TJU (Thermal Loading, Under)
and TJO (Thermal Loading, Over) --- 8-20
8.3.3. Travel Limit Output (±): OTXA ---------------- 8-21
8.3.4. Output Normal: NRM --------------------------- 8-22
8.3.5. Home Return Completed: HOME ------------ 8-22
8.3.6. Home Position Defined: HCMP -------------- 8-22
8.4. Teaching --------------------------------------------------- 8-23
8.4.1. Preparation for Teaching ---------------------- 8-24
8.4.2. Teaching of Parameter ------------------------- 8-24
8.4.3. Teaching the Position Data of Positioning
Program ------------------------------------------- 8-25
8.5. Tuning ------------------------------------------------------ 8-26
8.5.1. Servo Block Diagram -------------------------- 8-26
8.5.2. Digital Filter --------------------------------------- 8-28
8.5.3. Position Loop Dead Band -------------------- 8-29
8.5.4. Automatic Gain Switching -------------------- 8-30
8.6. Positioning Operation ---------------------------------- 8-31
8.6.1. Acceleration Profiling and Individual
Acceleration Setting ---------------------------- 8-31
8.6.2. Examples of Acceleration Profiling and
Individual Setting of Acceleration and
Deceleration -------------------------------------- 8-33
8.6.3. Shorter Way Positioning ---------------------- 8-34
8.6.4. User Scale Positioning ------------------------ 8-36
8.7. Program Operation ------------------------------------- 8-39
8.7.1. Change of Parameter via
Program Operation ----------------------------- 8-39
8.7.2. Automatic Program Execution at Power on - 8-41
8.8. Home Return --------------------------------------------- 8-45
8.8.1. Home Return Operation via the
Home Position Sensor ------------------------ 8-46
8.8.1.1. Home Return Mode: OS4 -------------- 8-46
8.8.1.2. Home Return Mode: OS5 -------------- 8-48
8.8.1.3. Home Return Mode: OS1 -------------- 8-48
8.8.1.4. Home Return Mode: OS3 -------------- 8-48
8.8.2. Home Return with Travel Limit -------------- 8-49
8.8.2.1. Home Return Mode: OS7 -------------- 8-49
8.8.3. Teaching of Home Position ------------------ 8-51
8.8.3.1. Home Return Mode: OS6 -------------- 8-51
8.8.3.2. Teaching of Home Position in
Servo-off Sate ---------------------------- 8-52
8.8.4. Position Adjustment of Home Limit Sensor -- 8-53
8.8.5. Teaching of Home Position Offset --------- 8-54
8.9. RS-232C Communication----------------------------- 8-55
8.9.1. Specifications of Communication----------- 8-55
8.9.2. Communication Procedure------------------- 8-55
8.9.2.1. Power on ----------------------------------- 8-56
8.9.2.2. Command Entry -------------------------- 8-57
8.9.2.3. Cancelling Command ------------------- 8-58
8.9.2.4. Input of the Password ------------------ 8-58
8.9.2.5. Readout of Parameter Settings and
Internal State ------------------------------ 8-59
8.9.2.6. Reading out Parameter Settings
by a Group --------------------------------- 8-60
8.9.2.7. Error Message ---------------------------- 8-61
9. Details of Command and Parameter ---- 9-1
9.1. Difference of RS-232C Communication and
USB Communication ------------------------------------- 9-1
9.1.1. Different Commands between RS-232C
Communication and USB Communication - 9-1
9.1.2. Simultaneous Operation of RS-232C
Communication and USB Communication - 9-1
9.1.3. Command Parameters Invalid in
USB Communication ---------------------------- 9-1
9.1.4. Inhibited Operations in
USB Communication ---------------------------- 9-2
9.2. Handling Instruction of Command and Parameter 9-3
9.2.1. Character String of Command ---------------- 9-3
9.2.2. Grammar of Command ------------------------- 9-3
9.2.3. Error Message ------------------------------------ 9-4
9.2.4. Multi-statement on a Line ---------------------- 9-4
9.2.5. Wildcard Search ---------------------------------- 9-5
9.2.6. Repeating Readout ------------------------------ 9-5
9.2.7. Multi-monitor --------------------------------------- 9-6
9.2.8. Initialization of Specified Parameter --------- 9-6
9.2.9. Adjusting -------------------------------------------- 9-7
9.2.10. Output to Analog Monitor ----------------------- 9-7
9.3. Glossary of Command and Parameter -------------- 9-8
9.4. Parameter List ------------------------------------------- 9-84
10. Maintenance ------------------------------- 10-1
10.1. Backup Parts ------------------------------------------- 10-1
10.2. Storing the Parts -------------------------------------- 10-1
10.3. Periodic Check----------------------------------------- 10-2
10.3.1. Motor ---------------------------------------------- 10-2
10.3.2. Driver Unit
(Including Cables and Handy Terminal) -- 10-2
10.4. Periodic Replacement of Parts -------------------- 10-3
10.4.1. Motor ---------------------------------------------- 10-3
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