Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 286)

8 Fully-closed Loop Control
8-12
8.2 SERVOPACK Startup Procedure
First check that the SERVOPACK operates correctly with semi-closed loop control, then check that it operates
correctly with fully-closed loop control.
The following describes the startup procedure for the SERVOPACK in fully-closed loop control.
Procedure Description Operation
Parameters Requiring Set-
tings
Controller
1
Check operation of the whole
sequence in semi-closed loop
control and without any load.
Items to Check
• Power supply circuit wiring
• Servomotor wiring
• Encoder wiring
• Wiring of I/O signal lines from
the host controller
• Servomotor rotation direction,
speed, and number of rotations
• Operation of safety mecha-
nisms, such as the brakes and
the overtravel mechanism
Set the parameters so that the SER-
VOPACK operates correctly in
semi-closed loop control (Pn002.3
= 0) without any load and check
the following points.
• Is there an error with the SER-
VOPACK?
• Does the JOG operation operate
correctly when operating the
SERVOPACK in standalone
mode?
• Do the I/O signals turn ON/OFF
correctly?
• Does the servomotor turn ON
when the SV_ON command is
sent from the host controller?
• Does the servomotor operate
correctly when the position ref-
erence is input by the host con-
troller?
• Basic Function Select Switch
0 (Pn000)
• Application Function Select
Switch 1 (Pn001)
• External Encoder Usage
(Pn002.3)
• Electronic Gear Ratio
(Numerator) (Pn20E)
• Electronic Gear Ratio
(Denominator) (Pn210)
• Input Signal Selection
(Pn50A, Pn50B, Pn511)
• Output Signal Selection
(Pn50E, Pn50F, Pn510)
SERVOPACK or
host controller
2
Check operation of the system
connected with the machine and
servomotor in semi-closed loop
control mode.
Items to Check
• Initial responsiveness of the
system connected with the
machine
• Movement direction, distance,
and speed of the machine spec-
ified by the host controller
Connect the servomotor to the
machine.
Set the moment of inertia ratio
(Pn103) using the advanced auto-
tuning function.
Check that the machine operates in
the correct direction, distance, and
speed as directed by the host con-
troller. • Moment of inertia ratio
(Pn103)
Host controller
3
Check the external encoder.
Item to Check
• Are signals from the external
encoder received correctly?
Set parameters related to the fully-
closed loop control and move the
machine with your hand without
turning ON the power supply to the
servomotor. Check the following
status with the digital operator or
SigmaWin+.
• Does the fully-closed feedback
pulse counter (Un00E) count up
when the servomotor moves in
the forward direction?
• Is the distance the machine
moved about visually the same
as the amount counted by the
fully-closed feedback pulse
counter (Un00E)?
Note: The unit for fully-closed
feedback pulse counter
(Un00E) is one pulse, which
is equivalent to the external
encoder sine wave pitch
divided by the number of
divisions*.
∗ Refer to 8.3.5 Electronic Gear
for details on the number of
divisions.
• External Encoder Usage
(Pn002.3)
• Number of External Scale
Pitch (Pn20A)
• Electronic Gear Ratio
(Numerator) (Pn20E)
• Electronic Gear Ratio
(Denominator) (Pn210)
• Encoder Output Resolution
(Pn281)
• Excessive Error Level
Between Servomotor and
Load Positions (Pn51B)
• Positioning Completed
Width (Pn522)
• Multiplier per One Fully-
closed Rotation (Pn52A)
−