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16.17.6 Troubleshooting at start-up ................................................................................................. 16-212
16.18 AUTOMATIC OPERATION MODE ........................................................................................... 16-214
16.18.1 Automatic operation mode.................................................................................................. 16-214
16.18.2 Automatic operation mode 1 (rotation direction specifying indexer) ................................... 16-215
16.18.3 Automatic operation mode 2 (shortest rotating indexer) .................................................... 16-219
16.19 MANUAL OPERATION MODE ................................................................................................. 16-222
16.19.1 Station JOG operation ........................................................................................................ 16-222
16.19.2 JOG operation .................................................................................................................... 16-225
16.20 HOME POSITION RETURN MODE ......................................................................................... 16-227
16.20.1 Outline of home position return .......................................................................................... 16-227
16.20.2 Torque limit changing dog type home position return ......................................................... 16-229
16.20.3 Torque limit changing data set type .................................................................................... 16-231
16.20.4 Backlash compensation and digital override ...................................................................... 16-233
16.20.5 Safety precautions .............................................................................................................. 16-236
16.21 PARAMETERS.......................................................................................................................... 16-237
16.21.1 Basic setting parameters ([Pr. PA_ _ ]) .............................................................................. 16-238
16.21.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ....................................................................... 16-239
16.21.3 Extension setting parameters ([Pr. PC_ _ ]) ....................................................................... 16-241
16.21.4 I/O setting parameters ([Pr. PD_ _ ]) .................................................................................. 16-243
16.21.5 Extension setting 2 parameters ([Pr. PE_ _ ]) .................................................................... 16-245
16.21.6 Extension setting 3 parameters ([Pr. PF_ _ ]) .................................................................... 16-247
16.21.7 Positioning control parameters ([Pr. PT_ _ ]) ..................................................................... 16-248
16.22 DETAILED LIST OF PARAMETERS ........................................................................................ 16-249
16.22.1 Basic setting parameters ([Pr. PA_ _ ]) .............................................................................. 16-249
16.22.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ....................................................................... 16-259
16.22.3 Extension setting parameters ([Pr. PC_ _ ]) ....................................................................... 16-271
16.22.4 I/O setting parameters ([Pr. PD_ _ ]) .................................................................................. 16-282
16.22.5 Extension setting 2 parameters ([Pr. PE_ _ ]) .................................................................... 16-293
16.22.6 Extension setting 3 parameters ([Pr. PF_ _ ]) .................................................................... 16-295
16.22.7 Positioning control parameters ([Pr. PT_ _ ]) ..................................................................... 16-297
16.23 HOW TO SET THE ELECTRONIC GEAR ............................................................................... 16-307
16.23.1 Electronic gear settings in the point table method and program method ........................... 16-307
16.23.2 Electronic gear setting in the indexer method .................................................................... 16-310
16.24 SOFTWARE LIMIT ................................................................................................................... 16-311
16.25 STOP METHOD FOR LSP
（
FORWARD ROTATION STROKE END
）
OFF OR LSN (REVERSE
OTATION STROKE END) OFF .......................................................................................................... 16-312
16.26 STOP METHOD AT SOFTWARE LIMIT DETECTION ............................................................ 16-313
16.27 COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL)
16-314
16.27.1 Reading command ............................................................................................................. 16-314
16.27.2 Writing commands ............................................................................................................. 16-325
16.28 DETAILED EXPLANATIONS OF COMMANDS........................................................................ 16-329
16.28.1 External I/O signal status (DIO diagnosis).......................................................................... 16-329
16.28.2 Input device on/off .............................................................................................................. 16-334
16.28.3 Input device on/off (for test operation) ................................................................................ 16-335
16.28.4 Test operation mode........................................................................................................... 16-336
16.28.5 Output signal pin on/off (output signal (DO) forced output) ................................................ 16-338
16.28.6 Point table ........................................................................................................................... 16-339
16.29 APPLICATION OF FUNCTIONS .............................................................................................. 16-347
16.29.1 Current position latch function ............................................................................................ 16-347
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