3

CHAPTER 3 OPERATION

3.1 Signal Description (Priority among Input Signals)·································· 3-2

3.2 Selection of Operation Procedure························································ 3-3

3.3 Operation Check ··············································································· 3-4

3.3.1 Power On ··················································································· 3-4

3.3.2 Power-On/Servo Control-Ready [S-RDY]··········································· 3-5

3.3.3 Servo-On [S-ON]/Ready for Servo-On [RDY]······································ 3-5

3.3.4 If the Servomotor Fails to Start ························································ 3-6

3.3.5 Shutdown ··················································································· 3-6

3.4 Operation ························································································· 3-7

3.4.1 Test Operation at Keypad ······························································ 3-7

3.4.2 Position Control (Pulse) ································································· 3-8

3.4.3 Speed Control ············································································3-10

3.4.4 Torque Control ···········································································3-11

3.4.5 Mode Selection···········································································3-12

3.4.6 Extension Mode ··········································································3-13

3.4.7 Homing ·····················································································3-15

3.4.8 Interrupt Positioning ·····································································3-16

3.4.9 Torque Limit···············································································3-18

3.4.10 Positioning Data Operation ··························································3-19

3.4.11 Immediate Value Data Operation ··················································3-20

3.4.12 Interrupting/Stopping Operation ····················································3-21