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5 Adjustments

5-19

5.3.2 Advanced Autotuning Procedure

The following procedure is used for advanced autotuning.
Advanced autotuning is performed from the S.
The operating procedure from the S is described here.

CAUTION

• When using the DRIVER with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a

suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual
moment of inertia ratio, normal control of the DRIVER may not be possible, and vibration may result.

• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2

or 3 is selected, phase control of the MP2000 Series may not be possible.

(1) Operating Procedure

In the S Σ-V component main window, click

Tuning

and then click

Tuning

.

Click

Execute

. The Tuning main window appears.

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Summary of Contents for LECYU Series

Page 1: ...Doc no LEC OM07103 Doc no JXC OMT0066 PRODUCT NAME AC Servo Motor Driver MODEL Series Product Number LECYU Series ...

Page 2: ...or physically sending data to the transmission path The transmission cycle is unaffected by the services pro vided by the application layer Communication Cycle The communication cycle is the cycle for application layer The communication cycle is set to an integral multiple of the transmission cycle Synchronous Commands Classification S For commands of this type commands are sent and response are r...

Page 3: ...hat are valid when low are written with a forward slash before the signal name Notation Example BK BK Notation for Parameters The notation depends on whether the parameter requires a value setting parameter for numeric settings or requires the selection of a function parameter for selecting functions ...

Page 4: ...t SMC Sigma Win SMC Sigma Win MECHATROLINKⅡ 100W LECYM2 V5 SGDV R90 11 Y572AA V6 SGMJV 01A3A2 200W V7 SGDV 1R6 11 Y572AA V7 SGMJV 02A3A2 400W V8 SGDV 2R8 11 Y572AA V8 SGMJV 04A3A2 MECHATROLINKⅢ 100W LECYU2 V5 SGDV R90 21 Y572AA V6 SGMJV 01A3A2 200W V7 SGDV 1R6 21 Y572AA V7 SGMJV 02A3A2 400W V8 SGDV 2R8 21 Y572AA V8 SGMJV 04A3A2 Trademarks MECHATROLINK is a trademark of the MECHATROLINK Members Ass...

Page 5: ...ifications Since the product specified here is used under various operating conditions its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility...

Page 6: ...uble interlock for possible failure by using a mechanical protective function and periodical checks to confirm proper operation Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbo...

Page 7: ...istance or replacement parts Please consult your nearest sales branch For any failure or damage reported within the warranty period which is clearly our responsibility a replacement product or necessary parts will be provided This limited warranty applies only to our product independently and not to any other damage incurred due to the failure of the product Prior to using SMC products please read...

Page 8: ...rm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the top front cover cables connectors or optional items from the DRIVER while the power is ON Failure to observe this warning may result in electric shock Do not damage pull exert excessive force on or plac...

Page 9: ...gation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectan...

Page 10: ...power line per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with i e short circuits adjacent wires Install a battery at either the host controller or the DRIVER but not both It is dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the specified power supply voltage An in...

Page 11: ...curs Failure to observe this caution may cause workpieces to fall due to overtravel When not using the turning less function set the correct moment of inertia ratio Pn103 Setting an incorrect moment of inertia ratio may cause machine vibration Do not touch the DRIVER heat sinks regenerative option or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution...

Page 12: ...d Nations Recommendations on the Transport of Dangerous Goods To transport lithium batteries take action to comply with the instructions and regulations such as the United Nations UN the International Civil Aviation Organization ICAO and the International Maritime Organization IMO The battery LEC JZ CVBAT uses an electric cell lithium metal battery ER3 The IATA Dangerous Goods Regulation are revis...

Page 13: ...0 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 50178 EN 61800 5 1 Servomotor LE V SGMJV EMC Directive 2004 108 EC EN 55011 A2 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 60034 1 EN 60034 5 Safety Standards Model Safety Standards Standards DRIVER LECY V SGDV Safety of Machinery EN ISO13849 1 2008 EN 954 1 IEC 60204 1 Functional Safety IEC 61508 series IEC 62061...

