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6.7.3 Steps for setting the full-closed loop function ··················································6-43

6.7.4 Parameters for full-closed loop function·························································6-44

6.7.4.1 Auxiliary encoder direction setting··························································6-44

6.7.4.2 Auxiliary encoder resolution setting ························································6-47

6.7.4.3 E-Gear settings ·················································································6-50

6.7.4.4 Setting the protection range for the feedback position error between

the main encoder and auxiliary encoder ··················································6-50

6.7.4.5 Setting the low-pass filter time constant for full- / semi-closed loop control ······6-51

6.7.4.6 Setting the error clearing function when switching between full- and

semi-closed loops ··············································································6-52

6.7.4.7 Auto clearing of the feedback position error between the main

encoder and auxiliary encoder ······························································6-55

6.7.4.8 Set DI [0x0B] to switch between full- and semi-closed loop modes ················6-56

6.7.4.9 Z phase source of homing····································································6-57

6.7.4.10 Encoder output settings ·····································································6-58

6.7.4.11 Full-closed loop feedback source for the controller ···································6-60

6.7.5 Troubleshooting full-closed loop alarms·························································6-61

7.1 PR mode description·························································································7-3

7.1.1 Shared PR parameters················································································7-5

7.1.2 Monitoring variables of PR mode ···································································7-7

7.1.3 Motion Control commands ·········································································7-10

7.1.3.1 Homing methods················································································7-10

7.1.3.2 Speed command················································································7-23

7.1.3.3 Position command··············································································7-25

7.1.3.4 Jump command ·················································································7-28

7.1.3.5 Write command ·················································································7-30

7.1.3.6 Rotary Axis Position command (Index)····················································7-32

7.1.3.7 Arithmetic operation (Statement) ···························································7-36

7.1.4 Overview of the PR procedure ····································································7-39

7.1.5 Trigger methods for the PR command···························································7-46

7.1.6 PR procedure execution flow ······································································7-50

7.2 Application of motion control ·············································································7-64

7.2.1 Data array ······························································································7-64

7.2.2 High-speed position capture function (Capture)···············································7-68

7.2.3 High-speed position compare function (Compare) ···········································7-72

7.3 E-Cam ·········································································································7-76

7.3.1 Source signal for the master axis ·································································7-77

7.3.2 Clutch engagement and disengagement ·······················································7-81

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