— ix —
PA : Phase Adjust (Factory use only)------------- 8-37
PC : Pulse Command --------------------------------- 8-37
PE : Program Error, Alarm Type ------------------- 8-38
PG : Position Gain ------------------------------------- 8-38
PH : Program Home Return ------------------------- 8-38
PS : Position Scale Select --------------------------- 8-39
RA : Read Analog Command ----------------------- 8-39
RC : Rated Current (Factory use only)------------ 8-39
RI : Rotor Inertia (Factory use only) -------------- 8-40
RO : ABS/INC (Factory use only) ------------------ 8-40
RP : Read Pulse Train Command ----------------- 8-40
RR : Resolver Resolution (Factory use only)---- 8-41
SB : Criterion, SPD Signal Output ----------------- 8-41
SE : Serial Error ---------------------------------------- 8-41
SG : Servo Gain ---------------------------------------- 8-42
SI : System Initialization----------------------------- 8-42
SL : Set Control Mode -------------------------------- 8-43
SM : SVON Mode (Factory use only)-------------- 8-43
SO : SPD Output Mode ------------------------------- 8-43
SP : Start Program------------------------------------- 8-44
ST : Speed Stability Timer--------------------------- 8-44
SV : Servo On------------------------------------------- 8-44
TA : Tell Alarm Status -------------------------------- 8-45
TC : Tell Channel Program -------------------------- 8-46
TE : Tell Position Error Counter -------------------- 8-46
TG : Tell Gain Switching------------------------------ 8-46
TI : Timer------------------------------------------------ 8-47
TL : Torque Limit Rate ------------------------------- 8-47
TO : Software Travel Limit Over, Alarm Type--- 8-47
TP : Tell Position--------------------------------------- 8-48
TR : Tell RDC Position Data ------------------------ 8-48
TS : Tell Settings --------------------------------------- 8-49
TT : Tell Torque & Thermal ------------------------- 8-51
TV : Tell Velocity --------------------------------------- 8-51
TY : I/O type--------------------------------------------- 8-52
VG : Velocity Gain-------------------------------------- 8-52
VGL : Velocity Gain, Lower---------------------------- 8-53
VI : Velocity Integrator Frequency ---------------- 8-53
VIL : Velocity Integrator Frequency, Lower ------ 8-53
VM : Velocity Integrator Mode----------------------- 8-54
VO : Velocity Error Over Limit----------------------- 8-54
VW : Velocity Error Over Limit Width -------------- 8-54
WC : Brake-on Timer --------------------------------- 8-54
WD : Write Data to EEPROM ------------------------ 8-55
WM : Write Mode to EEPROM----------------------- 8-55
WU : Brake-off Timer --------------------------------- 8-55
ZAS : Start Point of Zone A --------------------------- 8-56
ZAE : End Point of Zone A ---------------------------- 8-56
ZBS : Start Point of Zone B --------------------------- 8-56
ZBE : End Point of Zone B ---------------------------- 8-56
ZP : Position damping (Factory use only) ------- 8-56
ZV : Velocity damping (Factory use only)-------- 8-56
8.2. Parameter List ------------------------------------------- 8-57
9. Maintenance -----------------------------------9-1
9.1. Precautions ------------------------------------------------ 9-1
9.2. Periodical check ------------------------------------------ 9-2
9.2.1. Motor ------------------------------------------------- 9-2
9.2.2. Driver Unit and Cable Set----------------------- 9-2
9.3. Periodical Replacement of Parts --------------------- 9-3
9.3.1. Motor ------------------------------------------------- 9-3
9.3.2. Driver Unit------------------------------------------- 9-3
9.4. Storing ------------------------------------------------------ 9-3
9.5. Warranty Period and Covering Range -------------- 9-4
9.5.1. Warranty Period ----------------------------------- 9-4
9.5.2. Limited Warranty ---------------------------------- 9-4
9.5.3. Immunities ------------------------------------------ 9-4
9.5.4. Service Fee----------------------------------------- 9-4
10. Alarm----------------------------------------- 10-1
10.1. Identifying Alarm ---------------------------------------10-1
10.1.1. LED Alarm Indicator ---------------------------10-1
10.1.2. Using TA Comand ----------------------------10-2
10.1.3. .Alarm History ----------------------------------10-3
10.2. Alarm List ------------------------------------------------10-4
10.2.1. Normal State -----------------------------------10-4
10.2.2. Alarm State -------------------------------------10-5
10.2.3. Interchangeable Stting of Alarm Output --10-7
10.3. Cause and Remedy of Alarm ---------------------10-8
● CPU Error ----------------------------------------- 10.8
● Heat Sink Overheat or Regeneration Redistor
Overheat: P0 -------------------------------------10-8
● Abnormal Main AC Line
(Excessive voltage/Low voltage) P1 --------10-9
● Over Current: P2 ---------------------------------10-9
● Control AC Line Under Voltage: P3 ---------10-9
● Resolver Circuit Error: A0 ------------------- 10-10
● Absolute Positon Error (In use of an absolute
position sensror only): A1--------------------- 10-10
● Software Thermal Sensor: A3 -------------- 10-10
● Velocity Error Over: A4 ----------------------- 10-11
● Home Position Undefiend: A5 -------------- 10-11
● Brake Error: A8 --------------------------------- 10-11
● Memory Error: E0 ------------------------------ 10-12
● EEPROM Error: E2 --------------------------- 10-12
● System Error: E7 ------------------------------ 10-12
● Interface Error: E8 ----------------------------- 10-12
● Analog Command Error: E9 ---------------- 10-12
● Excessive Position Error: F1 ---------------- 10-13
● Software Over Travel Limit: F2 ------------- 10-13
● Hardware Over Travel Limit: F3 ----------- 10-13
● Emergency Stop: F4 -------------------------- 10-13
● Program Error: F5 ----------------------------- 10-14
● Automatic Tuning Error: F8 ----------------- 10-14
● RS-232C Error: C2 ---------------------------- 10-14
● CPU Error: C3 ---------------------------------- 10-14
● Internal Error: C9 ------------------------------ 10-14
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