Page 14: ...8 IEC 62061 PFH 1 7 10 9 1 h 0 17 of SIL2 Category EN 954 1 Category 3 Performance Level EN ISO 13849 1 PL d Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCave Low Stop Category IEC 60204 1 Stop category 0 Safety Function IEC 61800 5 2 STO Proof test Interval IEC 61508 10 years ...

Page 15: ...1 7 Inspection and Maintenance 1 13 1 8 Installation Environment and Applicable Standards 1 14 1 8 1 DRIVER Installation Environment 1 14 1 8 2 Installation Conditions for Applicable Standards 1 15 1 8 3 Conditions Corresponding to Low Voltage Directive 1 15 1 9 DRIVER Installation 1 16 1 9 1 Orientation 1 16 1 9 2 Installation Standards 1 16 2 Panel Display and Sigma Win TM 2 2 2 1 Panel Display ...

Page 16: ...2 Setting Regenerative resistor Capacity 3 30 3 8 Noise Control and Measures for Harmonic Suppression 3 31 3 8 1 Wiring for Noise Control 3 31 3 8 2 Precautions on Connecting Noise Filter 3 33 3 8 3 EMC Installation Conditions 3 35 3 9 Specification of option cables 3 41 4 Operation 4 3 4 1 MECHATROLINK III Communications Settings 4 3 4 1 1 Setting Switches S1 S2 and S3 4 3 4 2 MECHATROLINK III Co...

Page 17: ...e of Adjustments and Basic Adjustment Procedure 5 2 5 1 1 Adjustments 5 2 5 1 2 Basic Adjustment Procedure 5 3 5 1 3 Monitoring Operation during Adjustment 5 4 5 1 4 Safety Precautions on Adjustment of Servo Gains 5 7 5 2 Tuning less Function 5 10 5 2 1 Tuning less Function 5 10 5 2 2 Tuning less Levels Setting Fn200 Procedure 5 13 5 2 3 Related Parameters 5 15 5 3 Advanced Autotuning Fn201 5 16 5...

Page 18: ...7 6 12 Write Prohibited Setting Fn010 6 18 6 13 Product Information Display Fn011 6 20 6 14 Resetting Configuration Errors in Option Modules Fn014 6 21 6 15 Vibration Detection Level Initialization Fn01B 6 22 6 16 Origin Setting Fn020 6 24 6 17 Software Reset Fn030 6 25 6 18 EasyFFT Fn206 6 26 6 19 Online Vibration Monitor Fn207 6 28 7 Monitor Displays 7 2 7 1 Monitor Displays 7 2 7 1 1 System Mon...

Page 19: ... Synchronous Communication Command SYNC_SET 0DH 8 52 8 13 8 Establish Connection Command CONNECT 0EH 8 53 8 13 9 Disconnection Command DISCONNECT 0FH 8 55 8 13 10 Read Memory Command MEM_RD 1DH 8 56 8 13 11 Write Memory Command MEM_WR 1EH 8 58 8 14 Servo Commands 8 61 8 14 1 Table of Servo Commands 8 61 8 14 2 Set Coordinates Command POS_SET 20H 8 62 8 14 3 Apply Lock Command BRK_ON 21H 8 64 8 14 ...

Page 20: ...8 25 Function Command Related Parameters 8 108 8 25 1 Interpolation Command 8 108 8 25 2 Positioning Command 8 109 8 25 3 Torque Force Limiting Function 8 111 6 25 4 Torque Force Feedforward Function 8 113 8 25 5 Software Limit Function 8 114 8 25 6 Latch Function 8 116 8 25 7 Acceleration Deceleration Parameter High speed Switching Function 8 121 8 26 Detecting Alarms Warnings Related to Communic...

Page 21: ...10 List of Parameters 10 2 10 1 List of Parameters 10 2 10 1 1 Utility Functions 10 2 10 1 2 Parameters 10 3 10 1 3 MECHATROLINK III Common Parameters 10 37 10 2 Parameter Recording Table 10 45 ...

Page 22: ...LECYU2 V8 Model 8 1 4 3 Three phase 200 V LECYU2 V9 Models 9 1 5 Examples of Servo System Configurations 10 1 5 1 Connecting to LECYU2 V口 DRIVER 10 1 6 DRIVER Model Designation 12 1 7 Inspection and Maintenance 13 1 8 Installation Environment and Applicable Standards 14 1 8 1 DRIVER Installation Environment 14 1 8 2 Installation Conditions for Applicable Standards 15 1 8 3 Conditions Corresponding...

