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Parameter Setup .................................................................... 142

Parameters for Functional Selection .......................................................................................................... 142

Parameters for Adjustment of Time Constant of Gains and Filters............................................................ 146

Parameters for Auto-Gain Tuning...............................................................................................................147

Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 149

Parameters for Position Control ................................................................................................................. 151

Parameters for Velocity/Torque Control ..................................................................................................... 152

Parameters for Sequence .......................................................................................................................... 155

[Connection and Setup of Torque Control Mode] page

Control Block Diagram of Torque Control Mode ................. 160

Wiring to the Connector, CN X5............................................ 161

Wiring Example to the Connector, CN X5 ..................................................................................................161

Interface Circuit ..........................................................................................................................................162

Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 164

Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 168

Trial Run (JOG Run) at Torque Control Mode...................... 171

Inspection Before Trial Run ........................................................................................................................171

Tr ial Run by Connecting the Connector, CN X5......................................................................................... 171

Real-Time Auto-Gain Tuning ................................................. 172

Outline ........................................................................................................................................................172

Applicable Range .......................................................................................................................................172

How to Operate .......................................................................................................................................... 172

Parameters Which are Automatically Set up .............................................................................................. 173

Parameter Setup .................................................................... 174

Parameters for Functional Selection .......................................................................................................... 174

Parameters for Adjustment of Time Constant of Gains and Filters............................................................ 177

Parameters for Auto-Gain Tuning...............................................................................................................178

Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 179

Parameters for Position Control ................................................................................................................. 181

Parameters for Velocity/Torque Control ..................................................................................................... 183

Parameters for Sequence .......................................................................................................................... 185

[Full-Closed Control Mode] page

Outline of Full-Closed Control .............................................. 190

What is Full-Closed Control ?.....................................................................................................................190

Control Block Diagram of Full-Closed Control Mode.......... 191

Wiring to the Connector, CN X5............................................ 192

Wiring Example to the Connector, CN X5 ..................................................................................................192

Interface Circuit ..........................................................................................................................................193

Input Signal and Pin No. of the Connector, CN X5 ................................................................................... 195

Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 201

Connection to the Connector, CN X7 .................................. 204

Connector, CN X7.......................................................................................................................................204

Wiring to the External Scale, Connector, CN X7........................................................................................ 205

Real-Time Auto-Gain Tuning ................................................. 206

Outline ........................................................................................................................................................206

Applicable Range .......................................................................................................................................206