3.10 Standard wiring example ················································································ 3-76 3.9.5.3 Wiring for multiple drive modules with the STO function ································· 3-75 3.10.1 Position (PT) control mode - differential pulse signal ········································ 3-76 3.10.2 Position (PT) control mode - open-collector pulse signal ··································· 3-77 3.10.3 Position (PR) control mode - internal position command ··································· 3-78 3.10.4 Speed (S) control mode ············································································· 3-79 3.10.5 Torque (T) control mode ············································································· 3-80 3.10.6 CANopen communication mode ·································································· 3-81 3.10.7 DMCNET communication mode··································································· 3-82 3.10.8 EtherCAT communication mode ·································································· 3-83 4 Trial Operation and Panel Display 4.1 Panel description ····························································································· 4-2 4.2 Parameter setting procedure··············································································· 4-3 4.3 Status display ·································································································· 4-6 4.3.1 Save the setting display ················································································· 4-6 4.3.2 Display the decimal point ··············································································· 4-6 4.3.3 Alarm messages ·························································································· 4-7 4.3.4 Positive and negative sign setting ···································································· 4-7 4.3.5 Monitoring display ························································································ 4-7 4.4 General functions ··························································································· 4-10 4.4.1 Operation of fault record display ···································································· 4-10 4.4.2 Force DO on ····························································································· 4-11 4.4.3 Digital input diagnosis operation ···································································· 4-12 4.5 Testing ········································································································· 4-13 4.4.4 Digital output diagnosis operation ·································································· 4-12 4.5.1 Testing without load ···················································································· 4-13 4.5.2 Apply power to B3 servo drive ······································································ 4-14 4.5.3 JOG trial run without load ············································································ 4-18 4.5.4 Trial run without load (Speed mode) ······························································· 4-20 4.5.5 Trial run without load (Position mode) ····························································· 4-22 Tuning 5 Tuning 5.1 Tuning procedure and the applied mode ································································ 5-2 5.1.1 Flowchart of the tuning procedure ···································································· 5-2 5.1.2 Differences between gain adjustment modes ····················································· 5-3