iv
Chapter 4 Trial Operation
4-1 Trial Operation for Servomotor without Load…………………………………………….. 4-2
4-2 Trial Operation for Servomotor without Load from Host Reference………………….. 4-5
4-3 Trial Operation with the Servomotor Connected to the Machine……………………… 4-9
Chapter 5 Control Functions
5-1 Control Mode Selection………………………………………………………………………. 5-1
5-2 Torque Mode……………………………………………………………………………………. 5-2
5-2-1 Analog Torque command Ratio………………………………………………………. 5-2
5-2-2 Analog Speed Limit Proportion……………………………………………………….. 5-3
5-2-3 Adjusting the Analog Torque Command Offset…………………………………… 5-3
5-2-4 Torque Command Linear Acceleration and Deceleration………………………... 5-4
5-2-5 Definition of Torque Direction………………………………………………………… 5-5
5-2-6 Internal Torque Limit……………………………………………………………………. 5-6
5-2-7 Limiting Servomotor Speed during Torque Control………………………………. 5-6
5-2-8 Additional Torque Control Functions………………………………………………... 5-7
5-3 Speed Mode…………………………………………………………………………………….. 5-8
5-3-1 Selection for Speed Command……………………………………………………….. 5-9
5-3-2 Analog Speed Command Ratio……………………………………………………….. 5-10
5-3-3 Adjusting the Analog Reference Offset……………………………………………… 5-10
5-3-4 Analog Reference for Speed Command Limit……………………………………… 5-11
5-3-5 Encoder Signal Output…………………………………………………………………. 5-11
5-3-6 Smoothing the Speed Command……………………………………………………... 5-13
5-3-7 Setting Rotation Direction……………………………………………………………... 5-16
5-3-8 Speed Loop Gain………………………………………………………………………… 5-17
5-3-9 Notch Filter……………………………………………………………………………….. 5-18
5-3-10 Torque Limit of Speed Control Mode………………………………………………. 5-19
5-3-11 Gain Switched………………………………………………………………………….. 5-20
5-3-12 Other Functions………………………………………………………………………... 5-27
5-4 Position Mode…………………………………………………………………………………... 5-29
5-4-1 External Pulse Command……………………………………………………………… 5-30
5-4-2 Internal Position Command…………………………………………………………… 5-32
5-4-3 Electronic Gear………………………………………………………………………….. 5-36
5-4-4 Smoothing Acceleration……………………………………………………………….. 5-40
5-4-5 Definition of Direction………………………………………………………………….. 5-43
5-4-6 Gain Adjustment………………………………………………………………………… 5-43
5-4-7 Clear the Pulse Offset………………………………………………………………….. 5-44
5-4-8 Homing Function………………………………………………………………………… 5-45
5-4-9 Other Position Function………………………………………………………………... 5-54
5-5 Gain Adjustment……………………………………………………………………………….. 5-55
5-5-1 Automatic Gain Adjustment…………………………………………………………… 5-58
5-5-2 Manual Gain Adjustment………………………………………………………………. 5-61
5-5-3 Improving Resonance………………………………………………………………….. 5-62
5-6 Other Functions………………………………………………………………………………... 5-63
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