Manual

7. Operation <Practical Steps>

7.1 How to Start

7.1.1 Timings after Power On

 Procedure after initial startup until actuator adjustment

[1] Connect the motor extension cable to the MOT connector and encoder relay connector to the PG connector.

[2] Connect the supplied flat cable to the PIO connector (for connection between the host PLC and I/O unit).

[3] Reset the emergency stop or enable the supply of motor drive power.

[4] Supply the 24-VDC I/O power (1A/2A pins (+24 V) and 19B/20B pins (0 V) in the PIO connector).

[5] Supply the 24-VDC controller power (24-V and 0-V terminals on the power-supply terminal block).

* If the monitor LED [SV/ALM] on the front panel illuminates for 2 seconds initially and then turns off, the

controller is normal. If [SV/ALM] illuminates in red, an alarm is present. In this case, connect a PC or

teaching pendant to check the nature of the alarm and remove the cause by referring to Chapter 10,

“Troubleshooting.”

[6] Set the minimum set of required parameters initially.

Set the mode selector switch on the front panel to the “MANU” side.

On the PC or teaching pendant, set the MANU operation mode to “Teaching mode: Enable safety speed].

Change the necessary parameters in this condition.

(Example) x Use a PIO pattern other than “Positioning mode (Standard type)” o Parameter No. 25 (PIO

pattern selection)

x Reduce the safety jog speed o Parameter No. 35 (Safety speed)

[7] Check the actuator position.

Confirm that the slider or rod is not contacting a mechanical end.

If the slider/rod is contacting a mechanical end, move it away from the mechanical end. If the slider/rod is

not contacting a mechanical end but is closer to the home position, move the slider/rod away from the home

position.

If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the brake

before moving the actuator.

The slider/rod may suddenly drop due to its dead weight when the brake is released, so exercise caution

not to damage the robot hand or work part by the falling slider/rod.

Warning

If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation

phase detection may not be performed correctly and an abnormal operation or excitation

detection error may result.

[8] Turn on the servo.

Turn on the servo using the “servo ON function” of the PC software or teaching pendant.

If the actuator enters a servo lock mode and the monitor LED [SV/ALM] on the front panel illuminates in

green, the controller is functioning properly.

[9] Check the operation of the safety circuit.

Confirm that the emergency stop circuit (or motor drive-power cutoff circuit) operates properly.