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5
Coordinates management ......................................................................................................................................133
5-1
Overview of coordinates management ......................................................................................................................................133
5-2
Coordinate origin ................................................................................................................................................................................136
5-3
Parameters related to ABZO sensor .............................................................................................................................................137
5-4
Mechanism settings parameter .....................................................................................................................................................138
5-5
Initial coordinate generation & wrap coordinate parameters ............................................................................................139
5-6
Mechanism limit ..................................................................................................................................................................................143
5-7
Mechanism protection......................................................................................................................................................................144
6
Torque limiting function .........................................................................................................................................145
7
Saving parameters ...................................................................................................................................................146
6
Object list
1
Composition of object dictionary .........................................................................................................................148
2
Objects of CoE communication area ....................................................................................................................149
2-1
Descriptions of each object ............................................................................................................................................................149
2-2
Object list ...............................................................................................................................................................................................153
3
Objects of profile area .............................................................................................................................................156
3-1
Descriptions of each object ............................................................................................................................................................156
3-2
Object list ...............................................................................................................................................................................................166
4
Objects of manufacturer-specific area .................................................................................................................168
4-1
Descriptions of each object ............................................................................................................................................................168
4-2
Object list ...............................................................................................................................................................................................196
7
Troubleshooting
1
Alarms .........................................................................................................................................................................210
1-1
Alarm reset ............................................................................................................................................................................................210
1-2
Alarm history ........................................................................................................................................................................................210
1-3
Generation condition of alarms .....................................................................................................................................................212
1-4
Alarm list ...............................................................................................................................................................................................212
1-5
Timing chart..........................................................................................................................................................................................218
2
Information ...............................................................................................................................................................219
2-1
Information history ............................................................................................................................................................................221
2-2
Information list ....................................................................................................................................................................................221
3
Troubleshooting and remedial actions ................................................................................................................226
8
Extended function
1
Gain tuning ................................................................................................................................................................228
1-1
Setting of load inertia........................................................................................................................................................................228
1-2
Setting of motor response ...............................................................................................................................................................228
4
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