YASKAWA SGD7S Product Manual page 32

5.5
5.6
5.7
5.8
5.9
5.10
5.11
5.12
5.13
5.14
5.15
5.16
5.17
xxxii
Setting the Linear Encoder Pitch . . . . . . . . . . . . . . . . . . . . . . . 5-17
Writing Linear Servomotor Parameters . . . . . . . . . . . . . . . . . . 5-18
Selecting the Phase Sequence for a Linear Servomotor . . . . . 5-22
Polarity Sensor Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
Polarity Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.9.1 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-25
5.9.2 Using the Servo ON Command to Perform Polarity Detection . . . . . . . . . .5-26
5.9.3 Using a Tool Function to Perform Polarity Detection. . . . . . . . . . . . . . . . . .5-27
Overtravel and Related Settings . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.10.1 Overtravel Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-28
5.10.2 Setting to Enable/Disable Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29
5.10.3 Setting Overtravel Signal Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29
5.10.4 Motor Stopping Method for Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29
Holding Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
5.11.1 Brake Operating Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-30
5.11.2 /BK (Brake) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31
5.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped . . .5-32
5.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating . .5-32
Motor Stopping Method for Servo OFF and Alarms . . . . . . . . 5-34
5.12.1 Stopping Method for Servo OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-35
5.12.2 Servomotor Stopping Method for Alarms . . . . . . . . . . . . . . . . . . . . . . . . . .5-35
Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . 5-38
5.13.1 Detection Timing for Overload Warnings (A.910) . . . . . . . . . . . . . . . . . . . .5-38
5.13.2 Detection Timing for Overload Alarms (A.720) . . . . . . . . . . . . . . . . . . . . . .5-39
Electronic Gear Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
5.14.1 Electronic Gear Ratio Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-41
5.14.2 Electronic Gear Ratio Setting Examples . . . . . . . . . . . . . . . . . . . . . . . . . . .5-44
Resetting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 5-46
5.15.1 Precautions on Resetting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-46
5.15.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-46
5.15.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-47
5.15.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-47
Setting the Origin of the Absolute Encoder . . . . . . . . . . . . . . . 5-49
5.16.1 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-49
5.16.2 Setting the Origin of the Absolute Linear Encoder . . . . . . . . . . . . . . . . . . .5-49
Setting the Regenerative Resistor Capacity . . . . . . . . . . . . . . 5-52