4. Operation
4.2 Operation in Positioner Mode
4-24
ME0342-4B
[3] Servo ON (SON, SV, PEND)
PIO signal
: Available, ×: Unavailable
1) Servo ON signal SON is the input signal making the servo motor of the actuator operable.
2) If the servo-on is performed to enable operation, the SV output signal is turned ON.
Concurrently positioning completion signal PEND is turned ON.
3) With the power being supplied, then controller cannot be operated while the SV signal
remains OFF. If the SON signal is turned OFF under operation of the actuator, the actuator is
decelerated and stopped with the maximam torque. After the stop, the servo OFF occurs to
enter the motor into the free running state.
The brake (option) is of release-in-excitation type. Therefore, making the excitation on will
release the brake while making it off will lock the brake.
T (before detecting excitation)
(Note 1)
= SON signal identification (6ms) + Excitation detection time (T1 + T2)
× Number of retry (10 times Max.) + Servo ON delay time (T3)
T (after detecting excitation)
(Note 1)
= SON signal identification (6ms) + Servo ON delay time (T3)
T1 : Parameter No.30 It differs depending on the setting of excitation detection type.
Set Value = 0 → 160ms
Set Value = 1, 2 → 220ms
T2 : Parameter No.29 Setting of excitation phase signal detection time
It is set to 10ms in the initial setting.
T3 : Fixed to 20ms
Note 1 Excitation check operation is performed at the first servo-on process after the power is
turned on for the incremental type and absolute battery type, and when the home return
is completed for the simple absolute type to identify the magnetic poles of the motor.
Note 2 PEND would not turn ON in the pause condition.
T 26ms
4.2 Operation in Positioner Mode
ME0342-4B 4-25
[4] Home Return (HOME, HEND, PEND, MOVE)
PIO signal
(Note 1)
: Available, ×: Unavailable
Note 1 For pattern 5, the home return by the HOME signal is not allowed. Refer to
[4.2.7 [1] Home return (ST0, HEND)] for how to perform a home-return operation.
The HOME signal is intended for home return. The HOME signal is caught at the rising edge
(ON edge) to start the home return. At completion of the home return, home return completion
signal HEND is turned ON.
Turn OFF HOME Signal after HEND turns ON. Once the home return completion signal HEND
turns ON, it keeps ON even the actuator gets off the home position. (HEND turns OFF when the
home position gets lost and uncertain.) Even HEND is ON, home-return operation should be
performed again by turning HOME Signal ON. HEND turns OFF while the home-return
operation is performed, and turns back ON when the home-return operation is completed.
Also, during the home-return operation, positioning completion signal PEND and moving signal
MOVE are set to OFF and ON, respectively.
HOME
(PLC → Controller)
HEND
(Controller → PLC)
Positioning Completion Signal
PEND
(Controller → PLC)
MOVE
(Controller → PLC)
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