Trial Operation For Position Control - YASKAWA SGD7S Product Manual

7.4.4

Trial Operation for Position Control

This section describes the procedure for trial operation for position control.
Preparations
Always confirm the following before you perform the procedure for trial operation with position
control.
• Make sure that the procedure to prepare the Servomotor for trial operation described in 7.4.1
Preparing the Servomotor for Trial Operation on page 7-11 has been completed.
Operating Procedure
In this procedure, the electronic gear is set in the SERVOPACK and not in the host controller.
1.
Turn OFF the /S-ON (Servo ON) signal from the host controller.
The servo will turn OFF.
2.
Set Pn200 =n.X (Reference Pulse Form) to the reference pulse form of the host
controller.
3.
Set the reference unit and set the electronic gear ratio (Pn20E and Pn210) according to
the host controller.
4.
Turn the power supply to the SERVOPACK OFF and ON again.
The new parameter settings will be enabled.
5.
Input the /S-ON (Servo ON) signal from the host controller.
The servo will turn ON.
6.
Input a low-speed pulse reference from the host controller.
Use a travel distance (number of reference pulses) that is easy to check (for example, the number of
pulses for one rotation).
For safety, set the number of references pulses for approximately the following motor speeds.
• Rotary Servomotors: 100 min
• Linear Servomotors: 100 mm/s
7.
Check the number of reference pulses that are input to the SERVOPACK from the
changes in the input reference pulse counter before and after the reference.
• Using the SigmaWin+: Monitor - Monitor - Motion Monitor, Reference Pulse Counter
• Using the Panel Operator or Digital Operator: Un00C (Input Reference Pulse Counter Monitor)
8.
Check the actual number of motor rotations from the changes in the feedback pulse
counter before and after the reference.
• Using the SigmaWin+: Monitor - Monitor - Motion Monitor, Feedback Pulse Counter
• Using the Panel Operator or Digital Operator: Un00D (Feedback Pulse Counter Monitor)
9.
Confirm that the changes in the input reference pulse counter and the feedback pulse
counter (i.e., the values from steps 7 and 8) satisfy the following equation.
Change in input reference pulse counter = Change in feedback pulse counter x (Pn20E/Pn210)
10.
Confirm that the Servomotor shaft is rotating in the direction specified by the reference.
If the rotation direction does not agree with the reference direction, refer to the following section and
change the rotation direction.
5.6 Motor Direction Setting
11.
Input a pulse reference for a comparatively large number of motor rotations from the
host controller so that the Servomotor will operate at a constant speed.
7.4 Trial Operation from the Host Controller for the Servomotor without a Load
-1
on page 5-18

7.4.4 Trial Operation for Position Control

7
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