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4.8.2 Operation procedure for homing............................................................................60
4.8.3 Methods of homing................................................................................................61
4.8.4 Timing chart of homing .........................................................................................62
4.8.5 Timing chart of homing for combination mode.....................................................65
4.9 Over-travel protections .....................................................................................................69
4.10 Torque limitations...........................................................................................................70
4.10.1 Parameters for torque limitations.........................................................................70
4.10.2 Modes of torque limitation ..................................................................................70
4.11 Timing chart of operation................................................................................................71
4.11.1 Timing chart when power supply switch on ........................................................71
4.11.2 Alarm timing chart while servo-ON is executed..................................................71
4.11.3 Action timing chart while servo-ON/OFF are executed during the servo motor is
in standstill......................................................................................................................72
4.11.4 Action timing chart while servo-ON/OFF are executed during the servo motor is
in motion.........................................................................................................................72
4.12 Electromagnetic holding brake .......................................................................................73
4.12.1 Parameters of electromagnetic holding brake......................................................73
4.12.2 Make use of electromagnetic holding brake ........................................................73
Chapter 5 Parameters .................................................................................................................75
5.1 Parameter table .................................................................................................................75
5.1.1 Parameters of section 0 ..........................................................................................75
5.1.2 Parameters of section 1 ..........................................................................................77
5.1.3 Parameters of section 2 ..........................................................................................80
5.2 DI function table ...............................................................................................................81
5.3 DO function table .............................................................................................................81
5.4 Parameter description in detail .........................................................................................82
5.4.1 Parameters of section 0 ..........................................................................................82
5.4.2 Parameters of section 1 ........................................................................................102
5.4.3 Parameters of section 2 ........................................................................................115
5.5 DI function description in detail .....................................................................................118
5.6 DO function description in detail....................................................................................122
Chapter 6 Alarm .........................................................................................................................123
6.1 Alarm table .....................................................................................................................123
6.2 The reason and handling of alarm...................................................................................125
Chapter 7 Specifications ...........................................................................................................133
7.1 Types of servo driver ......................................................................................................133
7.2 Dimensions of servo driver.............................................................................................133
7.3 Specifications of servo driver .........................................................................................134
7.4 Adaptive table for servo motor selections.......................................................................136
7.5 Types of servo motor ......................................................................................................137
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