When using YASKAWA Servo Driver and Kane Digital Control System, just set the following parameters
The remaining parameters, under normal circumstances, do not need to be modified.
Pn000 Function selection n.0010 (setting value) Bit 0: Set the motor rotation direction. Set “1” to change the motor rotation direction. The first place: set the control mode: “1” position control mode.
Pn200 command pulse input method function selection n.0101 (setting value) “1” positive and negative double pulse command (positive logic level) (set the type of command pulse sent from the controller to the driver)
Pn202 Electronic gear ratio (molecules)
Pn203 Electronic gear ratio (denominator)
According to different pitch screw and pulley ratio calculation, the calculation method is as follows:
Pn202/Pn203=Number of Encoder Strips (32768) X4 / Lead Screw Pitch × Pull Ratio x 1000
Parameter setting range: 1/100 ≤ numerator/denominator ≤ 100
Note: 1. The electronic gear ratio in the KND system needs to be set to: CMR/CMD = 1:1 (ensure 0.001 resolution); 2. If it is a CNC lathe, the X axis is programmed with diameter, then the denominator in the formula above Should also be multiplied by 2, namely: screw pitch × pulley ratio × 1000 × 2.
Pn50A Function Selection n.8100 (Setting Value) 1-Use the /S-ON signal (Servo start signal). 4-On the servo drive, “forward overtravel function is invalid”.
Pn50B function selection n.6548 (setting value) 1 – “negative overtravel function is invalid” on the servo drive.
Pn50E function selection n.0000 (setting value) When using the KND system, set to “0000”. For details, see the Yaskawa manual
Pn50F Function selection n.0200 (Setting value) 3- On the servo drive, pin 27 and pin 28 of CN1 are used as the control signal /BK of the 24V relay for controlling the brake. (Note: Set when the motor is equipped with a brake)
Pn506 When the servo is off, the brake delay time is set according to the specific requirements when the motor is stopped. Note: The setting unit is “10ms”. It is set to “0” at the factory. (Set when the motor is equipped with brake)
Pn507 When the servo is off, the braking start parameter is set according to the specific requirements when the motor is rotating.
Note: When the motor is rotating, when the servo is turned off, the motor brake will start to move when the motor is lower than the speed set by this parameter. Set the unit to “turn” as a unit. It is set to “100” at the factory. (Pn507 and Pn508 meet a condition and the brakes start moving)
Pn508 When the servo is off, the brake delay time is set according to the specific requirements when the motor is rotating.
Note: When the servo motor is turned off and the servo is turned off, the motor brake will not start until the time set by the parameter is delayed. Set the unit to “10ms” as the unit. It is set to “50” (500 ms) at the factory. (When the motor is equipped with a brake, it must be set) (Pn507 and Pn508 satisfy a condition and the brakes start to move)
Yaskawa servo amplifier servo gain adjustment
After setting the parameters of Yaskawa servo driver according to the above table, start to adjust the servo performance. The steps are as follows:
1. Confirm or modify the Pn110 parameter value to n.XXX0 (X means no change).
2. Switch the power of the driver once.
3. The controller manually operates the machine table with medium and low speed.
4. Adjust the mechanical rigidity value (modify the value in F001) (method with password setting method)
Note: The value range of F001 mechanical rigidity value is “1 to 10”. The larger the value, the greater the rigidity. (The initial value of the driver is “4”)