Table of Contents
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12. Stop Functions ................................................................. 12-1
12.1 Type of Stop Functions ........................................................................ 12-2
12.1.1 Type of Stop Functions ......................................................................... 12-2
12.1.2 Characteristics of Pause Function ........................................................ 12-4
12.1.3 Stop Operation During Interpolation Control ......................................... 12-6
12.1.4 Stop Operation During Synchronous Control ........................................ 12-6
12.2 Settings Related to Stop Function ........................................................ 12-7
12.2.1 MC Common Settings ........................................................................... 12-7
12.2.2 Axis Parameter ...................................................................................... 12-8
12.3 Operation During Stop .......................................................................... 12-9
13. Supplementary Functions ............................................... 13-1
13.1 Software Limit ....................................................................................... 13-2
13.2 Current Value Update ........................................................................... 13-3
13.3 Home Coordinates ............................................................................... 13-5
13.4 Movement Amount Automatic Check ................................................... 13-7
13.5 Completion Width ................................................................................. 13-9
13.6 Monitor Value Judgement .................................................................. 13-10
13.6.1 Torque Judgement .............................................................................. 13-11
13.6.2 Actual Speed Judgement .................................................................... 13-13
13.7 Torque Limit ....................................................................................... 13-16
13.7.1 Restrictions on Torque Limit................................................................ 13-17
13.8 EtherCAT Communication Setting ..................................................... 13-18
13.8.1 EtherCAT Configurator ........................................................................ 13-18
13.8.2 Device Editor ....................................................................................... 13-19
13.8.3 Overview of PDO Mapping .................................................................. 13-20
13.8.4 Change of PDO Mapping .................................................................... 13-22
13.9 SDO/PDO Communication ................................................................. 13-25
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