Downloading
Always confirm safety at the destination before you transfer a user program, configura-
tion data, or setup data from the Power PMAC IDE.
The devices or machines may perform unexpected operation regardless of the operat-
ing mode of the Controller.
After you transfer the user program, the Controller is restarted and communications
with the EtherCAT slaves are cut of
f. During that period, the slave outputs behave ac-
cording to the slave specifications.
The time that communications are cut off depends on the EtherCAT network configura-
tion.
Before you transfer the user program, confirm that the system will not be adversely af-
fected.
Test Run
Before you start a Test Run, make sure that the operation parameters are set correctly.
Actual Operation
Check the user program, servo algorithm, data, and parameter settings for proper exe-
cution before you use them for actual operation.
Cautions
Design
To control the motor safely and correctly, the servo algorithm design and gain setting
work must be performed by engineers who understand control theories and the specifi-
cations of this product.
Create a program to verify the network is in cable redundancy before you enable it.
If such a program is not created, the cable may no longer be redundant due to disconnection on
the ring topology without any notice.
Use the status variable ECAT[i].RedundantLineBreak to verify the network is in cable redundan-
cy
.
Safety Precautions
14
CK3E-series Programmable Multi-Axis Controller User’s Manual Hardware (I610)
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