P2.xxx Extension parameters ··············································································· 8-64 P3.xxx Communication parameters ······································································· 8-93 P4.xxx Diagnosis parameters ············································································· 8-100 P5.xxx Motion control parameters ······································································· 8-107 P6.xxx PR parameters ······················································································ 8-131 P7.xxx PR parameters ······················································································ 8-154 Table 8.1 Digital input (DI) descriptions ································································ 8-174 Table 8.2 Digital output (DO) descriptions ····························································· 8-181 Table 8.3 Monitoring variables descriptions ··························································· 8-187 9 MODBUS Communication 9.1 RS-485 communication interface (hardware) ·························································· 9-2 9.2 RS-485 communication parameter settings ···························································· 9-3 9.3 MODBUS communication protocol ······································································· 9-3 9.4 Writing and reading communication parameters ···················································· 9-14 9.5 RS-485 communication specification ·································································· 9-15 10 Absolute System 10.1 Battery box (absolute type) and wiring ······························································· 10-3 10.1.1 Specifications ·························································································· 10-3 10.1.2 Battery box dimensions ············································································· 10-5 10.1.3 Connection cable for the absolute encoder ···················································· 10-6 10.2 Installation ·································································································· 10-9 10.1.4 Battery box cable ····················································································· 10-8 10.2.1 Installing the battery box in the servo system ·················································· 10-9 10.2.2 Installing and replacing a battery ······························································· 10-11 10.3 System initialization and operating procedures ·················································· 10-13 10.3.1 System initialization ················································································ 10-13 10.3.2 Pulse number ························································································ 10-14 10.3.3 PUU number ························································································· 10-15 10.3.4 Establish the absolute origin coordinates ····················································· 10-16 10.3.4.1 Establishing the absolute origin coordinates with DI/DO ····························· 10-16 10.3.4.2 Establishing the absolute origin coordinates with parameters ······················· 10-17 10.3.4.3 Establishing the absolute origin coordinates with the PR homing function ······· 10-17 10.3.5 Read the absolute position ······································································· 10-17 10.3.5.1 Reading the absolute position with DI/DO ················································ 10-17 10.3.5.2 Reading the absolute position with communication ···································· 10-20 10.4 List of absolute parameters, DI/DO, and alarms ················································ 10-21