Mitsubishi Electric MELSEC iQ-R Series User Manual page 310

Servo ON (Servo operation enabled)
The following shows the procedure for servo ON.
1.
Make sure that the servo LED indicates "r_" (MR-J5(W)-G).
(The initial value for "All axis servo ON [Y1]" is "OFF".)
2.
Set "0" for "[Cd.100] Servo OFF command".
3.
Turn ON "All axis servo ON [Y1]".
Now the servo amplifier turns ON the servo (servo operation enabled state). (The servo LED indicates "r_" (MR-J5(W)-G).)
Servo OFF (Servo operation disabled)
The following shows the procedure for servo OFF.
1.
Set "1" for "[Cd.100] Servo OFF command". (The servo LED indicates "r_" (MR-J5(W)-G).)
(If "[Cd.100] Servo OFF command" set "0" again, after the servo operation enabled.)
2.
Turn OFF "All axis servo ON [Y1]".
(The servo LED indicates "r_" (MR-J5(W)-G).)
PDS status transition
A drive unit connected as an axis operates according to the status transition defined in the following CiA402 drive profile. The
motion module judges whether the servo is ON or OFF according to the current status of drive unit.
For detailed operation in each state, refer to the manual of connected drive unit.
Not connected
Servo OFF
Driver READY OFF
Each axis servo OFF
Servo OFF
Driver READY ON
Each axis servo OFF
Servo ON
Driver READY ON
Each axis servo ON
8 CONTROL SUB FUNCTIONS
308
8.9 Servo ON/OFF
Downloaded from ManualsNet.com
• If the servo motor is rotated by external force during the servo OFF status, follow up processing is
performed.
• Change between servo ON or OFF status while operation is stopped (position control mode). The servo
OFF command of during positioning in position control mode, manual pulse control, home position return,
speed control mode, torque control mode and continuous operation to torque control mode will be ignored.
• When the servo OFF is given to all axes, "All axis servo ON [Y1]" is applied even if all axis servo ON
command is turned ON to OFF with "[Cd.100] Servo OFF command" set "0".
QuickStopActive
search engine
Start
NotReadyToSwitchOn
SwitchOnDisabled
ReadyToSwitchOn
SwitchedOn
OperationEnable
Driver error occurring
(Servo OFF)
Fault
FaultReactionActive