Trial Operation Via Mechatrolink-Ii - YASKAWA Sigma-V Series User Manual

4 Operation

4.4.2 Trial Operation via MECHATROLINK-II

4.4.2

Trial Operation via MECHATROLINK-II

The following table provides the procedures for trial operation via MECHATROLINK-II.
Step
1
2
3
4
5
6
7
8
9
4-24
Confirm that the wiring is correct, and then connect the I/O signal con-
nector (CN1 connector).
Turn ON the multi-winding drive unit, SERVOPACK, and converter
power supplies.
If the SERVOPACK and converter are receiving power, the CHARGE
indicator on the SERVOPACK and converter will light up.
Also, the POWER and the COM LED indicators on the SERVOPACK
will light up.
Note: If the COM LED indicator does not turn ON, recheck the set-
tings of MECHATROLINK-II setting switches (S1001 and
S1002) and then turn the power OFF and ON again.
Send the CONNECT command.
In the response data from the multi-winding drive unit, the alarm code
"00" is cleared to show normal operation.
The response data from the multi-winding drive unit can be confirmed
with the SMON command.
Check the product type using an ID_RD command.
A reply showing the product type, such as JUSP-MD3D11A, is received
from the multi-winding drive unit.
Set the following items to the necessary settings for a trial operation.
• Electronic gear settings
• Rotational direction of servomotor
• Overtravel
Save these settings (step 5).
If saving the settings in the controller, use the PRM_WR command.
To save settings in the multi-winding drive unit, use the PPRM_WR
command.
Send the SV_ON command.
A reply showing that the servomotor has switched to Drive status and
that SVON=1 (servomotor power is ON) is received.
Run the servomotor at low speed.
<Example using a positioning command>
Command used: POSING
Command setting: Option = 0, Positioning position =10000 (If using
the absolute encoder, add 10000 to the present position), rapid traverse
speed= 400
Check the following points while running the servomotor at low speed
(step 8).
• Confirm that the rotational direction of the servomotor correctly coin-
cides with the forward rotation or reverse rotation reference. If they do
not coincide, reset the direction.
• Confirm that no unusual vibrations, noises, or temperature rises occur.
If any abnormalities are seen, correct the conditions.
Note: Because the running-in of the load machine is not sufficient at the
time of the trial operation, the servomotor may become over-
loaded.
Description Reference
Chapter 3 Wiring and Connection
–
Σ
-V Series/DC Power Input
Σ Σ
-V Series/ -V Series for Large-
Capacity Models User's Manual
MECHATROLINK-II Commands
(No.: SIEP S800000 54)
4.4.3 Electronic Gear
4.3.1 Servomotor Rotation Direction
4.3.2 Overtravel
Σ
-V Series/DC Power Input
Σ Σ
-V Series/ -V Series for Large-
Capacity Models User's Manual
MECHATROLINK-II Commands
(No.: SIEP S800000 54)
–
4.3.1 Servomotor Rotation Direction
8.4 Troubleshooting Malfunction
Based on Operation and Conditions
of the Servomotor