2
3.8.3 Source I/O interfaces ....................................................................................................................... 3 -55
3.9 Treatment of cable shield external conductor ........................................................................................ 3 -56
3.10 Connection of driver and servo motor .................................................................................................. 3 -57
3.10.1 Connection instructions .................................................................................................................. 3 -57
3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -58
3.11 Servo motor with a lock......................................................................................................................... 3 -59
3.11.1 Safety precautions ......................................................................................................................... 3 -59
3.11.2 Setting ............................................................................................................................................. 3 -59
3.11.3 Timing charts .................................................................................................................................. 3 -60
3.11.4 Wiring diagrams (LE-
□
-
□
series servo motor) ............................................................................ 3 -62
3.12 Grounding .............................................................................................................................................. 3 -64
4. STARTUP
4 - 1 to 4 -19
4.1 Switching power on for the first time ....................................................................................................... 4 - 2
4.1.1 Startup procedure .............................................................................................................................. 4 - 2
4.1.2 Wiring check ...................................................................................................................................... 4 - 3
4.1.3 Surrounding environment .................................................................................................................. 4 - 4
4.2 Startup in position control mode .............................................................................................................. 4 - 5
4.2.1 Power on and off procedures ............................................................................................................ 4 - 5
4.2.2 Stop .................................................................................................................................................... 4 - 5
4.2.3 Test operation.................................................................................................................................... 4 - 6
4.2.4 Parameter setting .............................................................................................................................. 4 - 7
4.2.5 Actual operation ................................................................................................................................ 4 - 8
4.2.6 Trouble at start-up ............................................................................................................................. 4 - 8
4.3 Startup in speed control mode ................................................................................................................ 4 -10
4.3.1 Power on and off procedures ........................................................................................................... 4 -10
4.3.2 Stop ................................................................................................................................................... 4 -11
4.3.3 Test operation................................................................................................................................... 4 -12
4.3.4 Parameter setting ............................................................................................................................. 4 -13
4.3.5 Actual operation ............................................................................................................................... 4 -14
4.3.6 Trouble at start-up ............................................................................................................................ 4 -14
4.4 Startup in torque control mode ............................................................................................................... 4 -15
4.4.1 Power on and off procedures ........................................................................................................... 4 -15
4.4.2 Stop ................................................................................................................................................... 4 -16
4.4.3 Test operation .................................................................................................................................. 4 -17
4.4.4 Parameter setting ............................................................................................................................. 4 -18
4.4.5 Actual operation ............................................................................................................................... 4 -19
4.4.6 Trouble at start-up ............................................................................................................................ 4 -19
5. PARAMETERS
5 - 1 to 5 -57
5.1 Basic setting parameters (No.PA ) .................................................................................................... 5 - 2
5.1.1 Parameter list .................................................................................................................................... 5 - 2
5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3
5.1.3 Selection of control mode ................................................................................................................. 5 - 4
5.1.4 Selection of regenerative option ....................................................................................................... 5 - 5
5.1.5 Using absolute position detection system ........................................................................................ 5 - 6
