YASKAWA SGDH User Manual page 445

(3) Operating Procedure in Position Control Mode (Pn000 = n.
The following circuit is required: External input signal circuit or equivalent.
+24V
/S-ON
Reference pulse
according to
parameter
Pn200.0 setting
Step
1 Match the reference pulse form with the pulse out-
put form from the host controller.
2
Set the reference unit and electronic gear ration so
that it coincides with the host controller setting.
3
Turn ON the power and the servo ON (/S-ON) input
signal.
4 Send the pulse reference for the number of motor
rotation easy to check (for example, one motor revo-
lution) and with slow speed from the host controller
in advance.
5 Check the number of reference pulses input to the
SERVOPACK by the changed amount before and
after the Un00C (input reference pulse counter)
[pulse] was executed.
6 Check the actual number of motor rotation [pulse]
by the changed amount before and after the Un003
(rotation angle 1) [pulse] was executed.
7 Check that steps 5 and 6 satisfy the following equa-
tion:
Un003=Un00C × (Pn202/Pn203)
8 Check that the motor rotation direction is the same
as the reference.
9 Input the pulse reference with the large number of
motor rotation from the host controller to obtain the
constant speed.
10 Check the reference pulse speed input to the SER-
VOPACK using the Un007 (input reference pulse
speed) [min
The number of input reference pulses (Un00C) can be obtained from the following equation.
Un007(input reference pulse speed) input reference pulse pulses/S × 60 ×
* The encoder pulse differs depending on the model of the servomotor used.
SERVOPACK
CN1
47
40
42
P-OT
43
N-OT
CLR 15
PULS 7
8
/PULS
SIGN 11
/SIGN
12
Description
-1
].
Reference input ppm
8-13
1 )
Check Method and Remarks
Set the reference pulse with Pn200=n.
to 8.6.1 (2) Setting a Reference Pulse Form.
Set the electronic gear ratio with Pn202/Pn203. Refer
to 8.6.2 Setting the Electronic Gear.
−
Set the motor speed of several 100 min
ence pulse speed because such speed is safe.
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un00C (input reference pulse counter) [pulse]
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un003 (rotation angle 1) [pulse]
−
Check the input pulse polarity and input reference
pulse form. Refer to 8.6.1 (2) Setting a Reference
Pulse Form.
Set the motor speed of several 100 min
ence pulse speed because such speed is safe.
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un007 (input reference pulse speed) [min
Pn202
×
13
Pn203
2 (8192)
Electronic Encoder
pulse ∗
gear ratio
8.1 Trial Operation
×. Refer
-1
for the refer-
8
-1
for the refer-
-1
]
1