3-1. Main circuit terminals .............................................................................................. 23
3-2. Control terminals ...................................................................................................... 24
4. Operation before using servo system ................................................................................... 26
4-1.Operate panel............................................................................................................. 26
4-1-1.Group P parameters ........................................................................................ 27
4-1-2.Group U parameters ....................................................................................... 28
4-1-3. FX-XX auxiliary function ............................................................................. 32
4-2. Panel key operation .................................................................................................. 35
4-3. Change motor code ................................................................................................... 36
5. Gain adjustment ................................................................................................................... 37
5-1.Self-adaption ............................................................................................................. 37
5-1-1. Self-adaption mode selection switch parameter ............................................ 38
5-1-2. Recommended inertia ratio under default parameters ................................... 40
5-2.Auto-tuning ............................................................................................................... 41
5-2-1. No instruction auto-tuning ............................................................................ 41
5-2-2. Auto-tuning with instruction ......................................................................... 41
5-3.Manual adjustment .................................................................................................... 42
5-3-1.Manual adjustment steps ................................................................................ 42
5-3-2.Manual adjustment parameter and function ................................................... 43
5-4.Vibration suppression ................................................................................................ 44
6.EtherCAT communication specification ............................................................................... 47
7.Canopen operation mode ...................................................................................................... 48
7-1.Homing Mode ........................................................................................................... 48
7-1-1.Summary ........................................................................................................ 48
7-1-2.Operation steps ............................................................................................... 49
7-1-3.Related object table ........................................................................................ 49
7-2.Cyclic Synchronous Position Mode........................................................................... 50
7-2-1.Summary ........................................................................................................ 50
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