Instruction manual

3
5.1.10 In-position range ................................................................................................................................5 -11
5.1.11 Torque limit.....................................................................................................................................5 -12
5.1.12 Selection of command pulse input form ........................................................................................ 5 -13
5.1.13 Selection of servo motor rotation direction....................................................................................5 -14
5.1.14 Encoder output pulse .....................................................................................................................5 -14
5.2 Gain/Filter Parameters (No. PB
) .....................................................................................................5 -16
5.2.1 Parameter list ................................................................................................................................... 5 -16
5.2.2 Detail list ...........................................................................................................................................5 -17
5.2.3 Position smoothing...........................................................................................................................5 -25
5.3 Extension Setting Parameters (No. PC
) .........................................................................................5 -26
5.3.1 Parameter list ................................................................................................................................... 5 -26
5.3.2 List of details..................................................................................................................................... 5 -28
5.3.3 Analog monitor .................................................................................................................................5 -37
5.3.4 Alarm history clear............................................................................................................................5 -39
5.4 I/O Setting Parameters (No. PD
) ....................................................................................................5 -40
5.4.1 Parameter list ................................................................................................................................... 5 -40
5.4.2 List of details..................................................................................................................................... 5 -41
5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ...................................5 -49
6. DISPLAY AND OPERATION SECTIONS 6 - 1 to 6 -20
6.1 Overview................................................................................................................................................... 6 - 1
6.2 Display Sequence .................................................................................................................................... 6 - 2
6.3 Status display...........................................................................................................................................6 - 3
6.3.1 Display transition ...............................................................................................................................6 - 3
6.3.2 Display examples .............................................................................................................................. 6 - 4
6.3.3 Status display list...............................................................................................................................6 - 5
6.3.4 Changing the status display screen..................................................................................................6 - 6
6.4 Diagnostic mode ...................................................................................................................................... 6 - 7
6.5 Alarm mode.............................................................................................................................................. 6 - 9
6.6 Parameter mode ..................................................................................................................................... 6 -10
6.6.1 Parameter mode transition...............................................................................................................6 -10
6.6.2 Operation example...........................................................................................................................6 -11
6.7 External I/O signal display ...................................................................................................................... 6 -13
6.8 Output signal (DO) forced output............................................................................................................6 -16
6.9 Test operation mode...............................................................................................................................6 -17
6.9.1 Mode change....................................................................................................................................6 -17
6.9.2 Jog operation....................................................................................................................................6 -18
6.9.3 Positioning operation........................................................................................................................6 -19
6.9.4 Motor-less operation.........................................................................................................................6 -20
7. GENERAL GAIN ADJUSTMENT 7 - 1 to 7 -12
7.1 Different adjustment methods..................................................................................................................7 - 1
7.1.1 Adjustment on a single servo amplifier............................................................................................. 7 - 1
7.1.2 Adjustment using servo configuration software ...............................................................................7 - 2
7.2 Auto tuning ............................................................................................................................................... 7 - 3
7.2.1 Auto tuning mode .............................................................................................................................. 7 - 3
7.2.2 Auto tuning mode operation..............................................................................................................7 - 4