Page 23: ...ference Used to monitor motor speed torque reference and other values through a special cable YASKAWA CONTROL Refer to 5 1 3 Monitoring Operation during Adjustment Indicates the DRIVER model and ratings Found on side of DRIVER Connects the cable for motor DRIVER model Refer to 1 6 DRIVER Model Designation LEC JZ CVUSB Indicates that data is being transmitted between the DRIVER and the MECHATROLINK...

Page 24: ...lt in or external Main Circuit Power Supply Three phase 200 to 230 VAC 15 to 10 50 60 Hz Control Power Supply Single phase 200 to 230 VAC 15 to 10 50 60 Hz Overvoltage Category III 1 3 DRIVER Ratings and Specifications This section describes the ratings and specifications of DRIVERs 1 3 1 Ratings Ratings of DRIVERs are as shown below 1 Refer to 3 7 Connecting Regenerative resistors for details ...

Page 25: ...e of static electricity strong electromagnetic fields magnetic fields or exposure to radioactivity Harmonized Standards EN50178 EN55011 A2 group1 classA EN61000 6 2 EN61800 3 EN61800 5 1 EN954 1 IEC61508 1 to 4 Mounting Base mounted Perfor mance Speed Control Range 1 5000 The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor...

Page 26: ...ons CN3 Interface Digital operator JUSP OP05A 1 E YASKAWA ELECTRIC CORPORATION personal computer can be connected with SigmaWin 1 N Communica tions N Up to 15 stations possible at RS422A Axis Address Setting Set by parameter USB Commu nications CN7 Interface Digital operator JUSP OP05A 1 E YASKAWA ELECTRIC CORPORATION Personal computer can be connected with SigmaWin Communica tions Standard Compli...

Page 27: ...so on Safety Function Input HWBB1 HWBB2 Baseblock signal for power module Output EDM1 Monitoring status of internal safety circuit fixed output Standards 3 EN954 Category 3 IEC61508 SIL2 1 Speed regulation by load regulation is defined as follows 2 Refer to 1 3 1 Ratings for details on regenerative resistors 3 Perform risk assessment for the system and be sure that the safety requirements are fulf...

Page 28: ...ddress Baud Rate 100 Mpbs Transmission Cycle 125 μs 250 μs 500 μs 750 μs and 1 0 ms to 4 0 ms increments of 0 5 ms Number of Transmis sion Bytes 16 32 or 48 bytes per station Use the DIP switch S3 to select the number of words Reference Method Control Method Position speed or torque control with MECHATROLINK II communication Reference Input MECHATROLINK I MECHATROLINK II commands sequence motion d...

Page 29: ...1 Outline 1 8 1 4 DRIVER Internal Block Diagrams 1 4 1 Three phase 200 V LECYU2 V5 LECYU2 V7 Models 1 4 2 Three phase 200 V LECYU2 V8 Model ...

Page 30: ...1 Outline 1 9 1 4 3 Three phase 200 V LECYU2 V9 Models ...

Page 31: ... Using a Three phase 200 V Power Supply 1 Use a 24 VDC power supply Not included 2 Before connecting an external regenerative resistors to the DRIVER refer to 3 7 Connecting Regenerative Resistors DRIVER Motor cable inserted Lock Power supply 1 Used for an electric actuators with lock Magnetic contactor Tums the lock power supply ON and OFF Install a surge absorber ...

Page 32: ...fer to 3 1 3 Using the DRIVER with Single phase 200 V Power Input for details 1 Use a 24 VDC power supply Not included 2 Before connecting an external regenerative option to the DRIVER refer to 3 7 Connecting Regenerative Resis tors Motor cable inserted DRIVER Lock Power supply 1 Used for an electric actuators with lock Magnetic contactor Tums the lock power supply ON and OFF Install a surge absor...

