1. FUNCTIONS AND CONFIGURATION
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.4 Function list ............................................................................................................................................. 1- 6
1.5 Model code definition .............................................................................................................................. 1- 7
1.7 Structure.................................................................................................................................................. 1-10
1.7.1 Parts identification .......................................................................................................................... 1-10
2.1 Environmental conditions....................................................................................................................... 2- 1
2.3 Keep out foreign materials ..................................................................................................................... 2- 3
2.4 Cable stress .............................................................................................................................................. 2- 4
3.1.1 Position control mode ....................................................................................................................... 3- 2
3.1.2 Speed control mode........................................................................................................................... 3- 6
3.1.3 Torque control mode ......................................................................................................................... 3- 8
3.3 I/O signals................................................................................................................................................ 3-11
3.3.2 Signal explanations ......................................................................................................................... 3-15
3.4.1 Position control mode ...................................................................................................................... 3-24
3.4.2 Speed control mode.......................................................................................................................... 3-29
3.4.3 Torque control mode ........................................................................................................................ 3-31
3.6 Interfaces................................................................................................................................................. 3-40
3.6.1 Common line .................................................................................................................................... 3-40
3.7 Input power supply circuit..................................................................................................................... 3-46
3.7.1 Connection example......................................................................................................................... 3-46
3.7.2 Terminals.......................................................................................................................................... 3-48
3.7.3 Power-on sequence........................................................................................................................... 3-49
3.8.1 Connection instructions .................................................................................................................. 3-50
CONTENTS
1
1- 1 to 1-24
2- 1 to 2- 4
3- 1 to 3- 66