YASKAWA SGDV series User Manual

8.2 SERVOPACK and Converter Startup Procedure
8-13
8
Fully-closed Loop Control
3
Check the external encoder.
Item to Check
• Are signals from the external
encoder received correctly?
Set parameters related to the 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 (Un00E) count up
when the servomotor moves in
the forward direction?
• Is the distance the machine
moved about visually the same
as the amount counted by the
fully-closed feedback pulse
counter (Un00E)?
Note: The unit for fully-closed
feedback pulse counter
(Un00E) is one pulse, which
is equivalent to the external
encoder sine wave pitch
divided by the number of
divisions
*
.
∗ Refer to 8.3.5 Electronic Gear
for details on the number of
divisions.
• External Encoder Usage
(Pn002.3)
• Number of External Scale
Pitch (Pn20A)
• Electronic Gear Ratio
(Numerator) (Pn20E)
• Electronic Gear Ratio
(Denominator) (Pn210)
• Encoder Output Resolution
(Pn281)
• Excessive Error Level
Between Servomotor and
Load Positions (Pn51B)
• Positioning Completed
Width (Pn522)
• Multiplier per One Fully-
closed Rotation (Pn52A)
−
4
Perform a program JOG opera-
tion.
Items to Check
• Does the fully-closed loop
control operate correctly when
operating the SERVOPACK in
standalone mode?
Perform a program JOG operation
and check that the distance that the
servomotor moved is the same as
the distance that is set in Pn531.
Note: Start from a low speed and
gradually increase the speed.
• Program JOG related param-
eters (Pn530 to Pn536)
SERVOPACK
5
Operate the SERVOPACK and
converter.
Items to Check
• Does the fully-closed loop
control operate correctly
including the host controller?
Input the position reference and
check that the SERVOPACK and
converter operate correctly.
Note: Start from a low speed and
gradually increase the speed.
− Host controller
(cont’d)
Procedure Description Operation
Parameters Requiring
Settings
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)