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9-3-4 Improvement of protrusion at quadrant changeover................................................................ 9-19
9-3-5 Improvement of overshooting .................................................................................................. 9-24
9-3-6 Improvement of characteristics during acceleration/deceleration ........................................... 9-26
9-4 Settings for emergency stop..................................................................................................................9-29
9-4-1 Deceleration control................................................................................................................. 9-29
9-4-2 Vertical axis drop prevention control........................................................................................ 9-31
9-4-3 Vertical axis pull up control ...................................................................................................... 9-33
10. Troubleshooting
10-1 Points of caution and confirmation......................................................................................................10-2
10-2 Troubleshooting at start up..................................................................................................................10-3
10-3 List of unit protection functions............................................................................................................10-4
10-3-1 List of alarms.......................................................................................................................... 10-4
10-3-2 List of warnings...................................................................................................................... 10-6
10-4 Troubleshooting according to alarm and warning number.................................................................10-7
10-4-1 Alarms.................................................................................................................................... 10-7
10-4-2 Warning................................................................................................................................ 10-18
10-4-3 Parameter No. during initial parameter error ....................................................................... 10-20
11. Inspection
11-1 Inspections...........................................................................................................................................11-2
11-2 Service parts........................................................................................................................................11-2
Appendix 1. Cable and Connector Specifications
Appendix 1-1 Selection of cable................................................................................................................. A1-2
Appendix 1-1-1 Cable wire and assembly.........................................................................................A1-2
Appendix 1-2 Cable connection diagram ................................................................................................... A1-4
Appendix 1-3 Connector outline dimension drawings ............................................................................... A1-8
Appendix 1-4 Cable and connector assembly ......................................................................................... A1-14
Appendix 1-4-1 CM10-SP**S plug connector .................................................................................A1-14
Appendix 1-4-2 CM10-AP**S Angle Plug Connector......................................................................A1-21
Appendix 2. Selection
Appendix 2-1 Selection of servomotor capacity......................................................................................... A2-2
Appendix 2-1-1 Load inertia ratio......................................................................................................A2-2
Appendix 2-1-2 Short time characteristics ........................................................................................A2-2
Appendix 2-1-3 Continuous characteristics.......................................................................................A2-3
Appendix 2-2 Selecting the regenerative resistor ...................................................................................... A2-5
Appendix 2-2-1 Calculating the regenerative energy........................................................................A2-5
Appendix 2-2-2 Calculating the positioning frequency......................................................................A2-8
Appendix 2-3 Example of servo selection.................................................................................................. A2-9
Appendix 2-3-1 Motor selection calculation ......................................................................................A2-9
Appendix 2-3-2 Regenerative resistor selection calculation ...........................................................A2-12
Appendix 2-3-3 Servo selection results...........................................................................................A2-14
Appendix 2-4 Motor shaft conversion load torque ................................................................................... A2-15
Appendix 2-5 Expressions for load inertia calculation ............................................................................. A2-16
Appendix 3. Compliance with European EC Directives
Appendix 3-1 Compliance to EC Directives............................................................................................... A3-2
Appendix 3-1-1 European EC Directives ..........................................................................................A3-2
Appendix 3-1-2 Cautions for EC Directive compliance.....................................................................A3-2
Appendix 4. EMC Installation Guidelines
Appendix 4-1 Introduction........................................................................................................................... A4-2
Appendix 4-2 EMC instructions .................................................................................................................. A4-2
Appendix 4-3 EMC measures..................................................................................................................... A4-3
Appendix 4-4 Measures for panel structure ............................................................................................... A4-3
Appendix 4-4-1 Measures for control panel unit ...............................................................................A4-3
Appendix 4-4-2 Measures for door....................................................................................................A4-4
Appendix 4-4-3 Measures for operation board panel........................................................................A4-4
Appendix 4-4-4 Shielding of the power supply input section ............................................................A4-4
Appendix 4-5 Measures for various cables................................................................................................ A4-5