6.4.2 Control structure of Torque mode ··································································· 6-27 6.4.3 Smooth Torque command ············································································ 6-28 6.4.4 Scaling of the analog command ···································································· 6-28 6.4.5 Timing diagram of Torque mode ···································································· 6-29 6.5 Dual mode ···································································································· 6-30 6.5.1 Speed / Position dual mode ·········································································· 6-31 6.5.2 Speed / Torque dual mode ··········································································· 6-32 6.5.3 Torque / Position dual mode ········································································· 6-33 6.6 Others ········································································································· 6-34 6.6.1 Applying the speed limit ··············································································· 6-34 6.6.2 Applying the torque limit ·············································································· 6-34 6.6.3 Analog monitoring ······················································································ 6-35 7 Motion Control 7.1 PR mode description ························································································· 7-2 7.1.1 Shared PR parameters ·················································································· 7-4 7.1.2 Monitoring variables of PR mode ····································································· 7-6 7.1.3 Motion Control commands ············································································· 7-9 7.1.3.1 Homing methods ····················································································· 7-9 7.1.3.2 Speed command ··················································································· 7-22 7.1.3.3 Position command ················································································· 7-24 7.1.3.4 Jump command ····················································································· 7-28 7.1.3.5 Write command ····················································································· 7-30 7.1.3.6 Index Position command ········································································· 7-32 7.1.4 Overview of the PR procedure ······································································ 7-36 7.1.5 Trigger methods for the PR command ···························································· 7-42 7.1.6 PR procedure execution flow ········································································ 7-46 7.2 Application of motion control ············································································· 7-58 7.2.1 Data array ································································································ 7-58 7.2.2 High-speed position capture function (Capture) ················································ 7-62 Parameter Setting 8 Parameters 8.1 Parameter definitions ························································································ 8-2 8.2 List of parameters ···························································································· 8-3 8.3 Parameter descriptions ···················································································· 8-13 P0.xxx Monitoring parameters ·············································································· 8-13 P1.xxx Basic parameters····················································································· 8-29