Yaskawa SGDH Linear Sigma Series - Manual (Page 270)

9 Operation
9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.††1†)
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9.3.3 Operating Procedure in Position Control Mode (Pn000 = n. †† 1 † )
The following circuit is required: External input signal circuit or equivalent.
Step Description Check Method and Remarks
1 Match the reference pulse form with the pulse out-
put form from the host controller. Set the reference pulse with Pn200=n.††† ×. Refer
to 9.8.1 (2) Setting a Reference Pulse Form.
2 Set the reference unit and electronic gear ration so
that it coincides with the host controller setting. Set the electronic gear ratio with Pn202/Pn203. Refer
to 9.8.2 Setting the Electronic Gear.
3 Turn ON the power and the servo ON (/S-ON) input
signal. −
4 Send the pulse reference for the motor movement
amount easy to check (for example, 1 cm) and with
slow speed from the host controller in advance. Set the motor speed of several 10 mm/s for the refer-
ence pulse speed because such speed is safe.
5 Check the number of reference pulses input to the
SERVOPACK by the changed amount before and
after the Un00C (input reference pulse counter)
[pulse] was executed. Refer to 8.1.3 Basic Mode Selection and Operationer-
ation for how it is displayed.
Un00C (input reference pulse counter) [pulse]
6 Check the actual motor movement amount [pulse]
by the change in Un00D (feedback pulse counter)
[pulse] before and after executing the sent pulse ref-
erence. Refer to 8.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un00D (feedback pulse counter) [pulse]
7 Check that steps 5 and 6 satisfy the following equa-
tion:
Un00D=Un00C
× (Pn202/Pn203)
−
8 Check that the motor movement direction is the
same as the reference. Check the input pulse polarity and input reference
pulse form. Refer to 9.8.1 (2) Setting a Reference
Pulse Form.
9 Input the pulse reference with the bigger motor
movement amount from the host controller to obtain
the constant speed. Set the motor speed of several 10 mm/s for the refer-
ence pulse speed because such speed is safe.
10 Check the reference pulse speed input to the SER-
VOPACK using the Un007 (input reference pulse
speed) [mm/s]. Refer to 8.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un007 (input reference pulse speed) [mm/s]
The number of input reference pulses (Un00C) can be obtained from the following equation.
* The encoder pulse differs depending on the model of the servomotor used.
+24V
/S-ON
P-OT
N-OT
CLR
PULS
/PULS
40
47
42
43
7
8
SIGN
/SIGN
11
12
15
Pulse reference
SERVOPACK
CN1
Reference pulse
according to
parameter
Pn200.0 setting
Un007 (Input reference pulse speed) = Input reference pulse [pulse/s]  ×
Pn203
Pn202 Pn280
10 3 (1000)
1
2 8 (256)
× ×
Reference input pps Electronic
gear ratio Encoder pulse