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5.1.9 Auto tuning ....................................................................................................................................... 5 -12
5.1.10 In-position range ............................................................................................................................ 5 -13
5.1.11 Torque limit ..................................................................................................................................... 5 -14
5.1.12 Selection of command pulse input form ........................................................................................ 5 -15
5.1.13 Selection of servo motor rotation direction .................................................................................... 5 -16
5.1.14 Encoder output pulse ..................................................................................................................... 5 -16
5.2 Gain/filter parameters (No.PB
) ........................................................................................................ 5 -18
5.2.1 Parameter list ................................................................................................................................... 5 -18
5.2.2 Detail list ........................................................................................................................................... 5 -20
5.2.3 Position smoothing ........................................................................................................................... 5 -29
5.3 Extension setting parameters (No.PC
) ........................................................................................... 5 -30
5.3.1 Parameter list ................................................................................................................................... 5 -30
5.3.2 List of details ..................................................................................................................................... 5 -31
5.3.3 Analog monitor ................................................................................................................................. 5 -41
5.3.4 Alarm history clear ............................................................................................................................ 5 -43
5.4 I/O setting parameters (No.PD
) ...................................................................................................... 5 -44
5.4.1 Parameter list ................................................................................................................................... 5 -44
5.4.2 List of details ..................................................................................................................................... 5 -45
5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ................................... 5 -53
6. DISPLAY AND OPERATION SECTIONS 6 - 1 to 6 -22
6.1 Overview ................................................................................................................................................... 6 - 1
6.2 Display sequence ..................................................................................................................................... 6 - 2
6.3 Status display ........................................................................................................................................... 6 - 3
6.3.1 Display transition ............................................................................................................................... 6 - 3
6.3.2 Display examples .............................................................................................................................. 6 - 4
6.3.3 Status display list ............................................................................................................................... 6 - 5
6.3.4 Changing the status display screen .................................................................................................. 6 - 6
6.4 Diagnostic mode ...................................................................................................................................... 6 - 7
6.5 Alarm mode .............................................................................................................................................. 6 - 8
6.6 Parameter mode ..................................................................................................................................... 6 -10
6.6.1 Parameter mode transition ............................................................................................................... 6 -10
6.6.2 Operation example ........................................................................................................................... 6 -11
6.7 External I/O signal display ...................................................................................................................... 6 -13
6.8 Output signal (DO) forced output ............................................................................................................ 6 -16
6.9 Test operation mode ............................................................................................................................... 6 -17
6.9.1 Mode change .................................................................................................................................... 6 -17
6.9.2 JOG operation .................................................................................................................................. 6 -18
6.9.3 Positioning operation ........................................................................................................................ 6 -19
6.9.4 Motor-less operation ........................................................................................................................ 6 -21
7. GENERAL GAIN ADJUSTMENT 7 - 1 to 7 -12
7.1 Different adjustment methods .................................................................................................................. 7 - 1
7.1.1 Adjustment on a single servo a mplifier ............................................................................................. 7 - 1
7.1.2 Adjustment using MR Configurator ................................................................................................... 7 - 2
7.2 Auto tuning ............................................................................................................................................... 7 - 3
7.2.1 Auto tuning mode .............................................................................................................................. 7 - 3