Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 275)

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Fully-closed Loop Control
8.1 System Configuration and Connection Example
for SERVOPACK with Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Internal Block Diagram of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.1.4 Example of Connections to External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder
by Renishaw plc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . . . . . 8-8
8.2 SERVOPACK Startup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
8.3 Parameter Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . 8-14
8.3.1 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) . . . . . . . . . . . . . . . . . . . . . . 8-17
8.3.4 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.3.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
8.3.6 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8.3.7 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.3.8 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . 8-23