Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 84)

4.4 Trial Operation
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4.4.2 Trial Operation via MECHATROLINK- III
The following table provides the procedures for trial operation via MECHATROLINK-III.
Step Description Reference
1
Confirm that the wiring is correct, and then connect the I/O signal con-
nector (CN1 connector).
3 Wiring and Connection
2
Turn ON the power supply to the SERVOPACK, and then turn ON the
power supply to the host controller.
When a communications connection is established, the LED lamp (LK1
or LK2) for the connector to which the MECHATROLINK-III cable is
connected (CN6A or CN6B) will light. If the LK1 or LK2 LED lamp
does not light, recheck the settings of MECHATROLINK-III setting
switches (S1 and S2) and then restart the SERVOPACK.
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3
Send the CONNECT command from the host controller.
If the SERVOPACK correctly receives the CONNECT command, the
CON, LED indicator will light up.
If the CON does not light up, the set value of the CONNECT command
is incorrect. Reset the CONNECT command, and then resend it from the
host controller.
Σ -V Series User’s Manual
MECHATROLINK-III Standard
Servo Profile Commands
(Manual No.: SIEP S800000 63)
4
Check the product type using an ID_RD command.
A reply showing the product type, such as SGDV-2R9E21A, is received
from the SERVOPACK.
5
Set the following items to the necessary settings for a trial operation.
• Electronic gear settings
• Rotational direction of servomotor
• Overtravel
4.4.3 Electronic Gear
4.3.1 Servomotor Rotation Direction
4.3.2 Overtravel
6
Save these settings (step 5).
• If saving the settings in the host controller, use the SVPRM_WR com-
mand (set the mode to RAM area).
• If saving the settings in the SERVOPACK, use the SVPRM_WR com-
mand (set the mode to the non-volatile memory area). Σ -V Series User’s Manual
MECHATROLINK-III Standard
Servo Profile Commands
(Manual No.: SIEP S800000 63)
7 Send the CONFIG command to enable the settings.
8
Send the SENS_ON command to obtain the position data (encoder ready
response).
9
Send the SV_ON command.
A response showing that the servomotor has switched to Drive status
and that SVON=1 (servomotor power is ON) is received.
10
Run the servomotor at low speed.
Command used: POSING
Command setting: Positioning position =10000 (If using the absolute
encoder, add 10000 to the present position), rapid traverse speed= 400
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11
Check the following points while running the servomotor at low speed
(step 10).
• Confirm that the rotational direction of the servomotor correctly coin-
cides with the forward rotation or reverse rotation reference. If they do
not coincide, reset the direction.
• Confirm that no unusual vibrations, noises, or temperature rises occur.
If any abnormalities are seen, correct the conditions.
Note: Because the running-in of the load machine is not sufficient at the
time of the trial operation, the servomotor may become over-
loaded.
4.3.1 Servomotor Rotation Direction
8.4 Troubleshooting Malfunction
Based on Operation and Conditions
of the Servomotor