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Table of Contents
Chapter 5 Operating Functions
5-1 Position Control................................................................................ 5-1
5-2 Speed Control .................................................................................. 5-3
5-3 Internally Set Speed Control ............................................................ 5-5
5-4 Torque Control ................................................................................. 5-8
5-5 Switching the Control Mode ............................................................. 5-11
5-6 Forward and Reverse Drive Prohibit ................................................ 5-14
5-7 Encoder Dividing .............................................................................. 5-15
5-8 Electronic Gear ................................................................................ 5-16
5-9 Overrun Limit.................................................................................... 5-19
5-10 Brake Interlock ................................................................................. 5-21
5-11 Gain Switching ................................................................................. 5-25
5-12 Torque Limit ..................................................................................... 5-26
5-13 Soft Start .......................................................................................... 5-28
5-14 Position Command Filter.................................................................. 5-29
5-15 Speed Limit ...................................................................................... 5-30
5-16 User Parameters .............................................................................. 5-31
Chapter 6 Operation
6-1 Operational Procedure ..................................................................... 6-1
6-2 Preparing for Operation.................................................................... 6-2
6-3 Using the Parameter Unit................................................................. 6-6
6-4 Setting the Mode .............................................................................. 6-7
6-5 Trial Operation ................................................................................. 6-28
Chapter 7 Adjustment Functions
7-1 Gain Adjustment............................................................................... 7-1
7-2 Realtime Autotuning......................................................................... 7-4
7-3 Normal Mode Autotuning ................................................................. 7-14
7-4 Disabling the Automatic Gain Adjustment Function ......................... 7-19
7-5 Manual Tuning ................................................................................. 7-21
Chapter 8 Troubleshooting
8-1 Error Processing .............................................................................. 8-1
8-2 Alarm Table...................................................................................... 8-3
8-3 Troubleshooting ............................................................................... 8-6
8-4 Overload Characteristics (Electronic Thermal Function).................. 8-20
8-5 Periodic Maintenance....................................................................... 8-21
Chapter 9 Appendix
9-1 Connection Examples ...................................................................... 9-1
9-2 Parameter Tables............................................................................. 9-11
Revision History...................................................................................... R-1
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