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3.2
Procedures for actuator operation
The following is the procedure for actuator operation.
(1) Power on
When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears
on the driver display.
When the absolute position detection system is used in a rotary servo motor, first power-on results
in [AL. 25 Absolute position erased] and the servo-on cannot be ready. The alarm can be
deactivated by then switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch
may occur due to external force or the like. Power must therefore be switched on when the servo
motor is at a stop.
(2) Servo-on
Enable the servo-on with the following procedure.
(a) Switch on main circuit power supply and control circuit power supply.
(b) Transmit the servo-on command with the controller.
When the servo-on status is enabled, the driver is ready to operate, and the servo motor is locked.
(3) Home position return
Always perform home position return before starting positioning operation.
When homing, a homing command is sent from the host in the homing mode.
When using the absolute positioning system, once the origin is set, there is no need to perform
homing at subsequent power-on.
Note that homing is not performed in the test operation mode.
(4) Drive
In each control mode, an operation command is sent from the host.
This manual describes the procedure for "profile position mode.
(5) Stop
Turn off the servo-on command after the servo motor has stopped, and then switch the power off. If
any of the following situations occurs, the driver suspends the running of the servo motor and
brings it to a stop.
Refer to "LECSN-T Operation Manual, Section
3.9” for the servo motor with an electromagnetic
brake.
Operation/command
Stopping condition
Upper side
Servo-off command
The base circuit is shut off and the servo motor coasts.
Ready-off command
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to a stop.
Quick stop command
The servo motor decelerates to a stop with the command.
Driver
Alarm occurrence
The servo motor decelerates to a stop with the command. With
some alarms, however, the dynamic brake operates to bring the
servo motor to a stop.
EM2 (Forced stop 2) off
The servo motor decelerates to a stop with the command. [AL.
E6 Servo forced stop warning] occurs. EM2 has the same
function as EM1 in the torque mode.
STO (STO1, STO2) off
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to a stop.
