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189
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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
Interface Circuit ......................................................................... 193
Input Signal and Pin No. of the Connector, CN X5.................... 195
Output Signal and Pin No. of the Connector, CN X5 ................ 201
Connection to the Connector, CN X7 ................. 204
Connector, CN X7 ..................................................................... 204
Wiring to the External Scale, Connector, CN X7....................... 205
Real-Time Auto-Gain Tuning ................................206
Outline ....................................................................................... 206
Applicable Range ...................................................................... 206
How to Operate ......................................................................... 206
Adaptive Filter ........................................................................... 207
Parameters Which are Automatically Set up............................. 207
Parameter Setup....................................................208
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
[Full-Closed Control Mode]