SAFETY PRECAUTIONS .............................................................................................................................. A- 1

CONDITIONS OF USE FOR THE PRODUCT ............................................................................................. A-14

INTRODUCTION ............................................................................................................................................ A-15

REVISIONS .................................................................................................................................................... A-16

CONTENTS .................................................................................................................................................... A-17

COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES ....................................................... A-20

RELEVANT MANUALS ................................................................................................................................. A-21

MANUAL PAGE ORGANIZATION ................................................................................................................ A-24

TERMS ........................................................................................................................................................... A-26

PACKING LIST ............................................................................................................................................... A-27

1. Outline of Synchronous Control

1.1 Outline of synchronous control ................................................................................................................ 1- 2

1.2 Performance specifications ...................................................................................................................... 1- 6

1.3 Restrictions by the SERIAL No. and version .......................................................................................... 1- 9

1.4 Operation method of synchronous control .............................................................................................. 1-11

1.4.1 Synchronous control execution procedure ....................................................................................... 1-11

1.4.2 Starting/ending for synchronous control ........................................................................................... 1-12

1.4.3 Stop operation of output axis ............................................................................................................ 1-14

2. Input Axis Module

2.1 Servo input axis ........................................................................................................................................ 2- 2

2.1.1 Overview of servo input axis ............................................................................................................. 2- 2

2.1.2 Servo input axis parameters ............................................................................................................. 2- 4

2.1.3 Servo input axis monitor data ........................................................................................................... 2- 8

2.2 Synchronous encoder axis ...................................................................................................................... 2-10

2.2.1 Overview of synchronous encoder axis............................................................................................ 2-10

2.2.2 Setting method for synchronous encoder ........................................................................................ 2-13

2.2.3 Synchronous encoder axis parameters ............................................................................................ 2-21

2.2.4 Synchronous encoder axis control data ........................................................................................... 2-29

2.2.5 Synchronous encoder axis monitor data .......................................................................................... 2-33

3. Cam Function

3.1 Control details for cam function ............................................................................................................... 3- 2

3.2 Create cam data ....................................................................................................................................... 3-10

3.2.1 Memory configuration of cam data ................................................................................................... 3-10

3.2.2 Cam data operation function ............................................................................................................. 3-13

3.2.3 Cam auto-generation function .......................................................................................................... 3-17

4. Synchronous Control

4.1 Main shaft module .................................................................................................................................... 4- 2

4.1.1 Overview of main shaft module ........................................................................................................ 4- 2

4.1.2 Main shaft parameters ...................................................................................................................... 4- 3

CONTENTS

A - 17

1- 1 to 1-16

2- 1 to 2-36

3- 1 to 3-20

4- 1 to 4-64