1. GENERAL DESCRIPTION .......................................................................................................1- 1 to 1-13
1.1 System Configuration ........................................................................................................................ 1- 3
1.2 Table of Software Package ............................................................................................................... 1- 5
3. POSITIONING SIGNALS..........................................................................................................3- 1 to 3-54
3.1 Internal Relays .................................................................................................................................. 3- 2
3.1.1 Axis status .................................................................................................................................. 3- 7
3.1.2 Axis command signals............................................................................................................... 3-16
3.1.3 Common Device........................................................................................................................ 3-22
3.2 Data Registers ................................................................................................................................. 3-33
3.2.1 Monitoring data area.................................................................................................................. 3-36
3.2.3 Common devices....................................................................................................................... 3-42
3.3 Special Relays (SP.M) ..................................................................................................................... 3-48
3.4 Special Register (SP.D) ................................................................................................................... 3-51
4. PARAMETERS FOR POSITIONING CONTROL .....................................................................4- 1 to 4-25
4.1 System Settings ................................................................................................................................ 4- 1
4.2 Fixed Parameters.............................................................................................................................. 4- 2
unit magnification........................................................................................................................ 4- 3
4.3 Servo Parameters ............................................................................................................................. 4- 6
4.3.4 Position control gain 1, 2 ........................................................................................................... 4-15
4.3.6 In-position range........................................................................................................................ 4-16
4.3.7 Feed forward gain...................................................................................................................... 4-16
4.3.8 Load inertia ratio........................................................................................................................ 4-16
4.3.9 Automatic tuning........................................................................................................................ 4-16
4.3.11 Notch filter ............................................................................................................................... 4-18
4.3.13 Monitor output mode................................................................................................................ 4-18
CONTENTS
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