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4. STARTUP
4.2 Start up
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
(1) Power on
When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the
servo amplifier display.
In the absolute position detection system, first power-on results in the absolute position lost (25) alarm and
the servo system cannot be switched on.
The alarm can be deactivated by then switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/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) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the
parameter definitions.
Parameter No. Name Setting Description
PA14 Rotation direction setting 0
Increase in positioning address rotates the motor in
the CCW direction.
PA08 Auto tuning mode 1 Used.
PA09 Auto tuning response 12 Slow response (initial value) is selected.
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
(3) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) The controller transmits the servo-on command.
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
(4) Home position return
Always perform home position return before starting positioning operation.
(5) Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop.
When the servo motor is with an electromagnetic brake, refer to section 3.11.
Operation/command Stopping condition
Servo off command The base circuit is shut off and the servo motor coasts.
Servo system controller
Forced stop command
The base circuit is shut off and the dynamic brake operates to bring
the servo motor to stop. The controller forced stop warning (E7)
occurs.
Alarm occurrence
The base circuit is shut off and the dynamic brake operates to bring
the servo motor to stop.
Servo amplifier
Forced stop
(EM1) OFF
The base circuit is shut off and the dynamic brake operates to bring
the servo motor to stop. The servo forced stop warning (E6) occurs.