— iii —
10. Operation--------------------------------------10-1
10.1. Preparation ---------------------------------------------10-1
10.1.1. Wiring Check------------------------------------10-1
10.1.2. Procedure for Positioning Operation------10-1
10.2. Position Control Mode Operation -----------------10-2
10.2.1. Home Return------------------------------------10-2
10.2.1.1. Home Return Parameter List--------10-5
10.2.1.2. Adjusting Home Position Switch
and Home Offset Value-----------------10-5
10.2.1.3. Programming Home Return
Operation (example)---------------------10-9
10.2.2. Programmable Indexer ---------------------10-10
10.2.2.1. Programmable Indexer Channel
Switching ---------------------------------10-11
10.2.3. Pulse Train Command Operation--------10-12
10.2.3.1. Pulse Train Signal Format----------10-12
10.2.3.2. Pulse Train Resolution--------------10-13
10.2.3.3. Input Timing---------------------------- 10-16
10.2.4. RS-232C Position Commands------------10-17
10.2.5. Jog Operation---------------------------------10-18
10.3. Velocity Control Mode Operation----------------10-19
10.3.1. RS-232C Communication Command--- 10-20
10.3.2. Analog Velocity Command----------------10-21
10.4. Torque Control Mode Operation ----------------10-23
10.4.1. RS-232C Communication Command--- 10-23
10.4.2. Analog Torque Command-----------------10-24
11. Programming---------------------------------11-1
11.1. Commands and Parameters -----------------------11-2
11.2. Program Editing Command-------------------------11-5
11.3. Inputting a Program-----------------------------------11-6
11.4. Sample Program --------------------------------------11-8
12. Command and Parameter---------------12-1
12.1. List of Command and Parameter -----------------12-1
12.2. Glossary-------------------------------------------------12-5
AB : I/O polarity------------------------------------12-5
AC : Analog Command Mode -----------------12-6
AD : Absolute Positioning, Degree -----------12-6
AG : Analog Command Gain-------------------12-7
AN : Axis Number---------------------------------12-7
AR : Absolute Positioning, Resolver---------12-8
AS : Ask Daisy Chain Status ------------------12-8
AT : Automatic Tuning --------------------------12-8
AX : Axis Select-----------------------------------12-9
AZ : Absolute Zero Position Set--------------12-9
BM : Backspace Mode---------------------------12-9
CA : Channel Acceleration-------------------12-10
CC : Clear Channel----------------------------- 12-10
CH : Channel Select ---------------------------12-10
CL : Clear Alarm --------------------------------12-10
CM : Communication Mode-------------------12-11
CO : Position Error Counter Over Limit----12-11
CR : Circular Resolution-----------------------12-11
CV : Channel Velocity--------------------------12-12
DB : Dead Band---------------------------------12-12
DC : Digital RS-232C Command------------12-13
DI : Direction Inversion-----------------------12-13
FC : Friction Compensation------------------12-13
FD : Feed Back Direction Mode-------------12-14
FF : Feed Forward Gain----------------------12-14
FO : Low-pass Filter OFF Velocity----------12-14
FP : Low-pass Filter, Primary----------------12-15
FR : Feed back Signal Resolution----------12-15
FS : Low-pass Filter, Secondary------------12-15
FW : FIN Width-----------------------------------12-16
FZ : Feedback Phase Z Configuration----12-16
HA : Home Return Acceleration-------------12-16
HD : Home Return Direction -----------------12-17
HO : Home Offset-------------------------------12-17
HS : Home Return Start-----------------------12-17
HV : Home Return Velocity-------------------12-17
HZ : Home Return Near-Zero Velocity-----12-18
ID : Incremental Positioning, Degree -----12-18
ILV : Integration Limit---------------------------12-18
IN : In-position----------------------------------12-18
IO : Input /Output Monitor--------------------12-19
IR : Incremental Positioning, Resolver ---12-19
IS : In-position Stability Timer --------------12-19
JA : Jog Acceleration--------------------------12-20
JP : Jump-----------------------------------------12-20
JV : Jog Velocity--------------------------------12-20
LG : Lower Velocity Gain----------------------12-21
LO : Load Inertia--------------------------------12-21
LR : Low Torque Ripple-----------------------12-21
MA : Move Acceleration -----------------------12-22
MI : Read Motor ID-----------------------------12-22
MM : Multi-line Mode----------------------------12-22
MN : Monitor--------------------------------------12-23
MO : Motor Off------------------------------------12-23
MS : Motor Stop----------------------------------12-23
MT : Factory Use Only-------------------------12-24
MV : Move Velocity------------------------------12-24
NP : Notch Filter, Primary
(primary notch filter frequency) -------12-24
NS : Notch Filter, Secondary
(secondary notch filter frequency) ---12-25
NW : Neglect Width -----------------------------12-25
OE : Sequence Option Edit-------------------12-25
OG : Origin Set-----------------------------------12-26
OL : Overload Limit-----------------------------12-26
OS : Origin Setting Mode----------------------12-26
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