- 2 -
3.9.2 Detailed explanation of interfaces .............................................................................................. 3-55
3.9.3 Source I/O interfaces .................................................................................................................. 3-59
3.10 Servo motor with a lock ................................................................................................................... 3-61
3.10.1 Safety precautions .................................................................................................................... 3-61
3.10.2 Timing chart .............................................................................................................................. 3-63
3.10.3 Wiring diagrams (LE-□-□ series servo motor) .......................................................................... 3-68
3.11 Grounding........................................................................................................................................ 3-69
4. STARTUP 4- 1 to 4-37
4. STARTUP ............................................................................................................................................. 4-2
4.1 Switching power on for the first time ................................................................................................... 4-3
4.1.1 Startup procedure ......................................................................................................................... 4-3
4.1.2 Wiring check ................................................................................................................................. 4-4
4.1.3 Surrounding environment ............................................................................................................. 4-5
4.2 Startup in position control mode .......................................................................................................... 4-6
4.2.1 Power on and off procedures ....................................................................................................... 4-6
4.2.2 Stop .............................................................................................................................................. 4-6
4.2.3 Test operation ............................................................................................................................... 4-7
4.2.4 Parameter setting ......................................................................................................................... 4-7
4.2.5 Actual operation ............................................................................................................................ 4-7
4.2.6 Trouble at start-up ........................................................................................................................ 4-8
4.3 Startup in speed control mode .......................................................................................................... 4-10
4.3.1 Power on and off procedures ..................................................................................................... 4-10
4.3.2 Stop ............................................................................................................................................ 4-11
4.3.3 Test operation ............................................................................................................................. 4-12
4.3.4 Parameter setting ....................................................................................................................... 4-13
4.3.5 Actual operation .......................................................................................................................... 4-13
4.3.6 Trouble at start-up ...................................................................................................................... 4-13
4.4 Startup in torque control mode .......................................................................................................... 4-15
4.4.1 Power on and off procedures ..................................................................................................... 4-15
4.4.2 Stop ............................................................................................................................................ 4-15
4.4.3 Test operation ............................................................................................................................. 4-16
4.4.4 Parameter setting ....................................................................................................................... 4-16
4.4.5 Actual operation .......................................................................................................................... 4-16
4.4.6 Trouble at start-up ...................................................................................................................... 4-17
4.5 Display and operation sections ......................................................................................................... 4-18
4.5.1 Summary .................................................................................................................................... 4-18
4.5.2 Display flowchart ......................................................................................................................... 4-19
4.5.3 Status display mode ................................................................................................................... 4-20
4.5.4 Diagnostic mode ......................................................................................................................... 4-24
4.5.5 Alarm mode ................................................................................................................................ 4-26
4.5.6 Parameter mode ......................................................................................................................... 4-27
4.5.7 External I/O signal display .......................................................................................................... 4-29
4.5.8 Output signal (DO) forced output ................................................................................................ 4-32
4.5.9 Test operation mode ................................................................................................................... 4-33
5. PARAMETERS 5- 1 to 5-65
5. PARAMETERS...................................................................................................................................... 5-2
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