YASKAWA JUSP-MD D01A Series User Manual page 106

4 Trial Operation
4.3.4 Trial Operation in Position Control
Step
8
9
10
11
12
13
14
15
4-8
Check the actual number of motor rotations from the changes in the feedback pulse
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.
Un00D = Un00C × (Pn20E/Pn210)
Check that the servomotor is rotating in the direction specified by the reference.
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
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).
input reference pulse speed pulses/s × 60 ×
Un007
Reference input pulse speed
Check the motor rotating speed (min
with Un000.
Check that the values in step 12 and step 13 (Un007 and Un000) are equal to each
other.
Stop the pulse reference and turn OFF the servo ON signal (/S-ON).
Operation
-1
). The motor rotating speed can be checked
Reference
5.2.2 Servomotor Rota-
tion Direction
Pn20E 1
×
20
Pn210
2 =1048576
Electronic Encoder
gear ratio pulse
(cont'd)
−
−
−
-1
).
−
−
−