User manual OMRON SGLFW

[. . . ] YASKAWA Linear Series SGL /SGDH USER'S MANUAL SGLGW/SGLFW/SGLTW Linear Servomotors SGDH SERVOPACK YASKAWA MANUAL NO. SIEP S800000 19C Copyright © 2003 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. [. . . ] When the power is supplied normally, the panel operator on the front panel of the SERVOPACK will show the following display. A linear scale pitch setting error (A. 08) will be displayed, but does not indicate an error. Set the scale pitch (Pn280) according to the scale being used. After setting validation of the control power, the A. 08 alarm will be cleared, and the settings will be enabled. Normal status If an alarm other than A. 08 is displayed, as shown in the following diagram, the power supply circuit, linear servomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify the location causing the alarm, and take corrective measures so that the display returns to the above normal status. For details on alarms, refer to 11. 1 Troubleshooting. Example of alarm display Pn280 Linear Scale Pitch Speed Position Force Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 1 µm 0 µm After restart If the linear scale pitch (Pn280) is not set correctly, the linear servomotor cannot be controlled. Make sure that the correct value is set before operating the linear servomotor. When using a SERVOPACK right after factory shipment, the alarm A. 08 (Linear Scale Pitch Setting Error) will be displayed but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value and setting validation, the alarm A. 08 is cleared. Control is performed the SERVOPACK using 1/256 the distance of the scale pitch as a minimum feedback pulse. The count is performed in the serial converter unit using 1/256 of the linear scale pitch. Make sure that the scale pitch satisfies the following conditions. Value of 64000 = Integer Scale pitch (µm) Examples Corrent: 1, 2, 4, 8, 10 , 16, 40 Incorrect: 3, 12, 18 Linear scale pitch (Pn280) = Distance of one cycle of the analog voltage feedback signal. Linear scale pitch (6) Selecting No Hall Sensor Select No Hall Sensor for the parameter Pn080. 0. The factory setting is Pn080. 0 = 0 (With hall sensor), so the setting will change to Pn080. 0 = 1 (No hall sensor). The setting validation is required to enable the settings. Pn080 Parameter n. 1 Description With hall sensor (factory setting) No hall sensor When Pn080. 0 = 0 is set without connecting a hall sensor, the alarm A. C2 (phase error detection) alarm will occur when the power is turned ON. 9-14 9. 2 Trial Operation Using SERVOPACK Internal References (7) Checking the Feedback Signal Check the following feedback signals to the SERVOPACK. · Check whether the signals from the linear scale are correctly received. · Check whether the motor forward direction and linear scale count direction are the same. IMPORTANT 1. Before checking the feedback signals, be sure to set Pn000. 0 to 0 (counting-up direction of the linear scale (phase-A progression) as forward direction). If Pn000. 0 is set to a value other than zero, the linear servomotor may not run. Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is operated without checking the feedback signals, the linear servomotor may not run, or overrun may occur. (a) Checking the Signals from the Linear Scale 1. [. . . ] The upper limit value is the maximum output capacity (W) of applied SERVOPACK. 12 12-39 12 Appendix 12. 4. 3 Monitor Modes 12. 4. 3 Monitor Modes The following list shows available monitor modes. Parameter No. Un000 Un001 Un002 Un003 Un004 Un005 Un006 Un007 Un008 Un009 Un00A Un00B Content of Display Actual motor speed Input speed reference Internal force reference (Value for rated force) Electrical angle 1 (16-bit decimal code) Electrical angle 2 (Angle from 0 (zero) degree of phase-U) Input signal monitor Output signal monitor Input reference pulse speed (displayed only in position control mode) Error counter (amount of position error) (displayed only in position control mode) Accumulated load rate (Value for the rated force as 100%: Displays effective force in 10 s cycle. ) Regenerative load rate (Value for the processable regenerative power as 100%: Displays regenerative power consumption in 10 s cycle. ) Power consumed by DB resistance (Value for the processable power when dynamic brake is applied as 100%: Displays DB power consumption in 10 s cycle. ) Input reference pulse counter (32-bit decimal code) (displayed only in position control mode) Feedback pulse counter (32-bit decimal code) Motor maximum speed setting upper limit or encoder output resolution setting upper limit Hall sensor signal monitor Unit mm/s mm/s % number of pulses from the phase-U (0°) deg - - mm/s reference unit % % % Un00C Un00D Un010 Un011 - - 100mm/s or Pulse/scale pitch (Pn280) - * Available for the software version 32 or later 12-40 12. 5 Parameter Recording Table 12. 5 Parameter Recording Table Use the following table for recording parameters. Note: Setting validation ("immediately" or "after restart") for Pn10B and Pn110 differs depending on the digit. The digits validated after restart are underlined in "Factory Setting" column. Parameter Factory Setting 0000 0000 0000 0002 0000 40 Hz 20. 00 ms 40/s 0% 40 Hz 20. 00 ms 40/s 7 reference units 0% 0. 