YASKAWA Sigma-V Series User Manual

9-1
9
Fully-closed Loop Control
9
Fully-closed Loop Control
9.1 System Configuration and Connection Example for
SERVOPACK with Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . .9-2
9.1.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Internal Block Diagram of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3
9.1.4 Example of Connections to External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder
by Renishaw plc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . . . . . 9-7
9.2 SERVOPACK and Converter Startup Procedure . . . . . . . . . . . . . . . . . . 9-11
9.3 Parameter Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . 9-13
9.3.1 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) . . . . . . . . . . . . . . . . . . . . . . 9-16
9.3.4 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . 9-17
9.3.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20
9.3.6 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21
9.3.7 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-22
9.3.8 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . 9-22

YASKAWA Sigma-V Series Specifications

General

Model	Sigma-V Series
Category	Servo Drives
Output Power	0.05 kW to 55 kW
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback	Incremental Encoder, Absolute Encoder
Protection Features	Overcurrent, Overvoltage, Undervoltage
Vibration	5.9 m/s² or less
Storage Temperature	-20°C to 65°C (-4°F to 149°F)