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8
STARTUP
For the startup procedures other than the network settings, refer to the following user's manual.
MR-JET-G-N1 User's Manual (Introduction)
For servo amplifiers with firmware version D4 or later, the PDO Mapping attribute of the objects has been
changed. To use the PDO Mapping attribute before the change, set "1" in [Pr. PN03.3 Object attribute
selection]. For details, refer to "[Pr. PN03.3 Object attribute selection]" in the following manual.
MR-JET-G-N1 User's Manual (Introduction)
When setting "1" in [Pr. PN03.3], contact the sales representative for available ESI files.
Precautions
To ensure the safety of the system against unauthorized network access, take security measures such as using a firewall.
8.1
Absolute position detection system configuration
Outline
Controllers not using homing mode with the servo amplifier manage the home position via the controller, so setting of a home
position is not performed for the servo amplifier. Refer to this section for information about how to configure the absolute
position detection system for controllers not using homing mode with the servo amplifier.
When using homing mode with the servo amplifier, refer to "CONTROL MODE" in the following manual.
MR-JET User's Manual (Function)
Precautions and restrictions
• [Pr. PC41.0 [AL. 090.1 Homing incomplete] detection selection] can only be used in cyclic synchronous position mode
(csp).
• Setting of a home position is not performed for the servo amplifier, so the software limit function ([Software position limit
(Obj. 607Dh)]) cannot be used.
• When [AL. 025 Absolute position erased] occurs, perform homing again via the controller to prevent an unexpected
operation.
• Do not rotate the servo motor in excess of 2147483647 pulses without an EtherCAT communication established. Doing so
causes the controller to be unable to correctly restore to the current position when the EtherCAT communication is
established.
• Once the relevant settings for the absolute position detection system have been performed, the absolute position cannot be
managed with the servo amplifier. To prevent unexpected operation, perform management of the absolute position via the
controller.
8.1 Absolute position detection system configuration
8
8 STARTUP
41
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