00 ms 0000 200 % 0 reference unit 0010 100 % 100 ms 7 0 mm/s 0 mm/s 0 mm/s2 0000 Name Setting Validation Pn000 Pn001 Pn002 Pn003 Pn080 Pn100 Pn101 Pn102 Pn103 Pn104 Pn105 Pn106 Pn108 Pn109 Pn10A Pn10B Pn10C Pn10F Pn110 Pn111 Pn124 Pn125 Pn180 Pn181 Pn182 Pn200 Function Selection Basic Switches 0 Function Selection Application Switches 1 Function Selection Application Switches 2 After restart After restart After restart diately After restart Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately After restart Immediately Immediately After restart Immediately Immediately Immediately Immediately Immediately Immediately After restart Function Selection Application Switches 3 ImmeFunction Selection Application Switches 80 Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain Mass Ratio 2nd Speed Loop Gain 2nd Speed Loop Integral Time Constant 2nd Position Loop Gain Bias Width Addition Feed-forward Feed-forward Filter Time Constant Gain-related Application Switches Mode Switch Force Reference Mode Switch Error Pulse Online Autotuning Switches Speed Feedback Compensation Automatic Gain Change Timer Automatic Gain Change Width Bias Mode Switch Speed Reference Mode Switch Acceleration Position Control References Form Selection Switches 12 12-41 12 Appendix Parameter Factory Setting 4 1 0 ms 0000 0 ms 1 0000 0 µm 20 6. 00 V/rated speed 0 ms 0 ms 0. 40 ms 0. 00 ms 10 mm/s 20 mm/s 30 mm/s 50 mm/s 5. 0m/s 3. 0 V/rated force 1. 00 ms 100 % 100 % 800 % 0000 2000 Hz 0. 70 2000 Hz 0. 70 5000mm/s Name Setting Validation Pn202 Pn203 Pn204 Pn207 Pn208 Pn217 Pn218 Pn280 Pn281 Pn300 Pn305 Pn306 Pn307 Pn308 Pn380 Pn381 Pn382 Pn383 Pn384 Pn400 Pn401 Pn404 Pn405 Pn406 Pn408 Pn409 Pn40A Pn40B Pn40C Pn480 Electronic Gear Ratio (Numerator) Electronic Gear Raio (Denominator) Position Reference Accel/Decel Time Constant Position Control Function Switches Position Reference Movement Average Time Reference Pulse Input Multiplication Reference Pulse Input Multiplication Function Selection Linear Scale Pitch PG Divider Speed Reference Input Gain Soft Start Acceleration Time Soft Start Deceleration Time Speed Reference Filter Time Constant Speed Feedback Filter Time Constant Internal Set Speed 1 Internal Set Speed 2 Internal Set Speed 3 JOG Speed Motor Maximum Speed Force Reference Input Gain Force Reference Filter Time Constant Forward External Force Limit Reverse External Force Limit Emergency Stop Force Force Function Switches Notch Filter Frequency Notch Filter Q Value Notch Filter 2 Frequency Notch Filter 2 Q Value Speed Limit in Force Control After restart After restart Immediately After restart Immediately Immediately After restart After restart After restart Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately After restart Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately Immediately 12-42 12. 5 Parameter Recording Table Parameter Factory Setting 40 Hz 30. 00 ms 30 % 30 % 7 7 262144 0 ms 500 ms 20 ms 2100 6543 8888 8888 3211 0000 0000 0000 8888 0% 10 mm/s 20 mm/s 10 mm/s 100mm/s 0% /max. speed 0W Name Setting Validation Pn481 Pn482 Pn483 Pn484 Pn500 Pn504 Pn505 Pn506 Pn508 Pn509 Pn50A Pn50B Pn50C Pn50D Pn50E Pn50F Pn510 Pn512 Pn513 Pn51E Pn580 Pn581 Pn582 Pn583 Pn584 Pn600 Polarity Detection Speed Loop Gain Polarity Detection Speed Loop Integral Time Constant Forward Force Limit Reverse Force Limit Position Completion Width Near Signal Width Immediately Immediately Immediately Immediately Immediately Immediately Overflow Level Brake Reference - Servo OFF Delay Time ImmeServo OFF - Brake Reference Waiting Time Momentary Hold Time Input Signal Selection 1 Input Signal Selection 2 Input Signal Selection 3 Input Signal Selection 4 Output Signal Selection 1 Output Signal Selection 2 Output Signal Selection 3 Output Signal Reverse Settings Input Signal Selection 5 Excessive Position Error Warning Level Zero Clamp Level Zero Speed Level Speed Coincidence Signal Output Width Brake Reference Output Speed Level Motor Self-cooling Ratio External Regenrative Resistor Capacity diately Immediately Immediately After restart After restart After restart After restart After restart After restart After restart After restart After restart Immediately Immediately Immediately Immediately Immediately Immediately Immediately 12 12-43 Index INDEX A adjusting offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-38 air gap - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13 alarm code output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-76, 11-2 alarm display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 alarm display table when the application module is used - - - - - - 11-5 alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-76, 11-2 alarm traceback data clear (Fn006) - - - - - - - - - - - - - - - - - - - - - 8-13 alarm traceback data display (Fn000) - - - - - - - - - - - - - - - - - - - - 8-9 allocating input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27 allocating output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 allowable maximum motor speed and dividing ratio monitor- - - - 8-34 ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-26, 8-3 ALO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 ambient/storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 analog monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-29 analog monitor cable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10 analog monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 application module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10 application module detection results clear (Fn014) - - - - - - - - - - 8-19 automatic offset-signal adjustment of motor current detection signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-14 autotuning functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 connecting a reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-37 connecting linear scales linear scale by Heidenhain - - - - - - - - - - - - - - - - - - - - - - - 7-21 linear scale by Renishaw- - - - - - - - - - - - - - - - - - - - - - - - - 7-21 connecting regenerative resistors - - - - - - - - - - - - - - - - - - - - - - 7-38 connecting the digital operator - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 connection cable for digital operator - - - - - - - - - - - - - - - - - - - - 2-10 connection cable for personal computer- - - - - - - - - - - - - - - - - - 2-10 connection to host controller - - - - - - - - - - - - - - - - - - - - - - - - 12-16 connector terminal block converter unit- - - - - - - - - - - - - - - - - - 6-21 connectors and cables for encoder signals - - - - - - - - - - - - - - - - 6-11 continuous output current - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 control method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 control mode selection - - - - - - - - - - - - - - - - - - - - - - - - - 9-29, 9-74 D DATA/ENTER key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 DATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 DC reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37 selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12 DeviceNet I/F unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42 digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10, 6-19 key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 DOWN key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 DSPL/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 dynamic brake- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 E electronic gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 electronic gear ratio equation - - - - - - - - - - - - - - - - - - - - - - - - - 9-51 encoder signal converter unit - - - - - - - - - - - - - - - - - - - - - - - - - 6-40 encoder signal output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-43 external force limit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-69 external regenerative resistor - - - - - - - - - - - - - - - - - - - - - - - - - 6-22 B base-mounted type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15 bias setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 BK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 built-in open collector power supply - - - - - - - - - - - - - - - - - - - - - 4-4 built-in panel operator- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 C cable seletion- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7 cables for analog monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 cables for connecting hall sensors dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 cables for connecting linear scales dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 cables for connecting personal computers- - - - - - - - - - - - - - - - - 6-19 cables for connecting serial converter units dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8 calculating the required capacity of regenerative resistors - - - - - - 12-4 CE marking- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11 checking products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 clear signal form selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-48 CLR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 CLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 CN1 terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25 CN2 terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21 coil assembly model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 COIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 F feed forward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 feedback signal checking - - - - - - - - - - - - - - - - - - - - - - - - 9-9, 9-15 feed-forward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15 flexible cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 wiring precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 force control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 force limit setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11, 9-17 force limiting using an analog voltage reference - - - - - - - - - - - - 9-71 forward run prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-32 frequency characteristics- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 fuse capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11 G grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32 H hall sensor selecting no hall sensor- - - - - - - - - - - - - - - - - - - - - - - - - - 9-14 hall sensor signal monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-35 hot start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 Index-1 Index I I/O signal (CN1) names and functions- - - - - - - - - - - - - - - - - - I/O signal cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10, I/O signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - INDEXER module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - input circuit signal allocation - - - - - - - - - - - - - - - - - - - - - - - - input signal monitor display - - - - - - - - - - - - - - - - - - - - - - - - instantaneous power loss settings - - - - - - - - - - - - - - - - - - - - - interface for reference input circuits - - - - - - - - - - - - - - - - - - - analog