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10.3.4 Establish the absolute origin coordinates ····················································· 10-16
10.3.4.1 Establishing the absolute origin coordinates with DI/DO ····························· 10-16
10.3.4.2 Establishing the absolute origin coordinates with parameters ······················· 10-17
10.3.5 Read the absolute position ······································································· 10-17
10.3.5.1 Reading the absolute position with DI/DO ················································ 10-17
10.3.5.2 Reading the absolute position with communication ···································· 10-20
10.4 List of absolute parameters, DI/DO, and alarms ················································ 10-21
11
11.1 Linear motor overview ···················································································· 11-2
11.2 Linear motor software operation ······································································· 11-3
11.2.1 Motor parameter identification ····································································· 11-4
11.2.2 Linear motor direction setting ···································································· 11-10
11.3 Linear encoder ···························································································· 11-11
11.4 Hall sensor ································································································ 11-12
11.4.1 Hall sensor phase sequence checking ························································ 11-13
11.5 Position signal converter box ········································································· 11-13
11.6 Parameter setting ······················································································· 11-14
11.6.1 Total weight (mover + load) ······································································· 11-14
11.6.2 E-Gear ratio ·························································································· 11-14
11.6.3 Limit setting ··························································································· 11-14
11.6.4 Initial magnetic field current detection ························································· 11-15
11.6.5 Overload gain ························································································ 11-15
12
12.1 Basic configuration ······················································································· 12-2
12.1.1 Supported functions ·················································································· 12-2
12.1.2 Hardware configuration ·············································································· 12-3
12.1.3 Parameter settings of CANopen mode ·························································· 12-4
12.2 Communication specification ··········································································· 12-5
12.2.1 Servo communication architecture ······························································· 12-5
12.2.2 Communication objects ············································································· 12-6
12.2.2.1 Process data object (PDO) ····································································· 12-7
12.2.2.2 Service data object (SDO)······································································ 12-8
12.2.2.3 SDO abort codes ··············································································· 12-11
12.2.2.4 Synchronization object (SYNC) ····························································· 12-12
12.2.2.5 Emergency object (EMCY) ··································································· 12-13
12.2.2.6 NMT services ···················································································· 12-14
12.3 CANopen operation mode ············································································ 12-17
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Troubleshooting
