User`s manual

Operation
4
4-2
4. Operation
4.1.1 Position control by pulse train input
This method controls the position with external pulse train signals.
1) Make connections as shown below and check that they are correct.
2) Turn on the ELB (earth leakage breaker) and then turn on the control power to the
robot driver.
The digital operator comes on and "d-00" is displayed. (This is the factory default
setting.)
3) Set the "Pulse train input mode" (FA-11) parameter.
4) Set the "Electronic gear numerator/denominator" (FA-12, FA-13) parameters.
(These are set by default so that 1 pulse is equal to a 1µm position command.)
5) Check that the "Control mode" (FA-00) parameter is set to "Position control" (P-S).
6) Turn on the FOT and ROT terminals.
7) Turn on the electromagnetic contactor MC and then turn on the main circuit power
supply.
8) Turn on the SON terminal. (On the RDP, magnetic pole position is found right after
power is first turned on.)
9) Turn on the PEN terminal and input the position pulse command. (The robot will
move to the commanded position.)
To stop the robot, turn off the PEN terminal after completing positioning. Check
that the robot has stopped and then turn off the SON terminal.
ELB
L1
L2
L3
L1C
L2C
U
V
W
ENC
P24
ROT
PEN
SON
FOT
CER
CM1
PLSP
PLSN
SIGP
SIGN
PLC
RS
200 to 230V
MC
Digital operator
Down transformer
Robot driver
Robot
Ground (100 ohms or less)
Position
pulse command
200 to 230 V AC
3-phase
The above diagram shows a sink type output module using a power supply for internal
input.