Instruction manual

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3.10 Connection of servo amplifier and servo motor ...................................................................................3 -52
3.10.1 Connection instructions.................................................................................................................. 3 -52
3.10.2 Power supply cable wiring diagrams.............................................................................................3 -53
3.11 Servo motor with electromagnetic brake.............................................................................................. 3 -55
3.11.1 Safety precautions..........................................................................................................................3 -55
3.11.2 Setting.............................................................................................................................................3 -55
3.11.3 Timing charts.................................................................................................................................. 3 -56
3.11.4 Wiring diagrams (HF-MP series
HF-KP series servo motor) .....................................................3 -58
3.12 Grounding..............................................................................................................................................3 -59
4. STARTUP 4 - 1 to 4 -16
4.1 Switching power on for the first time ....................................................................................................... 4 - 1
4.1.1 Startup procedure.............................................................................................................................. 4 - 1
4.1.2 Wiring check......................................................................................................................................4 - 2
4.1.3 Surrounding environment.................................................................................................................. 4 - 3
4.2 Startup in position control mode ..............................................................................................................4 - 4
4.2.1 Power on and off procedures............................................................................................................4 - 4
4.2.2 Stop.................................................................................................................................................... 4 - 4
4.2.3 Test operation.................................................................................................................................... 4 - 5
4.2.4 Parameter setting.............................................................................................................................. 4 - 6
4.2.5 Actual operation................................................................................................................................. 4 - 6
4.2.6 Trouble at start-up.............................................................................................................................4 - 7
4.3 Startup in Speed Control Mode ...............................................................................................................4 - 9
4.3.1 Power on and off procedures............................................................................................................4 - 9
4.3.2 Stop.................................................................................................................................................... 4 - 9
4.3.3 Test operation...................................................................................................................................4 -10
4.3.4 Parameter setting.............................................................................................................................4 -11
4.3.5 Actual operation................................................................................................................................4 -11
4.3.6 Trouble at start-up............................................................................................................................4 -12
4.4 Startup in Torque Control Mode .............................................................................................................4 -13
4.4.1 Power on and off procedures...........................................................................................................4 -13
4.4.2 Stop...................................................................................................................................................4 -13
4.4.3 Trouble at start-up............................................................................................................................4 -14
4.4.4 Parameter setting.............................................................................................................................4 -15
4.4.5 Actual operation................................................................................................................................4 -15
5. PARAMETERS 5 - 1 to 5 -50
5.1 Basic Setting Parameters (No.PA ) .....................................................................................................5 - 1
5.1.1 Parameter list .................................................................................................................................... 5 - 1
5.1.2 Parameter write inhibit ......................................................................................................................5 - 2
5.1.3 Selection of control mode .................................................................................................................5 - 3
5.1.4 Selection of regenerative brake option............................................................................................. 5 - 3
5.1.5 Using absolute position detection system ........................................................................................5 - 4
5.1.6 Using electromagnetic brake interlock (MBR).................................................................................. 5 - 4
5.1.7 Number of command input pulses per servo motor revolution........................................................5 - 5
5.1.8 Electronic gear................................................................................................................................... 5 - 6
5.1.9 Auto tuning........................................................................................................................................ 5 -10