Download OPERATION MANUAL Position Control Units - Support

Section 9-2
Direct Operation Procedure
9-2
Direct Operation Procedure
The procedure for using direct operation is as follows:
1,2,3...
1. Set the Common Parameters and save them.
2. Turn ON the PCU again or restart the Unit.
The data for the Common Parameters set in step 1 above is enabled.
3. Start MECHATROLINK communications.
4. Set the Servo Parameters and save them.
Set the Servo Parameters required to execute direct operation.
To set parameters permanently, execute SAVE SERVO PARAMETER
(writes to the non-volatile memory).
To enable changed offline parameters, turn ON the power to the Servo
Drive again or execute DEVICE SETUP.
For details, refer to 5-3 Transferring Servo Parameters.
5. Execute SERVO LOCK.
6. Set the data used for direct operation.
Set the positioning data for direct operation in the position command value
of the Axis Operating Output Memory Area.
Set the speed data for direct operation in the speed command value of the
Axis Operating Output Memory Area.
7. Start ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
When using the PCU for the first time or to change the Common Parameter
data, steps 1 and 2 must be performed.
After executing SERVO LOCK, WRITE SERVO PARAMETER can be executed to set the acceleration/deceleration used each time positioning is performed.
Note
9-3
When specifying the Servo Parameters for acceleration/deceleration every
time, make sure that the axis operation is stopped (Busy Flag = 0) while
changing the acceleration/deceleration constants using WRITE SERVO
PARAMETER. Do not change parameters during axis operation.
Changing parameters while the axis is operating may result in incorrect positioning or other malfunction.
PCU Data Settings for Direct Operation
A simple explanation of the main parameters and data used to execute direct
operation is provided here. To execute direct operation, apart from the parameters explained here, the following parameters also need to be set as basic
settings for operating the PCU.
• External I/O Signal Allocations
Refer to 6-4 Standard Settings for Servo Drives Using MECHATROLINK.
• Command Unit
Refer to 7-2 Control Units.
The setting units for parameters and data depend on the specified command unit.
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