User`s manual

5-3
5
Functions
5. Functions
5.2 Input terminal functions
Functions of the robot driver input terminals are described below.
For details on input/output terminal timing chart from the power-on to the position
command input, refer to 10.1, “Timing chart”, in Chapter 10.
SON terminal
Setting this signal to ON turns the servo on
(supplies power to the servo).
The timing chart is shown below.
This signal is also used by the magnetic pole
position estimation operation of the RDP. See
5.17, "Magnetic pole position estimation
action" for more details.
FA-16 : DB Operation selection
FC-01
: Input terminal polarity setting
Related parameters
• Receives a servo-ON signal and enters the servo-ON state (when SRD is ON) only
when the main circuit power supply is connected and no alarm has tripped. Unless
all these conditions are met, no power is supplied even when this signal is ON.
However, magnetic pole position estimation can be performed even if SRD is not
ON.
• When the "DB operation selection" (FA-16) parameter is set to "SoF" (during servo
OFF), the dynamic brake engages by turning the servo off.
• Period from input of a servo-ON signal until the operation is ready to start is 20ms.
• By changing the "Input terminal polarity" (FC-01) setting, the servo can also be
turned on when this input terminal is opened.
• When the SON signal is switched from OFF to ON, the position command is set to
the current position and the deviation (position error) counter is cleared.
SRD
FOT/ROT
SON
RDX operation
Power-off Servo-off
Normal servo-on
10 [ms] or more
1000 [ms] or more
Power
RDX
10 [ms] or more
1000 [ms] or more
SRD
FOT/ROT
SON
RDP
operation
Power
Power-off Servo-off
Magnetic pole
position estimation
Normal servo-on
RDP