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EEPROM Writing Mode ................................................................................................................................ 70
Auto-Gain Tuning Mode ...............................................................................................................................71
Auxiliary Function Mode ............................................................................................................................... 73
Copying Function (Console Only) ................................................................................................................ 79
[Connection and Setup of Position Control Mode] page
Control Block Diagram of Position Control Mode................. 82
Wiring to the Connector, CN X5.............................................. 83
Wiring Example to the Connector, CN X5 .................................................................................................... 83
Interface Circuit ............................................................................................................................................ 84
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
Tr ial Run by Connecting the Connector, CN X5......................................................................................... 104
Real-Time Auto-Gain Tuning ................................................. 106
Outline ........................................................................................................................................................ 106
Applicable Range ....................................................................................................................................... 106
How to Operate .......................................................................................................................................... 106
Adaptive Filter............................................................................................................................................. 107
Parameters Which are Automatically Set ................................................................................................... 107
Parameter Setup .................................................................... 108
Parameters for Functional Selection .......................................................................................................... 108
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 111
Parameters for Auto-Gain Tuning ............................................................................................................... 112
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 115
Parameters for Position Control ................................................................................................................. 116
Parameters for Velocity/Torque Control ..................................................................................................... 120
Parameters for Sequence .......................................................................................................................... 120
[Connection and Setup of Velocity Control Mode] page
Control Block Diagram of Velocity Control Mode ............... 126
Wiring to the Connector, CN X5............................................ 127
Wiring Example to the Connector, CN X5 .................................................................................................. 127
Interface Circuit .......................................................................................................................................... 128
Input Signal and Pin No. of the Connector, CN X5 .................................................................................... 130
Output Signal and Pin No. of the Connector, CN X5 ................................................................................. 135
Trial Run (JOG Run) at Velocity Control Mode .................... 138
Inspection Before Trial Run ........................................................................................................................ 138
Tr ial Run by Connecting the Connector, CN X5......................................................................................... 139
Real-Time Auto-Gain Tuning ................................................. 140
Outline ........................................................................................................................................................ 140
Applicable Range ....................................................................................................................................... 140
How to Operate .......................................................................................................................................... 140
Adaptive Filter............................................................................................................................................. 141
Parameters Which are Automatically Set up .............................................................................................. 141
Before Using
the Products
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
Adjustment
When in Trouble
Supplement