vii
6.6.5. Adjustment of speed loop gain...................................................................... 138
6.6.6. Resonance and vibration suppression filter .................................................. 140
6.6.7. Gain switch function ...................................................................................... 143
6.7. Position control mode .............................................................................................. 147
6.7.1. External pulse-train command (Pt mode) ..................................................... 147
6.7.2. Inner register command (Pr mode) ............................................................... 149
6.7.3. Position command smoothing ....................................................................... 150
6.7.4. Electronic gear .............................................................................................. 151
6.7.5. Torque limit of position control mode ............................................................ 153
6.7.6. Position loop gain ......................................................................................... 153
6.8. Control mode switch ................................................................................................ 154
6.8.1. Position/speed mode switch ......................................................................... 155
6.8.2. Speed/torque hybrid mode ........................................................................... 155
6.8.3. Torque/Position control mode switch ............................................................ 156
6.9. Other functions ........................................................................................................ 157
6.9.1. Selection of brake resistor ............................................................................ 157
6.9.2. Analog monitor output ................................................................................... 160
6.9.3. Operation of electromagnetic brake interlock ............................................... 162
7. PR (procedure) sequence control introductions ...................................................... 163
7.1. PR introduction ........................................................................................................ 163
7.2. PR differences in SDA and SDE .............................................................................. 163
7.3. DI/DO and sequences ............................................................................................. 164
7.4. Relevant parameter settings of PR .......................................................................... 165
8. Communication functions .......................................................................................... 172
8.1. Communication interface and wiring ....................................................................... 172
8.2. Relevant parameters of communication .................................................................. 173
8.3. Modbus protocol ...................................................................................................... 174
8.4. Communication parameter write-in and read-out .................................................... 181
9. Troubleshooting ........................................................................................................... 188
9.1. Alarm list .................................................................................................................. 188
9.2. Alarm cause and remedy ......................................................................................... 190
10. Specifications .............................................................................................................. 201
10.1. Drive specifications ............................................................................................... 201
10.2. Drive dimensions .................................................................................................. 203
10.3. Motor specifications .............................................................................................. 206
10.3.1. Low inertia, small capacity motor specifications .......................................... 206
10.3.2. Medium capacity, low inertia motor specifications ....................................... 208
10.3.3. Medium capacity, medium inertia motor specifications ................................ 209
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