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Parameter Setup .................................................................... 142
Parameters for Functional Selection .......................................................................................................... 142
Parameters for Adjustment of Time Constant of Gains and Filters ............................................................ 146
Parameters for Auto-Gain Tuning ............................................................................................................... 147
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 149
Parameters for Position Control ................................................................................................................. 151
Parameters for Velocity/Torque Control ..................................................................................................... 152
Parameters for Sequence .......................................................................................................................... 155
[Connection and Setup of Torque Control Mode] page
Control Block Diagram of Torque Control Mode ................. 160
Wiring to the Connector, CN X5............................................ 161
Wiring Example to the Connector, CN X5 .................................................................................................. 161
Interface Circuit .......................................................................................................................................... 162
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
Tr ial Run by Connecting the Connector, CN X5 .........................................................................................171
Real-Time Auto-Gain Tuning ................................................. 172
Outline ........................................................................................................................................................ 172
Applicable Range ....................................................................................................................................... 172
How to Operate .......................................................................................................................................... 172
Parameters Which are Automatically Set up .............................................................................................. 173
Parameter Setup .................................................................... 174
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
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