3.4 Parameters setting ............................................................................................................ 27
3.5 Parameter management.................................................................................................... 28
3.6 Auxiliary functions .......................................................................................................... 29
3.6.1 Special functions................................................................................................... 29
3.6.2 Jog function........................................................................................................... 29
3.6.3 Speed adjustment by keyboards............................................................................ 30
3.6.4 Zeroing for analog quantity .................................................................................. 30
3.7 Resume the parameter default values............................................................................... 31
Chapter 4 Running......................................................................................................................... 33
4.1 Trial running with no load................................................................................................ 33
4.1.1 Wiring and inspection ........................................................................................... 33
4.1.2 Trial running in JOG mode ................................................................................... 34
4.1.3 Trial running in speed adjustment mode with keyboard ....................................... 35
4.2 Position control mode ...................................................................................................... 36
4.2.1 Simple example for position control mode ........................................................... 36
4.2.2 Position commands ............................................................................................... 37
4.2.3 Electronic gear for input commands ..................................................................... 40
4.2.4 Gains related to position control mode ................................................................. 45
4.3 Gain adjustment ............................................................................................................... 46
4.3.1 Gain parameters .................................................................................................... 46
4.3.2 Procedure for gain adjustment .............................................................................. 48
4.4 Resonance suppressions................................................................................................... 49
4.5 Over-travel protections .................................................................................................... 50
4.6 Torque limitations............................................................................................................ 50
4.6.1 Parameters for torque limitations.......................................................................... 50
4.7 Timing chart of operation................................................................................................. 51
4.7.1 Timing chart when power supply switch on ......................................................... 51
4.7.2 Alarm timing chart while servo-ON is executed................................................... 51
4.7.3 Action timing chart while servo-ON/OFF are executed during the servo motor is in
standstill......................................................................................................................... 52
4.7.4 Action timing chart while servo-ON/OFF are executed during the servo motor is in
motion ............................................................................................................................ 52
4.8 Electromagnetic holding brake ........................................................................................ 53
4.8.1 Parameters of electromagnetic holding brake ....................................................... 53
4.8.2 Make use of electromagnetic holding brake ......................................................... 53
Chapter 5 Parameters ..................................................................................................................... 55
5.1 Parameter table ................................................................................................................ 55
5.1.1 Parameters of section 0 ......................................................................................... 55
5.1.2 Parameters of section 1 ......................................................................................... 57
5.2 DI function table .............................................................................................................. 58
IV
