ā vii ā
7. Operational Function ------------------------7-1
7.1. General Operation and Function --------------------7-1
7.1.1. Servo ON (SVON) Input ------------------------7-1
7.1.2. Emergency Stop (EMST) Input-----------------7-2
7.1.3. Interruption of Positioning (STP)---------------7-3
7.1.4. Making Pulse Train Command or Analog
Command Ineffective (INH)---------------------7-4
7.1.5. Clearing Position Error Counter (CLR) -------7-5
7.1.6. Integration OFF/Lower Gain (IOFF) Input --7-6
7.1.7. Brake-off (CLCN) Input -------------------------7-7
7.1.8. Over Travel Limit-----------------------------------7-9
7.1.8.1. Hardware Over Travel Limit Sensor
(DTP and OTM) Input ----------------------7-9
7.1.8.2. Software Over Travel Limit------------- 7-10
7.1.9. Alarm Output (DRDY and OVER) ---------- 7-12
7.1.10. Brake --------------------------------------------- 7-13
7.1.10.1. YSB Series Motor Equipped With
Brake -------------------------------------- 7-13
7.1.10.2. Brake Output (BRK) ------------------ 7-13
7.1.10.3. Brake Control Output (BRKC) ------ 7-14
7.1.10.4. Brake Sequence Function ----------- 7-14
7.1.11. In-Position Output (IPOS)-------------------- 7-16
7.1.11.1. Output Signal Format ------------------ 7-17
7.1.11.2. Parameter IN----------------------------- 7-18
7.1.11.3. Parameter IS --------------------------- 7-18
7.1.11.4. IPOS Output in Special Occasion -- 7-18
7.1.12. Completion of Home Return / Detection
of Home Position (HOME) ------------------- 7-20
7.1.13. Definition of Home Position (HCMP) ----- 7-21
7.1.14. Velocity Threshold (SPD) ------------------- 7-21
7.1.15. Target Proximity / In target
(NEARA and NEARB) ------------------------ 7-22
7.1.16. Position Feedback Signal -------------------- 7-26
7.1.17. Analog Velocity Monitor ---------------------- 7-27
7.1.18. Monitoring via RS-232C Communication
------------------------------------------------------- 7-28
7.1.18.1. Monitoring Control Input/Output
Signals (B3 and 23 Driver Units) ----- 7-29
7.1.18.2 Monitoring Control Input/Output
Signals (B5 and 25 Driver Units) ----- 7-30
7.1.18.3. Monitoring Pulse Train Input
Counter ------------------------------------ 7-31
7.1.18.4. Monitoring Current Position --------- 7-31
7.1.18.5. Monitoring Position Error Counter -- 7-32
7.1.18.6. Monitoring Motor Velocity------------- 7-32
7.1.18.7. Monitoring Torque Command and
Software Thermal Loading ------------- 7-33
7.1.18.8. Monitoring State of Automatic Gain
Switching ----------------------------------- 7-33
7.1.18.9. Monitoring Parameter Setting-------- 7-34
7.1.18.10. Monitoring Alarm Identification----- 7-35
7.1.18.11. Monitoring Contents of Channel--- 7-35
7.1.18.12. Monitoring Histories of Program
Execution and Change on Control I/O
--------------------------------------------------7-36
7.1.19. Monitoring Analog Control -------------------7-38
7.2. For More Advanced Operation-----------------------7-40
7.2.1. Absolute Position Scale
(For Absolute Position Sensor)---------------7-40
7.2.1.1. Direction of Position Scale -------------7-40
7.2.1.2. Resolution of Position Scale -----------7-41
7.2.1.3. Offsetting Position Data -----------------7-42
7.2.1.4. Monitoring Position Data----------------7-42
7.2.1.5. Setting User Home Position ----------7-43
7.2.2. Incremental Position Scale
(For Incremental Position Sensor) ---------7-44
7.2.2.1. Resolution of Position Scale -----------7-44
7.2.2.2. Direction of Position Scale -------------7-44
7.2.2.3. Type of Position Scale -----------------7-45
7.2.2.4. Resetting `Position Data ---------------7-47
7.2.2.5. Example of Setting Position Scale----7-47
7.2.3. Digital Filter ----------------------------------------7-48
7.2.4. Feed Forward Compensation: FF------------7-49
7.2.5. Integration Limiter: ILV--------------------------7-50
7.2.6. Dead Band: DBP ---------------------------------7-51
7.2.7. Automatic Gain Switching----------------------7-52
7.2.8. Acceleration Profiling----------------------------7-53
7.3. RS-232C Communication -----------------------------7-57
7.3.1. Specifications of Communication ------------7-57
7.3.2. Communication Procedure --------------------7-57
7.3.2.1. Turning on Power-------------------------7-57
7.3.2.2. Command Entry ---------------------------7-58
7.3.2.3. Password -----------------------------------7-59
7.3.2.4. Canceling Command---------------------7-60
7.3.2.5. Error------------------------------------------7-61
7.3.2.6. Monitoring Command--------------------7-62
7.3.3. Communication with Personal Computer --7-64
7.3.3.1. Set-up of HyperTerminal----------------7-64
7.3.3.2. Store Parameters of ESB Driver
Unit -----------------------------------------7-65
7.3.3.3. Transmit Stored Parameters to ESB
Driver Unit ----------------------------------7-65
7.3.4. Daisy Chain Communication------------------7-66
7.3.4.1. Procedure to Set Daisy Chain
Communication----------------------------7-66
7.3.4.2. Initial Setting -------------------------------7-67
7.3.4.3. Interfacing-----------------------------------7-68
7.3.4.4. Power on------------------------------------7-69
7.3.4.5. Operation -----------------------------------7-70
7.3.4.6. Termination of Daisy Chain Mode ----7-71
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