input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - position reference input circuit- - - - - - - - - - - - - - - - - - - - internal force limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 6-16 7-22 6-45 8-24 8-31 9-35 7-28 7-28 7-28 9-68 mounting spacer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10 N names and functions of main circuit terminals - - - - - - - - - - - - - 7-15 N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 noise filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-33 selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12 noise interference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-31 N-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-27 O online autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5 machine rigidity setting - - - - - - - - - - - - - - - - - - - - - - - - - 10-8 saving the results- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-10 operating using force control- - - - - - - - - - - - - - - - - - - - - - - - - 9-60 operating using position control- - - - - - - - - - - - - - - - - - - - - - - 9-47 operating using speed control with an internally set speed - - - - - 9-65 operating using speed control with analog reference - - - - - - - - - 9-36 operation in monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32 output circuit interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29 line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 7-29 open-collector output circuit - - - - - - - - - - - - - - - - - - - - - - 7-30 photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - 7-30 output circuit signal allocation- - - - - - - - - - - - - - - - - - - - - - - - 8-28 output signal monitor display - - - - - - - - - - - - - - - - - - - - - - - - 8-32 overshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-19 overtravel signal setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17 overtravel stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 J JOG mode operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - 8-10 jog operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10, 9-21 L LEFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 limiting force - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-68 linear scale adjusting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7, 9-13 linear scale count direction - - - - - - - - - - - - - - - - - - - - - - - 9-7, 9-13 linear scale pitch setting - - - - - - - - - - - - - - - - - - - - - - - - - 9-8, 9-14 linear scales selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14 linear servomotor installation- - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 linear servomotor main circuit cables dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 linear servomotors mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-15 model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 nameplate- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 list of parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23 list of utility function modes - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8 load regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 P panel operator key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 parameter setting mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20 parameter settings initialization (Fn005) - - - - - - - - - - - - - - - - - 8-12 parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21, 8-23 example of changing function selection - - - - - - - - - - - - - - 8-23 password setting (protects parameters from being changed) (Fn010)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16 PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 P-CON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 peripheral device selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9 polarity detection checking or adjusting - - - - - - - - - - - - - - - - - 9-17 polarity detection start input assigning - - - - - - - - - - - - - - - - - - 9-16 position control block diagram - - - - - - - - - - - - - - - - - - - - - - - 9-55 position loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-13 positioning completed output signal - - - - - - - - - - - - - - - - - - - - 9-57 positioning completed width setting - - - - - - - - - - - - - - - - - - - - - 4-4 positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-58 positioning time reduction functions- - - - - - - - - - - - - - - - - - - - 10-3 P-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 product part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 PROFIBUS-DP I/F unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43 proportional control operation (proportional operation reference) - - - - - - - - - - - - - - - - - - - - -10-18 protection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 M magnetic contactor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31 magnetic contactors selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12 magnetic way model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 main circuit wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - 7-18 manual adjustment of the force reference offset - - - - - - - - - - - - 9-62 manual offset-adjustment of the motor current detection signal (Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15 manual tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12 mass ratio formula - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10, 9-17 max. [. . . ]