4. STARTUP
4 - 4
4.2 Startup in position control mode
Make a startup in accordance with section 4.1. This section provides descriptions specific to the position
control mode.
4.2.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
1) Switch off SON (Servo-on).
2) Make sure that a command pulse train is not input.
3) Turn on the power.
When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in 2 s later, shows data.
(2) Power-off
1) Make sure that a command pulse train is not input.
2) Switch off SON (Servo-on).
3) Shut off the power.
4.2.2 Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Switch off SON (Servo-on). The base circuit is shut off and the servo motor coasts.
Alarm occurrence The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to
chapter 8.)
EM2 (Forced stop 2) off The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop
warning] occurs. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
LSP (Forward rotation stroke end) off, LSN
(Reverse rotation stroke end) off
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the
opposite direction.
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