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4. OPERATION
4.2 Startup
WARNING
Do not operate the switches with wet hands. You may get an electric shock.
CAUTION
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,
servo motor, etc.since they may be hot while power is on or for some time after
power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
4.2.1 Selection of control mode
Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by
switching power off, then on.
4.2.2 Position control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in two second later, shows data.
In the absolute position detection system, first power-on results in the absolute position lost (AL.25)
alarm and the servo system cannot be switched on. This is not a failure and takes place due to the
uncharged capacitor in the encoder.
The alarm can be deactivated by keeping power on for a few minutes in the alarm status and 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) Test operation 1
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
51
DescriptionParameter No. Name Setting
Control mode, regenerative option
selection
Position control mode
MR-RB12 regenerative option is used.
0
Auto tuning
2
3 1
41
03
200
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
Used in incremental positioning system.
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
Electronic gear numerator
Electronic gear denominator
1
Electronic gear denominator (CDV)
Electronic gear numerator (CMX)
Function selection 1
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.