4
Timing Chart .......................................................................... 132
Operation Timing after Power-ON .............................................................................................................. 132
When an Error (Alarm) Has Occurred (at Servo-ON Command) .............................................................. 133
When an Alarm Has Been Cleared (at Servo-ON Command)................................................................... 134
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)................................................................ 135
Servo-ON/OFF Action While the Motor Is in Motion ..................................................................................135
Absolute System ................................................................... 136
Overview of Absolute System..................................................................................................................... 136
Configuration of Absolute System.............................................................................................................. 136
Battery (for Backup) Installation................................................................................................................. 136
Setup (Initialization) of Absolute Encoder ..................................................................................................136
Outline of Full-Closed Control .............................................. 140
What Is Full-Closed Control ? ....................................................................................................................140
[Adjustment] page
Gain Adjustment .................................................................... 142
Real-Time Auto-Gain Tuning Mode....................................... 144
Adaptive Filter............................................................................................................................................. 147
Normal Mode Auto-Gain Tuning ........................................... 148
Release of Automatic Gain Adjusting Function .................. 151
Manual Gain Tuning (Basic) .................................................. 152
Adjustment in Position Control Mode......................................................................................................... 153
Adjustment in Full-Closed Control Mode.................................................................................................... 154
Gain Switching Function............................................................................................................................. 155
Suppression of Machine Resonance ......................................................................................................... 158
Manual Gain Tuning (Application) ........................................ 160
Instantaneous Speed Observer.................................................................................................................. 160
Damping Control......................................................................................................................................... 161
[When in Trouble] page
When in Trouble..................................................................... 164
What to Check ?......................................................................................................................................... 164
Protective Function (What is Error Code ?) ...............................................................................................164
Protective Function (Detail of Error Code) ................................................................................................. 165
Troubleshooting .................................................................... 172
Motor Does Not Run / Motor Stops During an Operation ..........................................................................172
Point Deviates / Positioning Accuracy is Poor........................................................................................... 173
Home position Slips.................................................................................................................................... 173
Abnormal Motor Noise or Vibration ............................................................................................................173
Overshoot/Undershoot / Overheating of the Motor (Motor Burn-Out)........................................................ 174
Parameter Returns to Previous Setup ....................................................................................................... 174
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the
PAN ATERM®............................................................................................................................................... 174