Omron CS1W-MC221 -, Operation Manual

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Changing the Mechanical Direction of Operation Section 2-6
2-5-4 Checking for Wiring Errors
With an MC Unit and a U-series Servo Driver, the following procedures can be
used to check whether or not there are any wiring errors.
Wiring or Parameter Check
1,2,3... 1. Remove the servomotor from the machinery, and set the MC Unit machine
parameters so that the wiring check will not be performed.
2. Turn ON the power supply. If there is no servomotor runaway, the wiring
and machine parameters will be correct. If there is runaway, check the wir-
ing. If it is correct, change either the “rotation direction” or “encoder polar-
ity” machine parameter.
Zero Balance Adjustment When the above procedure eliminates servomotor runaway, perform a zero
balance adjustment.
1,2,3... 1. Connect the servomotor to the machinery.
2. Set the MC Unit machine parameters so that the wiring check will be per-
formed.
3. Turn ON the power supply (to the MC Unit and Servo Driver together). Do
not use servo-lock.
4. Execute an automatic offset adjustment at the Servo Driver, with servo-un-
lock still in effect at the MC Unit. For details on executing an automatic off-
set adjustment, refer to the Servo Driver manual.
5. Adjust the gain at the Servo Driver. It is convenient to use autotuning. For
details on Servo Driver autotuning, refer to the Servo Driver manual.
6. Adjust the gain at the MC Unit. If this is done by means of Servo Driver au-
totuning, read the Servo Driver’s position loop gain and use CX-Motion to
set that value in the MC Unit’s servo parameter.
7. Execute servo-lock at the MC Unit, and check for any wiring errors.
!Caution
The Teaching Box can be used for monitoring the present position or output-
ting an analog voltage. In either case, be sure to take safety precautions such
as removing the motor from the machinery. For detail on performing these
operations, refer to the
Teaching Box Operation Manual (W320).
2-6 Changing the Mechanical Direction of Operation
Either of the following operations can be performed to change the mechanical
direction of operation after wiring has been completed:
• Change the wiring.
• Change the Servo Motor and MC Unit parameters.
The second method (changing the parameters) will be explained here.
As shown below, there are two parameters to be changed for the MC Unit,
and one to be changed for OMRON U-series and M-series Servo Drivers.
MC Unit parameters: Rotation direction, encoder polarity
Servo Driver parameter: CCW direction