Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 120)

4 Operation
4.5.1 Motor Information
4-32
4.5 Test Without Motor Function
The test without a motor is used to check the operation of the host controller and peripheral devices by simu-
lating the operation of the servomotor in the SERVOPACK, i.e., without actually operating a servomotor. This
function enables you to check wiring, verify the system while debugging, and verify parameters, thus shorten-
ing the time required for setup work and preventing damage to the machine that may result from possible mal-
functions. The operation of the motor can be checked during performing this function regardless of whether
the motor is actually connected or not.
Use Pn00C.0 to enable or disable the test without a motor.
4.5.1 Motor Information
The motor information that is used for a test without a motor is given below.
(1) When Motor is Connected
If a motor is connected, the information from the connected motor and the linear scale is used for the motor
and linear scale information. The set value of Pn00C.2 is not used.
(2) When Motor is Not Connected
The information for the virtual motor and the linear scale that is stored in the SERVOPACK is used. The set
value of Pn00C.2 is used for the linear scale information.
• Resolution: 256
• Scale pitch: The set value of Pn282
Encoder Type
The encoder information for the motor is set in Pn00C.2. A linear scale is always regarded as an incremental
linear scale.
4.5.2 Motor Position and Speed Responses
For the test without a motor, the following responses are simulated for references from the host controller
according to the gain settings for position or speed control.
• Servomotor position
• Servomotor speed
• Linear scale position
The load model, however, will be a rigid system with the mass ratio that is set in Pn103.
Parameter Meaning
When
Enabled
Classification
Pn00C
n. 0
[Factory setting]
Disables the test without a motor.
After restart Setup
n. 1 Enables the test without a motor.
Reference Reference
Response Response
Host controller
SERVOPACK
Simulates the operation
without motor.
65
Parameter Meaning
When
Enabled
Classification
Pn00C
n. 0
[Factory setting] Sets an incremental linear scale as an encoder type for
the test without a motor.
After restart Setup
n. 1
Sets an absolute linear scale as an encoder type for the
test without a motor.