Startup In Torque Control Mode; Power On And Off Procedures; Stop - Mitsubishi MR-JE-10A Instruction Manual

4. STARTUP
No. Start-up sequence
4 Gain adjustment Rotation ripples (speed
fluctuations) are large
at low speed.
Large load inertia
moment causes the
servo motor shaft to
oscillate side to side.

4.4 Startup in torque control mode

Make a startup in accordance with section 4.1. This section provides the methods specific to the torque
control mode.

4.4.1 Power on and off procedures

(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
1) Switch off SON (Servo-on).
2) Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.
3) Turn on the power.
Data is displayed in 2 s after "U" (Analog torque command) is displayed.
(2) Power-off
1) Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).
2) Switch off SON (Servo-on).
3) Shut off the power.

4.4.2 Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake.
Operation/command
Switch off SON (Servo-on).
Alarm occurrence
EM2 (Forced stop 2) off
Simultaneous on or off of RS1 (Forward
rotation selection) and RS2 (Reverse rotation
selection)
Fault Investigation
Make gain adjustment in the
following procedure.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration three times to
complete auto tuning.
If the servo motor may be driven
with safety, repeat acceleration
and deceleration three times to
complete auto tuning.
The base circuit is shut off and the servo motor coasts.
The servo motor decelerates to a stop with the command. With some alarms,
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to
chapter 8.)
This stops the servo motor with the dynamic brake. [AL. E6 Servo forced stop
warning] occurs. EM2 has the same function as EM1 in the torque control mode.
Refer to section 3.5 for EM1.
The servo motor coasts.
4 - 13
Possible cause
Gain adjustment fault
Gain adjustment fault
Stopping condition
Reference
Chapter
6
Chapter
6