YASKAWA Sigma-7 SGD7S Series

Step Description Operation Required Parameter and
Object Settings
Controlling
Device
3 Check the external encoder.
Items to Check
n Is the signal from the
external encoder received
correctly?
Set the parameters related to
fullyclosed loop control and
move the machine with your
hand without turning ON the
power supply to the Servo-
motor. Check the following
status with the Digital Operator
or SigmaWin+.
n Does the fully-closed feed-
back pulse counter count up
when the Servomotor
moves in the forward direc-
tion?
n 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 feedback pulse counter
is pulses, which is equivalent to
the external encoder sine wave
pitch.
n Pn002 = n.X
(External Encoder
Usage)
n Pn20A (Number of
External Scale Pitches)
n Position reference unit
(Position User Unit
(2301h))
n Pn281 (Encoder Output
Resolution)
n Pn51B (Motor-Load
Position Deviation Over-
flow Detection Level)
n Pn522 (Positioning
Completed Width)
n Pn52A (Multiplier per
Fully-closed Rotation)
–
4 Perform a program jogging
operation.
Items to Check
Does the fully-closed system
operate correctly for the SER-
VOPACK without a load?
Perform a program jogging
operation and confirm that the
travel distance is the same as
the reference value in Pn531.
When you perform program jog-
ging, start from a low speed and
gradually increase the speed.
Pn530 to Pn536 (program
jogging-related parameters)
SERVO-
PACK
5 Operate the SERVOPACK.
Items to Check
Does the fully-closed system
operate correctly, including the
host controller?
Input a position reference and
confirm that the SERVOPACK
operates correctly.
Start from a low speed and
gradually increase the speed.
– Host con-
troller
11.4 Parameter and Object Settings for Fully-closed Loop Control
11.4.1 Overview
This section describes the parameter settings that are related to fully-closed loop control.
Parameter and
Object to Set
Setting Position
Control
Speed
Control
Torque
Control
Reference
Pn000 = n.X
Motor direction
ü ü ü Ä Chap. 11.4.3 ‘Setting
the Motor Direction and
the Machine Movement
Direction’ page 458
Pn002 = n.X
External encoder usage method
ü ü ü
Sigma-7 Series SERVOPACKs
Fully-Closed Loop Control
Parameter and Object Settings for Fully-closed Loop Control > Overview
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