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3.3.2
Servo-On [S-ON]/ Ready for Servo-on [RDY]
The servo amplifier becomes operable about 4.5 seconds after the control power and motor power are
supplied.
Turn on servo-on [S-ON] (%QX＊.14.15) to supply power to the servomotor to make it ready to rotate.
After servo-on is turned on and the motor becomes ready to rotate, the ready for servo-on [RDY]
(%IX＊.8.15) signal is turned on to indicate that the motor is ready to rotate.
Power
Shutdown
supply
[S-ON]
OFF
[RDY]
OFF
3.3.3
Switching among Position Control, Speed Control and
Torque Control
Position control is assumed while position control (%QX＊.14.9) is turned on.
Torque control is assumed while torque control (%QX＊.14.8) is turned on.
Speed control is assumed while neither of the above is turned on.
3.3.4
Operation under Position Control
Position control is executed while position control (%QX＊.14.9) is turned on.
While [FWD] (%QX＊.14.14) or [REV] (%QX＊.14.13) is turned on, the motor rotates at the speed
specified with the speed command (%QW＊.12). 4000H of the rotation speed of the motor shaft is
equivalent to 3000 [r/min].
6000H can be set to 6000 r/min with the parameter PA2_92: SX extension function.
The homing motion starts at the activating edge of [ORG] (%QX＊.14.12).
The position is preset at the activating edge of position preset (%QX＊.14.10).
While position command operation (%QX＊.15.13) is turned on, the motor rotates according to the
position command (%QD＊.10).
The position command (%QD*.10) is based on the value (initial value) enabled at the activating edge of
position command operation (%QX*.15.13). The initial value can be other than "0."
Supply
About 4.5 seconds or more
About 200ms
CHAPTER 3 OPERATION
ON
ON
About 1ms + task period or shorter
Operation with VS Type
3
3-9
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