Trial Operation In Position Control - YASKAWA SGMJV User Manual

4.3.4 Trial Operation in Position Control

Perform the following steps for trial operation in position control. The steps are specified on the condition that
input signal wiring for the position control has been completed according to
tus of Input Signal Circuits.
Step
Recheck the power supply and the input signal circuits, and turn ON the control
1
power supply.
Set the reference pulse form with Pn200.0 according to the output pulse form of the
2
host pulse reference device.
Set the reference unit, and then set the electronic gear ratio according to the host.
3
The electronic gear ratio is set in Pn20E and Pn210.
4 Turn ON the main circuit power supply.
5 Turn ON the servo ON (/S-ON) input signal.
Output a low-speed pulse reference for an easy-to-check number of rotations (e.g.,
one rotation) from the host.
6
Note: To ensure safe, set the reference pulse speed so that the motor speed will be
around 100 min
Check the number of reference pulses input to the SERVOPACK from the changes in
7 the input reference pulse monitor before and after the reference.
The input reference pulse monitor can be checked with Un00C.
Check the actual number of motor rotations from the changes of the feedback pulse
monitor before and after the reference.
8
The feedback pulse monitor can be checked with Un00D.
Check that step 7 and step 8 satisfy the following formula.
9
Un00D = Un00C × (Pn20E/Pn210)
Check that the servomotor is rotating in the direction specified by the reference.
10
Note: To switch the motor rotation direction without changing the polarity of the
analog speed reference, refer to 5.2.2 Servomotor Rotation Direction
Input a pulse reference for a comparatively large number of motor rotations from the
11
host so that the motor will rotate at a constant speed.
Check the reference pulse speed input to the SERVOPACK from the input reference pulse speed (min
The input reference pulse speed can be checked with Un007.
Note: Obtain Un007 from the following formula (if the model uses a 20-bit encoder).
12
Un007
Check the motor speed (min
13
The motor speed can be checked with Un000.
Check that the values in step 12 and step 13 (Un007 and Un000) are equal to each
14
other.
15 Stop the pulse reference and turn OFF the servo ON (/S_ON) signal.
Operation
-1
.
input reference pulse pulses/S × 60 ×
Reference input ppm
-1
).
4.3 Trial Operation for Servomotor without Load from Host Reference
Pn20E 1
×
20
Pn210
2 131072
Electronic Encoder
gear ratio pulse
4.3.1 Inspecting Connection and Sta-
Reference
3.2.5 Example of I/O Sig-
nal Connections in Posi-
tion Control
5.4.1 Basic Settings for
Position Control Mode
5.4.3 Electronic Gear
5.2.2 Servomotor Rota-
tion Direction
-1
).
4
4-9