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 Servo ON com-
mand is sent from the host
controller?
• Does the Servomotor operate
correctly when a position refer-
ence is input by the host control-
ler?
• Pn000 (Basic Function
Select Switch 0)
• Pn001 (Basic Function
Select Switch 1)
• Pn002 = n.X
(External Encoder
Usage)
• Pn20E (Electronic Gear
Ratio (Numerator))
• Pn210 (Electronic Gear
Ratio (Denominator))
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.
Moment of Inertia Ratio
(Pn103)
Host con-
troller
3
Check the external
encoder.
It
ems 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 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 exter-
nal encoder sine wave pitch.
• Pn002 = n.X
(External Encoder
Usage)
• Pn20A (Number of
External Scale Pitches)
• Pn20E (Electronic Gear
Ratio (Numerator))
• Pn210 (Electronic Gear
Ratio (Denominator))
• Pn281 (Encoder Output
Resolution)
• Pn51B (Motor-Load
Position Deviation
Overflow Detection
Level)
• Pn522 (Positioning
Completed Width)
• Pn52A (Multiplier per
Fully-closed Rotation)
–
Continued on next page.
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