— ii —
6.4. Driver Unit Mounting -------------------------------------6-8
6.4.1. Connecting Power---------------------------------6-9
6.4.2. Ground Connection and Wiring --------------6-11
6.4.3. Motor Thermal Protection ---------------------6-12
6.5. Connecting Motor and Driver Unit------------------6-13
6.6. Power on and Servo on -------------------------------6-14
6.6.1. Precautions ---------------------------------------6-14
6.6.2. Turning Power on--------------------------------6-14
6.6.3. Turning Servo on --------------------------------6-15
7. Handy Terminal Communication----------7-1
7.1. When Power is Turned on------------------------------7-1
7.2. Command Entry-------------------------------------------7-2
7.2.1. Password--------------------------------------------7-2
7.2.2. Canceling Command -----------------------------7-3
7.2.3. Error---------------------------------------------------7-3
7.2.4. Entering Parameter -------------------------------7-4
7.2.5. Parameter That Requires Entry of
Password--------------------------------------------7-4
7.3. Readout Command---------------------------------------7-5
7.3.1. “TS” Command for Reading Set Value-------7-5
7.3.2. “?” Reading Function Command for
Set Value --------------------------------------------7-6
8. Tuning and Trial Running--------------------8-1
8.1. Tuning Procedure-----------------------------------------8-1
8.2. Automatic Tuning-----------------------------------------8-2
8.2.1. Precautions -----------------------------------------8-2
8.2.2. Initialize Servo Parameters ---------------------8-4
8.2.3. Execution of Automatic Tuning
(Tuning Level 1)------------------------------------8-5
8.2.4. Trial Running (Tuning Level 1)-----------------8-6
8.2.5. Servo Gain Minor Adjustment
(Tuning Level 2)------------------------------------8-8
8.3. Manual Tuning-------------------------------------------8-10
8.3.1. Precautions ---------------------------------------8-10
8.3.2. Adjustment of the Velocity Gain (VG)-------8-10
8.3.3. Adjustment of Velocity Integrator
Frequency (VI)------------------------------------8-12
8.4. Setting Filters (Tuning Level 2)----------------------8-14
9. Operational Function--------------------------9-1
9.1. General Operation and Function----------------------9-1
9.1.1. Servo “ON”-------------------------------------------9-1
9.1.2. Emergency Stop -----------------------------------9-2
9.1.3. Clearing Position Error Counter----------------9-3
9.1.4. Integration off (IOFF)------------------------------9-3
9.1.5. Over-travel Limit Switch--------------------------9-4
9.1.5.1. Hardware Over-travel Limit Switch-----9-4
9.1.5.2. Software Over-travel Limit Switch------9-5
9.1.6. Alarm Output--------------------------------------- 9-6
9.1.7. Brake Signal Output------------------------------ 9-7
9.1.8. In-Position Output--------------------------------- 9-8
9.1.8.1. Output Signal Format--------------------- 9-9
9.1.8.2. Parameter “IN”-----------------------------9-10
9.1.8.3. Parameter “IS”-----------------------------9-10
9.1.8.4. “IPOS” Output in Special
Occasion------------------------------------9-11
9.1.9. Position Feedback Signal----------------------9-12
9.1.10. Monitor Functions ------------------------------9-13
9.1.10.1. Velocity Monitor--------------------------9-14
9.1.10.2. Monitoring I/O State (IO) --------------9-15
9.1.10.3. Reading Current Position -------------9-18
9.1.10.4. Analog Monitor---------------------------9-19
9.2. For More Advanced Operation ----------------------9-21
9.2.1. Position Scale-------------------------------------9-21
9.2.1.1. Resolution----------------------------------9-21
9.2.1.2. Direction of Position Scale-------------9-21
9.2.1.3. Types of Position Scale-----------------9-22
9.2.1.4. Position Scale Reset---------------------9-25
9.2.1.5. Example of Position Scale Setting---9-25
9.2.2. Direction of Position Scale---------------------9-27
9.2.3. Digital Filter----------------------------------------9-28
9.2.4. Feed Forward Compensation: FF------------9-29
9.2.5. Integrator Limit : ILV-----------------------------9-30
9.2.6. Dead Band Setting : DBP----------------------9-31
9.3. RS-232C Communication-----------------------------9-32
9.3.1. Specification of Communication -------------9-32
9.3.2. Communication Procedure --------------------9-32
9.3.2.1. When Power is Turned on--------------9-32
9.3.2.2. Command Entry---------------------------9-33
9.3.2.3. Password-----------------------------------9-34
9.3.2.4. Canceling Command --------------------9-35
9.3.2.5. Error------------------------------------------9-36
9.3.2.6. Readout Command ----------------------9-37
9.3.3. Communication with Personal
Computer------------------------------------------9-39
9.3.3.1. Set-up of HyperTerminal----------------9-39
9.3.3.2. Store Parameters of ESA
Driver Unit----------------------------------9-40
9.3.3.3. Transmit Stored Parameters to
ESA Driver Unit----------------------------9-40
9.3.4. Daisy Chain Communication------------------9-41
9.3.4.1. Procedure to Set Daisy Chain
Communication----------------------------9-41
9.3.4.2. Initial Setting-------------------------------9-42
9.3.4.3. Interfacing ----------------------------------9-42
9.3.4.4. Power on------------------------------------9-44
9.3.4.5. Operation-----------------------------------9-45
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