Trial Operation In Position Control - YASKAWA Sigma-V Series 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 Signals.
Step
Recheck the power supply and the input signal circuits, and turn ON the control
1
power supply of the SERVOPACK and converter.
Set the reference pulse form with Pn200.0 according to the output pulse form of the
2
host pulse reference form.
Set the reference unit, and then set the electronic gear ratio according to the host con-
3
troller. The electronic gear ratio is set in Pn20E and Pn210.
4
Turn ON the main circuit power supply of the SERVOPACK and converter.
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 controller.
6
Note: To ensure safety, 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
the input reference pulse monitor before and after the reference.
7
The input reference pulse can be checked with Un00C.
Check the actual number of motor rotations from the changes in the feedback pulse
8 monitor before and after the reference.
The feedback pulse 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
input pulse, refer to 5.2.2 Servomotor Rotation Direction.
Input a pulse reference for a comparatively large number of motor rotations from the
11
host controller so that the servomotor will rotate at a constant speed.
Check the reference pulse speed input to the SERVOPACK from the input reference pulse speed monitor (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 rotating speed (min
13
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 signal (/S-ON).
4.3 Trial Operation for Servomotor without Load from Host Reference
Operation
-1
.
input reference pulse speed pulses/s × 60 ×
Reference input pulse speed
-1
). The motor rotating speed can be checked
4.3.1 Inspecting Connection and Sta-
Reference
3.3.4 Example of I/O Sig-
nal Connections in Posi-
tion Control
5.4.1 Basic Settings for
Position Control
5.4.4 Electronic Gear
5.2.2 Servomotor Rota-
tion Direction
Pn20E 1
×
20
Pn210
2 =1048576
Electronic Encoder
gear ratio pulse
−
−
−
−
−
−
−
-1
).
4
−
−
−
4-9