On Opening the Package ............................................................................................................................. 14
Check of the Driver Model ............................................................................................................................ 14
Check of the Motor Model ............................................................................................................................ 15
Check of the Combination of the Driver and the Motor ................................................................................ 16
Parts Description ..................................................................... 18
Motor ............................................................................................................................................................. 20
Motor ............................................................................................................................................................. 24
Caution on Homing.................................................................. 50
Setup of Parameter and Mode ................................................ 51
Outline of Parameter .................................................................................................................................... 51
How to Set .................................................................................................................................................... 51
How to Connect ............................................................................................................................................ 51
Composition and List of Parameters ............................................................................................................ 52
Setup of Torque Limit .................................................................................................................................... 57
How to Use the Front Panel and Console .............................. 58
Setup with the Front Panel ........................................................................................................................... 58
Setup with the Console ................................................................................................................................ 58
Initial Status of the Front Panel Display (7 Segment LED) .......................................................................... 59
Initial Status of the Console Display (7 Segment LED)................................................................................ 59
Structure of Each Mode ................................................................................................................................ 60
Auxiliary Function Mode ............................................................................................................................... 73
Copying Function (Console Only) ................................................................................................................ 79
[Connection and Setup of Position Control Mode]
page
Preparation
Connection and Setup of
Position Control Mode
Connection and Setup of
Velocity Control Mode
Connection and Setup of
Torque Control Mode
Full-Closed
Control Mode
Control Block Diagram of Position Control Mode ................. 82
Wiring to the Connector, CN X5 .............................................. 83
Wiring Example to the Connector, CN X5 .................................................................................................... 83
Input Signal and Pin No. of the Connector, CN X5 ...................................................................................... 86
Output Signal and Pin No. of the Connector, CN X5 ................................................................................... 92
Connecting Example to Host Controller ....................................................................................................... 96
Trial Run (JOG Run) at Position Control Mode.................... 104
Inspection Before Trial Run ........................................................................................................................ 104
Trial Run by Connecting the Connector, CN X5 ......................................................................................... 104
Applicable Range ....................................................................................................................................... 106
How to Operate .......................................................................................................................................... 106
Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 130
Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 135
Adjustment
When in Trouble
Supplement
Trial Run (JOG Run) at Velocity Control Mode .................... 138
Inspection Before Trial Run ........................................................................................................................ 138
Trial Run by Connecting the Connector, CN X5 ......................................................................................... 139
Applicable Range ....................................................................................................................................... 140
How to Operate .......................................................................................................................................... 140
Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 164
Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 168
Trial Run (JOG Run) at Torque Control Mode ...................... 171
Inspection Before Trial Run ........................................................................................................................ 171
Trial Run by Connecting the Connector, CN X5 ......................................................................................... 171
Applicable Range ....................................................................................................................................... 172
How to Operate .......................................................................................................................................... 172
Parameters Which are Automatically Set up .............................................................................................. 173
Parameters for Functional Selection .......................................................................................................... 174
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 177
Parameters for Auto-Gain Tuning ............................................................................................................... 178
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 179
Parameters for Position Control ................................................................................................................. 181
Parameters for Velocity/Torque Control ..................................................................................................... 183
Parameters for Sequence .......................................................................................................................... 185
[Full-Closed Control Mode]
page
Outline of Full-Closed Control .............................................. 190
What is Full-Closed Control ? ..................................................................................................................... 190
Control Block Diagram of Full-Closed Control Mode.......... 191
Wiring to the Connector, CN X5 ............................................ 192
Wiring Example to the Connector, CN X5 .................................................................................................. 192
Applicable Range ....................................................................................................................................... 206
4
Before Using
the Products
How to Operate .......................................................................................................................................... 206
Parameters for Functional Selection .......................................................................................................... 208
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 211
Parameters for Auto-Gain Tuning ............................................................................................................... 212
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 214
Parameters for Position Control ................................................................................................................. 216
Parameters for Velocity/Torque Control ..................................................................................................... 220
Parameters for Sequence .......................................................................................................................... 220
Parameters for Full-Closed ........................................................................................................................ 224
Preparation
Connection and Setup of
Position Control Mode
[Adjustment]
page
Gain Adjustment .................................................................... 226
Fit-Gain Function ........................................................................................................................................ 231
Adjustment in Position Control Mode ......................................................................................................... 241
Adjustment in Velocity Control Mode ......................................................................................................... 241
Adjustment in Torque Control Mode ........................................................................................................... 242
Adjustment in Full-Closed Control Mode .................................................................................................... 242
Gain Switching Function ............................................................................................................................. 243
Suppression of Machine Resonance ......................................................................................................... 246
Automatic Gain Setup Function .................................................................................................................. 248
Damping Control ......................................................................................................................................... 250
[When in Trouble]
Adjustment
When in Trouble
Supplement
page
When in Trouble ..................................................................... 252
What to Check ? ......................................................................................................................................... 252
Protective Function (What is Error Code ?) ............................................................................................... 252
Protective Function (Details of Error Code) ............................................................................................... 253
Motor Does Not Run ................................................................................................................................... 260
Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with Speed Zero at Velocity Control Mode .... 261
Positioning Accuracy Is Poor ...................................................................................................................... 262
Origin Point Slips ........................................................................................................................................ 263
Abnormal Noise or Vibration ...................................................................................................................... 263
Overshoot/Undershoot, Overheating of the Motor (Motor Burn-Out) ......................................................... 264
Motor Speed Does Not Reach to the Setup/Motor Revolution (Travel) Is Too Large or Small ................. 264
Parameter Returns to Previous Setup ....................................................................................................... 264
Display of "Communication port or driver cannot be detected" Appears on the Screen While using the
1 Overall plan
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