YASKAWA SGDV series User Manual

8 Fully-closed Loop Control
8-12
8.2 SERVOPACK and Converter Startup Procedure
First check that the SERVOPACK and converter operate correctly with semi-closed loop control, then check
that they operate correctly with fully-closed loop control.
The following describes the startup procedure for the SERVOPACK in fully-closed loop control.
Procedure Description Operation
Parameters Requiring
Settings
Controller
1
Check operation of the whole
sequence in semi-closed loop
control and without any load.
Items to Check
• Power supply circuit wiring
• Servomotor wiring
• Encoder wiring
• Wiring of I/O signal lines from
the host controller
• Servomotor rotation direction,
speed, and number of rotations
• Operation of safety mecha-
nisms, such as the brakes and
the overtravel mechanism
Set the parameters so that the SER-
VOPACK operates correctly in
semi-closed loop control (Pn002.3
= 0) without any load and check
the following points.
• Is there an error with the SER-
VOPACK or converter?
• Does the JOG operation operate
correctly when operating the
SERVOPACK in standalone
mode?
• Do the I/O signals turn ON/OFF
correctly?
• Does the servomotor turn ON
when the Servo ON command is
turned ON from the host control-
ler?
• Does the servomotor operate
correctly when the position ref-
erence is input by the host con-
troller?
• Basic Function Select Switch
0 (Pn000)
• Application Function Select
Switch 1 (Pn001)
• External Encoder Usage
(Pn002.3)
• Electronic Gear Ratio
(Numerator) (Pn20E)
• Electronic Gear Ratio
(Denominator) (Pn210)
• Input Signal Selection
(Pn50A, Pn50B, Pn511)
• Output Signal Selection
(Pn50E, Pn50F, Pn510)
SERVOPACK or
host controller
2
Check operation of the system
connected with the machine and
servomotor in semi-closed loop
control mode.
Items to Check
• Initial responsiveness of the
system connected with the
machine
• Movement direction, distance,
and speed of the machine spec-
ified by the host controller
Connect the servomotor to the
machine.
Set the moment of inertia ratio
(Pn103) using the advanced auto-
tuning function.
Check that the machine operates in
the correct direction, distance, and
speed as directed by the host con-
troller.
• Moment of inertia ratio
(Pn103)
Host controller

YASKAWA SGDV series Specifications

General

Series	SGDV
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Control Modes	Position, Speed, Torque
Protection Features	Overcurrent, Overvoltage, Undervoltage, Encoder error
Ambient Temperature	0°C to 55°C
Cooling Method	Natural cooling or forced air cooling
Voltage	200V, 400V
Weight	Varies depending on model (e.g., 0.6 kg to 10 kg)