User guide

4. Description of Operating Functions......................................................................................42
4.1 Description of Position Table.................................................................................................. 44
4.2 Setting Data in Numeric Specification Mode.......................................................................... 48
4.3 Control Signals, Control Data................................................................................................. 49
4.4 Operation Timings .................................................................................................................. 55
4.4.1 Timing after Power ON ............................................................................................. 55
4.4.2 Home Return Operation............................................................................................ 57
4.4.3 Positioning Operation ............................................................................................... 59
4.4.4 Push & Hold Operation ............................................................................................. 63
4.4.5 Pause........................................................................................................................ 71
4.4.6 Speed Change during Movement ............................................................................. 72
4.4.7 Operation at Different Acceleration and Deceleration Settings ................................ 74
4.4.8 Zone Signal............................................................................................................... 75
4.4.9 Pitch Feeding by Relative Coordinate Specification................................................. 76
4.4.10 Power-saving Mode at Standby Positions ................................................................ 80
4.5 Notes on ROBO Grippers ...................................................................................................... 81
4.6 Using a Rotary Actuator in the Multi-rotation Specification .................................................... 83
(1) Home Return...............................................................................................................83
(2) Operation Commands.................................................................................................83
5. Parameter Settings ..............................................................................................................84
5.1 Parameter Table ..................................................................................................................... 84
5.2 Parameter Settings ................................................................................................................ 85
5.2.1 Parameters Relating to the Actuator Stroke Range.................................................. 85
5.2.2 Parameters Relating to the Actuator Operating Characteristics............................... 87
5.2.3 Parameters Relating to the External Interface.......................................................... 94
5.2.4 Servo Gain Adjustment ............................................................................................. 96
6. Troubleshooting ...................................................................................................................98
6.1 Action to Be Taken upon Occurrence of Problem..................................................................98
6.2 Alarm Level Classification......................................................................................................
6.3 Alarm Description and Cause/Action ...................................................................................
(1) Operation-cancellation level alarms.........................................................................
(2) Cold-start level alarms ............................................................................................. 103
6.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software ........ 106
6.5 Specific Problems................................................................................................................. 108
7. Operation Examples .......................................................................................................... 112
* Appendix................................................................................................................................. 113
List of Specifications of Connectable Actuators ...............................................................................113
Correlation diagram of speed and loading capacity for the slider type (motor-straight type) ......... 125
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3.10 Connecting the SIO Communication...................................................................................... 37
3.10.1 Connecting the RS232C Serial Communication....................................................... 37
(1) Basic information.........................................................................................................37
3.11 Connection to Field Network.................................................................................................. 41
3.12 Assignment of Axis Number................................................................................................... 41
3.13 Setting the Baud Rate............................................................................................................ 42