4. STARTUP
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4.4 Startup in torque control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the torque
control mode.
4.4.1 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 RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.
3) Switch on the main circuit power supply and control circuit power supply.
Data is displayed in 2 s after "U" (Analog torque command) is displayed.
(2) Power-off
1) Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).
2) Switch off SON (Servo-on).
3) Switch off the main circuit power supply and control circuit power supply.
4.4.2 Stop
Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off.
If any of the following situations occurs, the driver 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 lock.
The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic lock operates to bring the servo motor to a stop. (Refer to
chapter 8.)
This stops the servo motor with the dynamic lock. [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.
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