Trial Operation Procedure; Preparation For Trial Operation; Operation - YASKAWA SGM Series User Manual

10.2 Trial Operation Procedure

10.2.1 Preparation for Trial Operation

To prevent accidents, initially conduct trial operation with no load connected to the Servomotor. If the trial op-
IMPORTANT
eration must be conducted while connected to equipment, confirm that the driven system is ready for an emer-
gency stop at any time.
Prepare operation according to the following procedure.
1. Turn the power ON.
2. If the power is supplied normally, the power-ON indicator LED (green) will light. After
3. Use the ID_RD (read ID) command to check the SERVOPACK type. The SERVOPACK
4. Transfer the parameters required for trial operation (such as motor selection, encoder type,
5. Transfer a SENS_ON (encoder power ON) command and verify that no alarm has oc-
6. When the SV_ON (Servo ON) command transfer, the power circuit in the SERVOPACK
*

10.2.2 Operation

Driving a Servomotor is possible only when the main circuit is in active base driving. Run the
Servomotor at low speed.
J Command Transmission Example
Make sure the Servomotor is running in the proper direction according to the reference.
If the power supply ON sequence is correct as shown in Chapter 5, press the ON switch
to turn ON power. Press and hold the switch for about two seconds in Figure 5.1 of Chapter
5.
the CONNECT (establish connection) command is transferred, the alarm LED (red) will
go OFF. Use the SMON (status monitoring) command to check SERVOPACK status. The
data returned from the SERVOPACK is alarm code 99.
returns "SGD− N."
***
and encoder pulses) by PRM_WR (write parameter) command.
curred. Position data is also received with an absolute encoder.
is activated and the Servomotor is ready to drive. If the SMON command is transfer, status
SVON = 1 (base driving) will be returned.
As factory settings the motor is set to an SGM motor and the encoder is set to an incremen-
tal encoder (2048 P/R). When using any other motors, the parameters must be changed.
POSING (rapid traverse positioning) command
Option = 0
Positioning setting = 10000 (current position + 10000 with absolute encoder)
Rapid traverse speed = 400
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10.2 Trial Operation Procedure
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