vi
4.1. Switching power on for the first time .......................................................................... 42
4.1.1. Startup procedure ........................................................................................... 42
4.1.2. Wiring check ................................................................................................... 43
4.1.3. Ambient environment ...................................................................................... 44
4.2. Display and operation ................................................................................................ 45
4.3. Display flowchart ....................................................................................................... 46
4.4. Status display ............................................................................................................ 47
4.5. Diagnostic display ..................................................................................................... 49
4.5.1. Indication of external I/O signals ..................................................................... 50
4.5.2. DO forced output ............................................................................................ 51
4.5.3. Test operation ................................................................................................. 52
4.6. Automatic offset of analog input ................................................................................ 55
4.7. Alarm display ............................................................................................................. 56
4.8. Parameter display ..................................................................................................... 57
4.9. Startup in various control modes ............................................................................... 60
4.9.1. Startup in position control mode ..................................................................... 60
4.9.2. Startup in speed control mode ........................................................................ 61
4.9.3. Startup in torque control mode ....................................................................... 63
5. Parameters ..................................................................................................................... 64
5.1. Parameter definition .................................................................................................. 64
5.2. Parameter list ............................................................................................................ 65
5.3. Parameter details list ................................................................................................. 81
6. Gain adjustment and control mode ............................................................................ 122
6.1. Different adjustment methods .................................................................................. 122
6.2. Auto-gain tuning mode ............................................................................................ 124
6.3. Manual gain tuning mode ........................................................................................ 127
6.4. Interpolation mode ................................................................................................... 128
6.5. Torque control mode ................................................................................................ 129
6.5.1. Output proportion of maximum torque analog command .............................. 129
6.5.2. Torque analog command offset ..................................................................... 130
6.5.3. Torque analog command smoothing ............................................................. 130
6.5.4. Torque limit of torque control mode ............................................................... 131
6.5.5. Speed limit of torque control mode ............................................................... 132
6.6. Speed control mode ................................................................................................ 133
6.6.1. Selection of speed command........................................................................ 133
6.6.2. Output speed of maximum speed analog command ..................................... 134
6.6.3. Speed analog command smoothing ............................................................. 134
6.6.4. Torque limit of speed control mode ............................................................... 137
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