sh030106u.pdf - 第126页
4. STA RTUP 4 - 1 4. STARTUP WARNING When exec uting a t est run, follow t he not ice and pr ocedur es in this ins truct ion manual. Otherw ise, it m ay caus e a malfunc tion, damage to the ma c hine , or inj ury. Do not…
3. SIGNALS AND WIRING
3 - 48
(f) Ready-off command from controller
It is the same as (1) (f) in this section.
3.11 Grounding
WARNING
Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal
(marked
) of the servo amplifier to the protective earth (PE) of the cabinet.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to "EMC Installation Guidelines".
Ensure to connect the wire to the
PE terminal of the servo amplifier.
Do not connect the wire directly to
the grounding of the cabinet.
(Note)
Power
supply
V
U
Cabinet
Servo motor
M
U
V
W
W
Encoder
CN2
Servo amplifier
L11
L1
L2
L3
L21
CN1A
Protective earth (PE)
Outer
box
MC
MCCB
EMC filter
Servo system
controller
Do not ground
L11 and L21.
Note. For the power suppl
y
specifications, refer to section 1.3.
4. STARTUP
4 - 1
4. STARTUP
WARNING
When executing a test run, follow the notice and procedures in this instruction
manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.
Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.
CAUTION
Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot
while the power is on and for some time after power-off. Take safety measures
such as providing covers to avoid accidentally touching them by hands and parts
such as cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.
POINT
When you use a linear servo motor, replace the following words in the left to the
words in the right.
Load to motor inertia ratio → Load to motor mass ratio
Torque → Thrust
(Servo motor) speed → (Linear servo motor) speed
4. STARTUP
4 - 2
4.1 Switching power on for the first time
When switching power on for the first time, follow this section to make a startup.
4.1.1 Startup procedure
Wiring check
Surrounding environment check
Axis No. settings
Parameter setting
Test operation of the servo motor
alone in test operation mode
Test operation of the servo
motor alone by commands
Test operation with the servo
motor and machine connected
Gain adjustment
Actual operation
Stop
Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.1), etc. (Refer to
section 4.1.2.)
Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3.)
Confirm that the control axis No. set with the auxiliary axis number setting
switches (SW2-3 and SW2-4) and with the axis selection rotary switch
(SW1) match the control axis No. set with the servo system controller. (Refer
to section 4.3.1 (3).)
Set the parameters as necessary, such as the used operation mode and
regenerative option selection. (Refer to chapter 5.)
For the test operation, with the servo motor disconnected from the machine
and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to section 4.5.)
For the test operation with the servo motor disconnected from the machine
and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.
After connecting the servo motor with the machine, check machine motions
with sending operation commands from the servo system controller.
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Stop giving commands and stop operation.