YASKAWA SGMSV User Manual

8.3 Parameter Settings for Fully-closed Loop Control
8-15
8
Fully-closed Loop Control
8.3.1 Motor Rotation Direction
The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor
rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage).
(1) Setting Parameter Pn000.0
The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser-
vomotor.
Note: SigmaWin+ trace waveforms are shown in the above table.
(2) Setting Parameter Pn002.3
*1. The mode will change to semi-closed loop control if this setting is used.
∗2. Determine the set value in Pn002.3 with the following procedure.
• Set Pn000 to n.0 and Pn002 to n.1.
• Move the motor shaft by hand counterclockwise.
• If the fully-closed feedback pulse counter (Un00E) counts up, leave the setting of Pn002 as it is
(Pn002 = n.1).
• If the fully-closed feedback pulse counter (Un00E) counts down, set Pn002 to n.3.
Parameter
Forward/
Reverse
Reference
Direction of Motor Rotation and Encoder Output Pulse
Applicable
Overtravel
(OT)
Pn000
n.

0
Sets CCW as
forward direc-
tion.
[Factory setting]
Forward
Reference
P-OT
Reverse
Reference
N-OT
n.

1
Sets CW as for-
ward direction.
(Reverse Rota-
tion Mode)
Forward
Reference
P-OT
Reverse
Reference
N-OT
PAO
PBO
+
CCW
Phase B
advanced
Time
Encoder output pulse
Motor speed
Torque reference
Motor speed
PAO
PBO
+
CW
Phase A
advanced
Time
Encoder output pulse
Motor speed
Torque reference
Motor speed
PAO
PBO
+
CW
Phase B
advanced
Time
Encoder output pulse
Motor speed
Torque reference
Motor speed
PAO
PBO
+
CCW
Phase A
advanced
Encoder output pulse
Motor speed
Torque reference
Motor speed
Time
Parameter Name Meaning
When
Enabled
Classification
Pn002
n.0
[Factory setting]
External Encoder
Usage
Do not use external encoder.
*1
After restart Setup
n.1
Uses the external encoder in motor
CCW direction rotation and exter-
nal encoder forward direction.
*2
n.2 Reserved (Do not set.)
n.3
Uses the external encoder in motor
CCW direction rotation and exter-
nal encoder reverse direction.
*2
n.4 Reserved (Do not set.)

YASKAWA SGMSV Specifications

General

Brand	YASKAWA
Model	SGMSV
Category	Servo Drives
Language	English