SLock and SFree

Connecting the servo drive to the SVON signal enables servo excitation control via the SLock and SFree commands. However, MCal must be executed before servos can be set to free. (This is because the manipulator is possibly out of position while at servo-free.) In order to ensure MCal execution, set as follows in the software: Enable [Clear MCal] in [System Configuration]-[Controller]-[Robots].

When you execute a manipulator motion command without executing MCal command, error message “Error 4014: MCAL has not completed.” is displayed.

The stepper motor itself is not capable of controlling excitation, and normally, the SVON output signal cannot be used. However, by executing SFree, the manipulator can be operated in a pseudo servo-free state when the motor is actually engaged. When you execute SFree, make sure to execute SLock in order to restore the excitation state.