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3. Unpacking • Installation • Wiring----------3-1
3.1. Unpacking---------------------------------------------------3-1
3.1.1. Receiving Check -----------------------------------3-1
3.1.2. Combination of Motor and Driver Unit --------3-1
3.2. Installation --------------------------------------------------3-2
3.2.1. Motor Mounting-------------------------------------3-2
3.2.1.1. Fixing Motor----------------------------------3-2
3.2.1.2. Loading Attachment (Work) to
Motor-------------------------------------------3-2
3.2.1.3. Checking Load Inertia ---------------------3-2
3.2.2. Driver Unit Mounting ------------------------------3-3
3.3. Wiring --------------------------------------------------------3-4
3.3.1. Motor Wiring-----------------------------------------3-4
3.3.2. Connecting Power ---------------------------------3-5
3.3.3. Prevent Overheating of Motor ------------------3-6
3.3.4. Ground Connection--------------------------------3-6
3.3.5. Wiring of Connector -------------------------------3-9
3.3.5.1. Example of B3 and 23 Driver
Units (CN2)-----------------------------------3-9
3.3.5.2. Wiring Example of B5 and 25Driver
Units (CN2 and CN5 Connectors)---- 3-16
3.4. Turning on Main Power-------------------------------- 3-19
3.4.1. Precautions---------------------------------------- 3-19
3.4.2. Indication of Power on-------------------------- 3-19
3.4.3. Selection of Control I/O Signal Ports-------- 3-20
3.4.3.1. Selection of Input/Output Combination
Type (CN2: B3 and 23 Driver Units)- 3-20
3.4.3.2. Setting Polarity of Input Port
(Normally open or closed contact) --- 3-22
3.4.4. Turn the Power and the Servo on.----------- 3-24
4. Handy Terminal Communication ---------4-1
4.1. Setting Parameters --------------------------------------4-2
4.1.1. Setting Without the Password -----------------4-2
4.1.2. Setting With the Password ---------------------4-2
4.2. Readout of Parameter -----------------------------------4-3
4.2.1. TS Command ---------------------------------------4-3
4.2.2. Use of “?” to Read out Parameter Setting ---4-4
5. Tuning and Trial Running ------------------5-1
5.1. Tuning Sequence -----------------------------------------5-1
5.2. Automatic Tuning -----------------------------------------5-2
5.2.1. Precaution -------------------------------------------5-2
5.2.2. Initialize Servo Parameter -----------------------5-4
5.2.3. Execution of Automatic Tuning
(Tuning Level 1) ----------------------------------5-5
5.2.4. Trial Running (Tuning Level 1) ----------------5-6
5.2.5. Minor Servo Adjustment (Tuning Level 2)---5-8
5.3. Manual Tuning -------------------------------------------5-10
5.3.1. Precautions for Manual Tuning ---------------5-10
5.3.2. Adjustment of Velocity Loop Proportional
Gain (VG) ------------------------------------------5-10
5.3.3. Adjustment of Velocity Loop Integration
Frequency (VI)------------------------------------5-12
5.4. Setting Filters (Tuning Level 2) ----------------------5-14
6. Operation ---------------------------------------6-1
6.1. Preparation ------------------------------------------------ 6-1
6.1.1. Wiring Check--------------------------------------- 6-1
6.1.2. Operation Procedure----------------------------- 6-2
6.2. Position Control Mode Operation -------------------- 6-3
6.2.1. Setting Home Position --------------------------- 6-3
6.2.1.1. Setting Home Position by AZ Command
-------------------------------------------------- 6-4
6.2.1.2. Setting Home Position by Home Return
-------------------------------------------------- 6-5
6.2.2. Programmable Indexer Positioning --------6-13
6.2.2.1. Internal Program Channel Selection
-------------------------------------------------6-15
6.2.2.2. Programming-------------------------------6-16
6.2.3. Pulse Train Command Positioning
Operation ----------------------------------------6-23
6.2.3.1. Pulse Train Command Format --------6-23
6.2.3.2. Pulse Train Resolution ------------------6-24
6.2.3.3. Pulse Train Input Timing ----------------6-25
6.2.4. Jog Operation-------------------------------------6-27
6.2.5. RS-232C Communication Position Operation
-------------------------------------------------------6-29
6.3. Velocity Control Mode Operation ------------------6-31
6.3.1. RS-232C Communication Command
Operation ----------------------------------------6-31
6.3.2. Analog Velocity Command Operation -----6-32
6.3.2.1. Dead Band Set to Command Voltage
-------------------------------------------------6-33
6.3.2.2. Offsetting Analog Command-----------6-33
6.3.3. Function to Limit Acceleration /
Deceleration---------------------------------------6-36
6.4. Torque Control Mode Operation -------------------6-37
6.4.1. RS-232C Communication Command
Operation ----------------------------------------6-37
6.4.2. Analog Torque Command Operation -------6-38
6.4.2.1. Dead Band Set to Command Voltage
-------------------------------------------------6-39
6.4.2.2. Offsetting Analog Command-----------6-39
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