IAI America PDR-101-MW - Manual (Page 86)

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[Test Run Procedure]
1. Temporarily fix the actuator at a safe location.
2. Connect P-Driver and the actuator.
(Connect the brake power supply if the actuator is equipped with a brake. If a regenerative resistance
unit is used, connect it as well.)
3. Turn the power supply on.
Check the SRDY LED. The system is normal if SRDY (green) is lit.
If an alarm is detected (ALM (red) turns on), check the alarm description using the PC software (check
the wiring connection as well), remove the cause of the alarm, and cancel the alarm.
4. Conduct a test run from the PC software.
If it is difficult to input the servo ON signal (SON) via the I/O signal interface (for example, if the test run
is conducted without connecting the external I/O cable), set bit 0 of the “PIO function setting flag”
parameter to “1” (to disable the SON signal) and turn the power supply off and back on again or perform
a software reset. The servo is turned on and operation is enabled.
Perform homing and jog operations from the PC software to check that P-Driver operates normally.
If there are no errors, proceed to step 2.
8.2 Step 2
Connect the servo driver to the host controller and conduct a test run of the actuator unit by the host
controller.
At this point, if bit 0 of the “PIO function setting flag” parameter was set to “1” (the SON signal was
disabled) in step 1, set it to “0” (enable the SON signal) and turn the power supply off and back on again or
perform a software reset. The servo ON signal (SON) from the I/O signal interface is enabled.
In step 2, check the following items:
[Items to be checked]
1. Check the wiring between the host controller and P-Driver.
2. Check I/O signals from/to the host controller.
3. Check the basic setting parameters of the position control loop (CNUM, CDEN, CPMD).
See 6.3.1, “Basic Settings.”