10.2 Trial Operation Procedure
10.2 Trial Operation Procedure
10.2.1 Preparations for Trial Operation
IMPORTANT
To prevent accidents, initially conduct trial operation with no load connected to the Servomotor. If the trial op-
eration must be conducted while connected to equipment, be sure to set up the system so that an emergency stop
is available if needed.
Prepare operation according to the following procedure.
1. Turn the power ON.
If the power ON/OFF circuit is configured as shown in
Section 5.1 "Turning Power ON/
OFF",
press the ON switch to turn ON power. Press and hold the switch for about two se-
conds with the configuration shown in
Figure 5.1
of
Section 5.1.
2. I f the SERVOPACK turns ON normally, the green power-ON indicator will light. After the
CONNECT (establish connection) command is transfered, the red alarm indicator will go
out. Use the SMON (status monitoring) command to check SERVOPACK status. The data
returned from the SERVOPACK is alarm code 99.
3. Use the IR_RD (read ID) command to check the SERVOPACK type. The SERVOPACK
returns "SGDB—* * * N."
4. Transfer the parameters required for trial operation (such as motor selection, encoder
type*, and encoder pulses) by PRM_WR (write parameter) command.
5. Transfer a SENS_ON (encoder power ON) command and verify that no alarm has oc-
curred. Position data is also received with an absolute encoder.
6. When the SV_ON (Servo ON) command is transferred, the main circuit in the SERVO-
PACK is activated and the Servomotor is ready to drive. If the SMON command is trans-
ferred, status SVON = I (base driving) will be returned.
* A s factory settings, the motor is set to an SGMG (1500 r/min.) motor and the encoder is set
to an incremental encoder (8192 P/R). When using any other motors, the parameters must
be changed.
10 -3