Table of Contents
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5
Macro operation .........................................................................................................................................................84
5-1
Types of macro operation .................................................................................................................................................................. 84
5-2
JOG operation ........................................................................................................................................................................................ 85
5-3
High-speed JOG operation ................................................................................................................................................................ 87
5-4
Inching operation ................................................................................................................................................................................. 89
5-5
Combined JOG operation .................................................................................................................................................................. 91
5-6
Continuous operation ......................................................................................................................................................................... 93
6
Coordinates management ........................................................................................................................................95
6-1
Overview of coordinates management ........................................................................................................................................ 95
6-2
Coordinate origin ................................................................................................................................................................................100
6-3
Parameters related to ABZO sensor .............................................................................................................................................101
6-4
Mechanism settings parameter .....................................................................................................................................................102
6-5
Initial coordinate generation & wrap coordinate parameters ............................................................................................103
6-6
Mechanism limit ..................................................................................................................................................................................107
6-7
Mechanism protection......................................................................................................................................................................108
6-8
Coordinate information monitor function ................................................................................................................................108
7
Torque limiting function .........................................................................................................................................112
4
I/O signals
1
Overview of I/O signals ...........................................................................................................................................114
1-1
Overview of input signals ................................................................................................................................................................114
1-2
Overview of output signals .............................................................................................................................................................116
1-3
Setting contents of input signals and output signals ............................................................................................................117
2
Signals list ..................................................................................................................................................................123
2-1
Input signals list...................................................................................................................................................................................123
2-2
Output signals list ...............................................................................................................................................................................125
3
Signal type .................................................................................................................................................................130
3-1
Direct I/O ................................................................................................................................................................................................130
3-2
Remote I/O ............................................................................................................................................................................................134
4
Input signals ..............................................................................................................................................................136
4-1
Operation control ...............................................................................................................................................................................136
4-2
Coordinates management ..............................................................................................................................................................151
4-3
Management of driver ......................................................................................................................................................................154
5
Output signals ..........................................................................................................................................................156
5-1
Management of driver ......................................................................................................................................................................156
5-2
Management of operation ..............................................................................................................................................................157
5-3
Latch information indication ..........................................................................................................................................................166
5-4
Response outputs ...............................................................................................................................................................................166
6
Timing chart ..............................................................................................................................................................167
5
Power removal function
1
Overview of power removal function ..................................................................................................................170
2
Notes when using the power removal function .................................................................................................171
3
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