- iv -
9-3-10. Linear interpolation 2 using pulsar input (MOD: 6Bh) .................................................................... 66
9-3-11. CW circular interpolation using pulsar input (MOD: 6Ch) ............................................................... 66
9-3-12. CCW circular interpolation using pulsar input (MOD: 6Dh) ............................................................ 66
9-4. External switch (±DR) operation mode .................................................................................................... 67
9-4-1. Continuous operation using an external switch (MOD: 02h) ............................................................ 67
9-4-2. Positioning operation using an external switch (MOD: 56h) ............................................................ 68
9-5. Origin position operation mode ................................................................................................................ 69
9-5-1. Origin return operation ..................................................................................................................... 70
9-5-2. Leaving the origin position operations .............................................................................................. 78
9-5-3. Origin search operation .................................................................................................................... 78
9-6. EL or SL operation mode ......................................................................................................................... 80
9-6-1. Feed until reaching an EL or SL position ......................................................................................... 81
9-6-2. Leaving an EL or SL position ............................................................................................................ 81
9-7. EZ count operation mode ......................................................................................................................... 81
9-8. Interpolation operations ........................................................................................................................... 82
9-8-1.Interpolation operations ..................................................................................................................... 82
9-8-2. Interpolation control axis .................................................................................................................. 82
9-8-3. Synthesized speed constant control................................................................................................. 83
9-8-4. Continuous linear interpolation 1 (MOD: 60h) .................................................................................. 84
9-8-5. Linear interpolation 1 (MOD: 61h) .................................................................................................... 84
9-8-6. Continuous linear interpolation 2 (MOD: 62h) .................................................................................. 85
9-8-7. Linear interpolation 2 (MOD: 63h) .................................................................................................... 85
9-8-8. Circular interpolation ........................................................................................................................ 86
9-8-9. Circular interpolation synchronized with the U axis.......................................................................... 88
9-8-10. Interpolation operation synchronized with PA/PB .......................................................................... 88
9-8-11. Operation during interpolation ........................................................................................................ 89
10. Speed patterns .............................................................................................................................................. 90
10-1. Speed patterns ....................................................................................................................................... 90
10-2. Speed pattern settings ........................................................................................................................... 91
10-3. Manual
FH correction ............................................................................................................................. 95
10-4. Example of setting up an acceleration/deceleration speed pattern ....................................................... 99
10-5. Changing speed patterns while in operation ........................................................................................ 100
11. Description of the Functions ........................................................................................................................ 101
11-1. Reset .................................................................................................................................................... 101
11-2. Position override .................................................................................................................................. 102
11-2-1. Target position override 1 ............................................................................................................. 102
11-2-2. Target position override 2 (PCS signal) ........................................................................................ 103
11-3. Output pulse control ............................................................................................................................. 104
11-3-1. Output pulse mode ....................................................................................................................... 104
11-3-2. Control the output pulse width and operation complete timing .................................................... 105
11-4. Idling control ......................................................................................................................................... 106
11-5. Mechanical external input control......................................................................................................... 107
11-5-1. +EL, -EL signal ............................................................................................................................. 107
11-5-2. SD signal ...................................................................................................................................... 108
11-5-3. ORG, EZ signals ........................................................................................................................... 111
11-6. Servomotor I/F (Case in digital servo) .................................................................................................. 112
11-6-1. INP signal ..................................................................................................................................... 112
11-6-2. ERC signal .................................................................................................................................... 113
11-6-3. ALM signals .................................................................................................................................. 114
11-7. External start, simultaneous start ......................................................................................................... 115
11-7-1. #CSTA signal ................................................................................................................................ 115
11-7-2. PCS signal .................................................................................................................................... 116
11-8. External stop / simultaneous stop ........................................................................................................ 117
11-9. Emergency stop ................................................................................................................................... 118
11-10. Counter ............................................................................................................................................... 119
11-10-1. Counter type and input method .................................................................................................. 119
11-10-2. Counter reset .............................................................................................................................. 122
11-10-3. Latch the counter and count condition ....................................................................................... 123
11-10-4. Stop the counter ......................................................................................................................... 124
11-11. Comparator ......................................................................................................................................... 125
11-11-1. Comparator types and functions ................................................................................................. 125
