Document Outline

• Cover
• Contents
• Before Use
  • Safety Precautions
  • Maintenance/Inspections
  • Introduction
    • General
    • After Opening the Package
    • Model of Driver
    • Model of Motor
    • Check the Combination of Driver and Motor
  • Parts Description
    • Driver
    • Motor
    • Console
  • Installation
    • Driver
    • Motor
    • Console
• Preparations
  • System Configuration and Wiring
    • General Wiring Diagram
    • List of Driver and Compatible Peripheral Equipment
    • Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits)
    • Wiring of Connector CN X4 (Connection with Encoder)
    • Wiring of Connector CN X5 (Connection with Host Controller)
    • Wiring of Connector CN X6 (Connection with Personal Computer/Console)
  • Timing Chart
  • Holding Brake
    • Dynamic Brake (DB)
  • Homing Operation (Precautions)
  • Setting the Parameters
    • Overview of Parameters
    • How to Set
    • Overview of Console
    • Overview of PANATERM
    • How to Connect
    • Parameter Groups and Listing
• Using the Console
  • Using the Console
  • The initial State of the Display (7-segment LED)
  • Structure of Each Mode
  • Monitoring Mode
  • Parameter Setting Mode
  • Normal Auto Gain Tuning Mode
  • Alarm Clear
  • Test Run (JOG)
  • Test Run Procedures
  • Copying parameters from console to servo driver (Copy Function)
• Connections and Settings in Position Control Mode
  • Control Block Diagram in Position Control Mode
  • Wiring to Connector CN X5
    • Example of Wiring in Position Control Mode
    • Interface Circuit
    • Input Signal and Pin No. of Connector CN X5
    • Output Signal and Pin No. of Connector CN X5
    • Example of Connection to a Host Controller
  • Test Run in Position Control Mode
    • Inspection prior to Test Run
    • Test Run with Connector CN X5 Connected
  • Real time Auto Gain Tuning
    • Outline
    • Scope
    • Operating Instruction
    • Adaptive Filter
    • Parameters to be Set Automatically
    • Cautions
  • Parameter Setting
    • Parameter for Selection of Functions
    • Parameters for Adjustment of Time Constants of Gains/Filters
    • Parameters for Auto Gain Tuning
    • Parameters for Adjustment (Related to Second Gain Switching Function)
    • Parameters for Position Control
    • Parameters for Internal Velocity Control
    • Parameters for Torque Limits
    • Parameters for Sequences
• Connections and Settings in Internal Velocity Control Mode
  • Control Block Diagram in Internal Velocity Control Mode
  • Wiring to Connector CN X5
    • Example of Wiring to Connector CN X5
    • Interface Circuit
    • Input Signal and Pin No. of Connector CN X5
    • Output Signal and Pin No. of Connector CN X5
  • Test Run in Internal Velocity Control Mode
    • Inspection prior to Test Run
    • Test Run with Connector CN X5 Connected
  • Real time Auto Gain Tuning
    • Outline
    • Scope
    • Operating Instruction
    • Parameters to be Set Automatically
  • Parameter Setting
    • Parameter for Selection of Functions
    • Parameters for Adjustment of Time Constants of Gains/Filters
    • Parameters for Auto Gain Tuning
    • Parameters for Position Control
    • Parameters for Internal Velocity Control
    • Parameters for Torque Limits
    • Parameters for Sequences
• Adjustment]
  • Gain Adjustment
    • Objective of Gain Adjustment
    • Types of Gain Adjustment
    • Procedures of Gain Adjustment
  • Real time Auto Gain Tuning
  • Normal Auto Gain Tuning
  • Cancellation of the Automatic Gain Tuning
  • Manual Gain Tuning (Basic)
  • Manual Gain Tuning (Application)
    • Gain Switching Function
    • To Reduce Mechanical Resonance
    • Anti-Vibration Control
• Trouble Case]
  • Troubleshooting
    • What are Protective Functions?
    • Details of Protective Functions
    • Software limit function
  • Protective Functions
• Reference]
  • Outline of “PANATERMR”, Setup Support Software
  • Communications
  • Description on Dividing/Multiplier Ratio
  • Conformance to EC Directives/UL Standards
  • Optional Parts
  • Recommended Parts
  • Dimensional Outline Drawing (Driver)
  • Dimensional Outline Drawing (Motor)
  • Allowable Load of Output Shaft
  • Motor Characteristics (S-T Characteristics)
  • Servo Motor with Gear
  • Dimensional Outline Drawing of Motor with Gear
  • Allowable Load of Output Shaft of Servo Motor with Gear
  • Characteristics of Servo Motor with Gear (S-T Characteristics)
  • Driver Internal Block Diagram
  • Control Block Diagram
  • Specifications (Driver/Motor)
  • Hit-and-stop Initialization and Load Pressing Control
  • Index
  • Reference
  • After-Sale Service (Repair)