8 Fully-closed Loop Control8-128.2 SERVOPACK Startup ProcedureFirst check that the SERVOPACK operates correctly with semi-closed loop control, then check that it operatescorrectly with fully-closed loop control.The following describes the startup procedure for the SERVOPACK in fully-closed loop control.Procedure Description Operation Parameters RequiringSettings Controller1Check operation of the wholesequence in semi-closed loopcontrol and without any load.Items to Check• Power supply circuit wiring• Servomotor wiring• Encoder wiring• Wiring of I/O signal linesfrom the host controller• Servomotor rotation direction,speed, and number of rota-tions• Operation of safety mecha-nisms, such as the brakes andthe overtravel mechanismSet the parameters so that the SER-VOPACK operates correctly insemi-closed loop control (Pn002.3= 0) without any load and checkthe following points.• Is there an error with the SER-VOPACK?• Does the JOG operation operatecorrectly when operating theSERVOPACK in standalonemode?• Do the I/O signals turn ON/OFFcorrectly?• Does the servomotor turn ONwhen the SV_ON command issent from the host controller?• Does the servomotor operatecorrectly when the position ref-erence is input by the host con-troller?• Basic Function SelectSwitch 0 (Pn000)• Application Function SelectSwitch 1 (Pn001)• External Encoder Usage(Pn002.3)• Electronic Gear Ratio(Numerator) (Pn20E)• Electronic Gear Ratio(Denominator) (Pn210)• Input Signal Selection(Pn50A, Pn50B, Pn511)• Output Signal Selection(Pn50E, Pn50F, Pn510)SERVOPACK orhost controller2Check operation of the systemconnected with the machine andservomotor in semi-closed loopcontrol mode.Items to Check• Initial responsiveness of thesystem connected with themachine• Movement direction, distance,and speed of the machinespecified by the host control-lerConnect the servomotor to themachine.Set the moment of inertia ratio(Pn103) using the advanced auto-tuning function.Check that the machine operates inthe correct direction, distance, andspeed as directed by the host con-troller.• Moment of inertia ratio(Pn103)Host controller3Check the external encoder.Item to Check• Are signals from the externalencoder received correctly?Set parameters related to the fully-closed loop control and move themachine with your hand withoutturning ON the power supply to theservomotor. Check the followingstatus with the panel operator, digi-tal operator, or SigmaWin+.• Does the fully-closed feedbackpulse counter (Un00E) count upwhen the servomotor moves inthe forward direction?• Is the distance the machinemoved about visually the sameas the amount counted by thefully-closed feedback pulsecounter (Un00E)?Note:The unit for fully-closed feedbackpulse counter (Un00E) is the exter-nal encoder resolution.Refer to 8.3.5 Electronic Gear fordetails on the external encoder res-olution.• External Encoder Usage(Pn002.3)• Number of External ScalePitch (Pn20A)• Electronic Gear Ratio(Numerator) (Pn20E)• Electronic Gear Ratio(Denominator) (Pn210)• Encoder Output Resolution(Pn281)• Excessive Error LevelBetween Servomotor andLoad Positions (Pn51B)• Positioning CompletedWidth (Pn522)• Multiplier per One Fully-closed Rotation (Pn52A)−
