10.2 SERVOPACK Commissioning Procedure
10-3
10
Fully-Closed Loop Control
10.2
SERVOPACK Commissioning Procedure
First, confirm that the SERVOPACK operates correctly with semi-closed loop control, and then
confirm that it operates correctly with fully-closed loop control.
The commissioning procedure for the SERVOPACK for fully-closed loop control is given below.
Step Description Operation
Required Parameter
Settings
Con-
trolling
Device
1
Check operation of the
entire sequence with
semi-closed loop control
and without a load.
Items to Check
• Power supply circuit
wiring
• Servomotor wiring
• Encoder wiring
• Wiring of I/O signal
lines from the host con-
troller
• Servomotor rotation
direction, motor speed,
and multiturn data
• Operation of safety
mechanisms, such as
the brakes and the
overtravel mechanisms
Set the parameters so that the
SERVOPACK operates correctly in
semi-closed loop control without a
load and check the following
points. Set Pn002 to n.0 to
specify semi-closed loop control.
• Are there any errors in the SER-
VOPACK?
• Does jogging function correctly
when you operate the SERVO-
PACK without a load?
• Do the I/O signals turn ON and
OFF correctly?
• Is power supplied to the Servo-
motor when the /S-ON (Servo
ON) signal is input?
• Does the Servomotor operate
correctly when a position refer-
ence is input by the host control-
ler?
• Pn000 (Basic Function
Selections 0)
• Pn001 (Application
Function Selections 1)
• Pn002 = n.X
(External Encoder
Usage)
• Pn20E (Electronic Gear
Ratio (Numerator))
• Pn210 (Electronic Gear
Ratio (Denominator))
• Pn50A, Pn50B, Pn511,
Pn515, and Pn516
(Input Signal Selections)
• Pn50E, Pn50F, Pn510,
Pn514, and Pn517 (Out-
put Signal Selections)
SERVO-
PACK or
host con-
troller
2
Check operation with the
Servomotor connected
to the machine with
semi-closed loop control.
Items to Check
• Initial response of the
system connected to
the machine
• Movement direction,
travel distance, and
movement speed as
specified by the refer-
ences from the host
controller
Connect the Servomotor to the
machine. Set the moment of inertia
ratio in Pn103 using autotuning
without a host reference.
Check that the machine’s move-
ment direction, travel distance, and
movement speed agree with the
references from the host controller.
• Pn103 (Moment of Iner-
tia Ratio)
Host con-
troller
3
Check the external
encoder
.
Items to Check
• Is the signal from the
external encoder
received correctly?
Set the parameters related to fully-
closed loop control and move the
machine with your hand without
turning ON the power supply to the
Servomotor. Check the following
status with the Panel Operator,
Digital Operator, or SigmaWin+.
• Does the fully-closed feedback
pulse counter count up when the
Servomotor moves in the forward
direction?
• Is the travel distance of the
machine visually about the same
as the amount counted by the
fully-closed feedback pulse
counter?
Note:
The unit for the fully-closed feed-
back pulse counter is pulses,
which is equivalent to the external
encoder sine wave pitch.
• Pn002 = n.X
(External Encoder
Usage)
• Pn20A (Number of
External Encoder Scale
Pitches)
• Pn20E (Electronic Gear
Ratio (Numerator))
• Pn210 (Electronic Gear
Ratio (Denominator))
• Pn281 (Encoder Output
Resolution)
• Pn51B (Motor-Load
Position Deviation Over-
flow Detection Level)
• Pn522 (Positioning
Completed Width)
• Pn52A (Multiplier per
Fully-closed Rotation)
–
Continued on next page.
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