1. Product Composition
10.5 Settings Related with Position Control....................................................................... 10-23
10.5.1 Position Command Filter ............................................................................ 10-23
10.5.2 Signals Related with Position Control ......................................................... 10-25
10.6 Forward/Reverse Limit Setting .................................................................................. 10-26
10.7 Brake Output Signal Function Setting........................................................................ 10-27
10.8 Torque Limit Function ................................................................................................ 10-29
10.9 Gain Conversion........................................................................................................ 10-32
10.9.1 Gain Group Conversion.............................................................................. 10-32
10.9.2 P/PI Control Conversion ............................................................................. 10-34
10.10 Dynamic Brake ........................................................................................................ 10-36
10.11 Regeneratiion BrakeResistorSetting ........................................................................ 10-38
10.11.1 Using Internal Regeneration brake resistor ................................................ 10-39
10.11.2 Using External Regeneration brake resistor ............................................... 10-41
10.11.3 Other Considerations.................................................................................. 10-42
10.12 Encoder Signal Output............................................................................................. 10-43
10.13 Absolute Encoder Data Transmission (ABSRQ) ...................................................... 10-45
11. Tuning.............................................................................................................. 11-46
11.1 Automatic Gain Tuning ...............................................................................................11-46
11.2 ManualGainTuning .....................................................................................................11-48
11.2.1 Order Gain Tuning .......................................................................................11-48
11.3 Vibration Control.........................................................................................................11-49
11.3.1 NotchFilter ...................................................................................................11-50
11.3.2 Adaptive Filter .............................................................................................11-51
11.4 AnalogMonitor ............................................................................................................11-52
12. Procedure Functions ....................................................................................... 12-1
12.1 Manual Jog Operation ................................................................................................. 12-1
12.2 Program Jog Operation ............................................................................................... 12-2
12.3 Alarm Record Deleting ................................................................................................ 12-3
12.4 AutomaticGainTuning .................................................................................................. 12-5
12.5 IndexPulse Search ...................................................................................................... 12-5
12.6 Absolute Encder Setting .............................................................................................. 12-6
12.7 Instantaneous Maximum Torque Reset ....................................................................... 12-6
12.8 Phase Current Offset Tuning ....................................................................................... 12-7
12.9 Software Reset ............................................................................................................ 12-7
12.10 Commutation ............................................................................................................. 12-8
13. Object Dictionary ............................................................................................. 13-9
13.1 Data Type .................................................................................................................... 13-9
13.2 General Objects .......................................................................................................... 13-9
13.3 Manufacturer Specific Objects................................................................................... 13-14
13.4 Index Objects ............................................................................................................ 13-79
13.5 CiA402 Objects ......................................................................................................... 13-84
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