A - 14
4.2.1 Axis monitor devices ......................................................................................................................... 4-62
4.2.2 Control change registers ................................................................................................................... 4-64
4.2.3 Virtual servo motor axis monitor devices .......................................................................................... 4-65
4.2.4 Current value after virtual servo motor axis main shaft's differential gear ...................................... 4-67
4.2.5 Synchronous encoder axis monitor devices..................................................................................... 4-69
4.2.6 Current value after synchronous encoder axis main shaft's differential gear ................................. 4-70
4.2.7 Cam axis monitor devices ................................................................................................................. 4-72
4.2.8 Common devices .............................................................................................................................. 4-73
4.3 Motion Registers (#) ................................................................................................................................. 4-76
4.4 Special Relays (SM) ................................................................................................................................ 4-83
4.5 Special Registers (SD) ............................................................................................................................. 4-86
5. MECHANICAL SYSTEM PROGRAM 5- 1 to 5-10
5.1 Mechanical Module Connection Diagram ............................................................................................... 5- 2
5.2 Mechanical Module List ........................................................................................................................... 5- 6
6. DRIVE MODULE 6- 1 to 6-22
6.1 Virtual Servo motor .................................................................................................................................. 6- 2
6.1.1 Operation description ........................................................................................................................ 6- 2
6.1.2 Parameter list .................................................................................................................................... 6- 8
6.1.3 Virtual servo motor axis devices (Internal relays, data registers) .................................................... 6-13
6.2 Synchronous Encoder.............................................................................................................................. 6-14
6.2.1 Operation description ........................................................................................................................ 6-14
6.2.2 Parameter list .................................................................................................................................... 6-18
6.2.3 Synchronous encoder axis devices (Internal relays, data registers) ............................................... 6-19
6.3 Virtual Servo motor/Synchronous Encoder Control Change .................................................................. 6-20
6.3.1 Virtual servo motor control change ................................................................................................... 6-20
6.3.2 Synchronous encoder control change .............................................................................................. 6-22
7. TRANSMISSION MODULE 7- 1 to 7-38
7.1 Gear .......................................................................................................................................................... 7- 3
7.1.1 Operation ........................................................................................................................................... 7- 3
7.1.2 Parameters ........................................................................................................................................ 7- 3
7.2 Clutch ........................................................................................................................................................ 7- 5
7.2.1 Operation ........................................................................................................................................... 7-11
7.2.2 Parameters ........................................................................................................................................ 7-25
7.3 Speed Change Gear ................................................................................................................................ 7-34
7.3.1 Operation ........................................................................................................................................... 7-34
7.3.2 Parameters ........................................................................................................................................ 7-35
7.4 Differential Gear ....................................................................................................................................... 7-37
7.4.1 Operation ........................................................................................................................................... 7-37
7.4.2 Parameters ....................................................................................................................................... 7-37
8. OUTPUT MODULE 8- 1 to 8-42
8.1 Rollers ....................................................................................................................................................... 8- 5
8.1.1 Operation ........................................................................................................................................... 8- 5