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6.1.8 Electronic gear................................................................................................................................... 6 - 6
6.1.9 Auto tuning ........................................................................................................................................ 6 - 7
6.1.10 In-position range.............................................................................................................................. 6 - 8
6.1.11 Torque limit...................................................................................................................................... 6 - 9
6.1.12 Selection of servo motor rotation direction....................................................................................6 -10
6.1.13 Encoder output pulse .....................................................................................................................6 -10
6.2 Gain/filter parameters (No. PB
)...................................................................................................... 6 -12
6.2.1 Parameter list ...................................................................................................................................6 -12
6.2.2 Detail list ........................................................................................................................................... 6 -13
6.3 Extension setting parameters (No. PC
) ......................................................................................... 6 -20
6.3.1 Parameter list ...................................................................................................................................6 -20
6.3.2 Detail list ........................................................................................................................................... 6 -21
6.3.3 S-pattern acceleration/deceleration................................................................................................. 6 -27
6.3.4 Alarm history clear............................................................................................................................ 6 -27
6.3.5 Rough match output.........................................................................................................................6 -27
6.3.6 Software limit .................................................................................................................................... 6 -28
6.4 I/O setting parameters (No. PD
)..................................................................................................... 6 -29
6.4.1 Parameter list ...................................................................................................................................6 -29
6.4.2 Detail list ........................................................................................................................................... 6 -30
6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid......... 6 -38
6.4.4 Stopping method when a software limit is detected........................................................................ 6 -39
7. MR Configurator 7 - 1 to 7 -26
7.1 Specifications ...........................................................................................................................................7 - 1
7.2 System configuration ............................................................................................................................... 7 - 2
7.3 Station selection....................................................................................................................................... 7 - 4
7.4 Parameters............................................................................................................................................... 7 - 5
7.5 Point table................................................................................................................................................. 7 - 7
7.6 Device assignment method ..................................................................................................................... 7 - 9
7.7 Test operation .........................................................................................................................................7 -13
7.7.1 Jog operation.................................................................................................................................... 7 -13
7.7.2 Positioning operation........................................................................................................................ 7 -15
7.7.3 Motor-less operation ........................................................................................................................ 7 -18
7.7.4 Output signal (DO) forced output..................................................................................................... 7 -19
7.7.5 Single-step feed ...............................................................................................................................7 -20
7.8 Alarm .......................................................................................................................................................7 -23
7.8.1 Alarm display.................................................................................................................................... 7 -23
7.8.2 Batch display of data at alarm occurrence ......................................................................................7 -24
7.8.3 Alarm history.....................................................................................................................................7 -26
8. PARAMETER UNIT (MR-PRU03) 8 - 1 to 8 -20
8.1 External appearance and key explanations ............................................................................................8 - 2
8.2 Specifications ...........................................................................................................................................8 - 3
8.3 Outline dimension drawings..................................................................................................................... 8 - 3
8.4 Connection with servo amplifier............................................................................................................... 8 - 4
8.4.1 Single axis ......................................................................................................................................... 8 - 4
8.4.2 Multidrop connection .........................................................................................................................8 - 5