Page 33: ...order product code LE CYNA The I O connector is not included If the I O cable is required please order product code LEC CSNA 1 The I O cable is not included ＬＥＣY Compatible motor type U V5 Driver type 2 200 to 230 VAC 50 60Hz 2 2 Power supply voltage MECHATROLINK Ⅲ type For absolute encoder M V7 AC servo motor V6 400W 200W 100W V5 AC servo motor V7 AC servo motor V8 Capacity Encoder AC servo motor...

Page 34: ... replace these parts at the frequency indicated Refer to the standard replacement period in the following table and contact your Yaskawa representative After an examination of the part in question we will determine whether the parts should be replaced or not The parameters of any DRIVERs overhauled by SMC are reset to the factory settings before shipping Be sure to confirm that the parameters are ...

Page 35: ...R from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vibration Source To prevent vibration from being transmitted to the DRIVER install a vibration isolator underneath the DRIVER Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive gas Corrosive gases will not immediately affect the DRIVER...

Page 36: ...nual EMC Directive Certification is required after installation in the user s machine under the conditions outlined in 3 8 3 EMC Installation Conditions of this manual 1 8 3 Conditions Corresponding to Low Voltage Directive To adapt DRIVERs to the Low Voltage Directive make sure that the following environmental conditions are met Installation category III Pollution degree 2 Protection class 10 Alt...

Page 37: ...on Mount the DRIVER vertically to the wall with the front panel the side with the panel operator display facing out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and natural convection Mounting DRIVERs Side by Side in a Control Panel Leave sufficient space on each side and at the top and the bottom of each DRIVER The width on each side varies in accordance w...

Page 38: ...equal to or less than 100 for optimum operating conditions If this value is over 100 one of the following measures must be taken to ensure safe operation and a long product life Improve air circulation around DRIVERs Minimum Air Circulation Rate Top 10 mm 0 5 m s Bottom 10 mm 0 2 m s To improve the air circulation to meet these minimum standards and to lower the percentage shown on the monitor wid...

Page 39: ...3 Hard Wire Base Block Display 2 2 1 4 Overtravel Display 2 2 2 Operation of SigmaWin TM 3 2 2 1 Compatible Devices 3 2 2 2 Hardware requirements 3 2 2 3 Installing SigmaWin TM Program 3 2 2 4 Starting SigmaWin TM 12 2 3 Utility Functions 15 2 4 Parameters 15 2 4 1 Parameter Classification 15 2 4 2 Notation for Parameters 16 2 4 3 Setting Parameters 16 2 5 Monitor Displays 16 ...

Page 40: ... Pn502 Factory setting 20 min 1 Baseblock Lights for baseblock Servomotor power OFF Reference Input Lights when a reference is being input CONNECT Lights during connection 2 1 2 Alarm and Warning Display If an alarm or warning occurs the display will change in the following order Example Alarm A E60 6 of the figure b of the alphabet and d are displayed as follows 6 b d 2 1 3 Hard Wire Base Block D...

Page 41: ...le with the above personal computer Printer Connectable with the above personal computer USB cable LEC JZ CVUSB 6 Other Adobe Reader Ver 5 0 or more Ver 6 0 is excluded 1 Windows Windows Vista and Windows 7 are the registered trademarks of Microsoft Corporation in the United States and other countries 2 On some personal computers SigmaWin may not run properly 3 64 bit Windows XP and 64 bit Windows...

Page 42: ...s p l a y a n d SigmaWin TM 2 4 1 Please download the install program from our home page 2 SETUP EXE of the file is double clicked A message will appear welcoming you to the SigmaWin program 3 Click Next to continue s ...

Page 43: ... destination folder to copy the SigmaWin file to and click Next to continue 5 Select the setup type Choose Normal Setup and click Next 6 Select the program group to create the SigmaWin icon YE_Applications is the default setting After selecting the program group or folder click Next to continue ...

Page 44: ...e If new versions of the PC support files are needed to install SigmaWin a window will appear asking whether to overwrite the current version or to cancel the installation SigmaWin may not run correctly if the new versions of the support files are not installed If SigmaWin has been successfully installed one of two dialog boxes is displayed a ...

Page 45: ...a y a n d SigmaWin TM 2 7 If dialog box a is displayed click Finish to complete the setup b 7 If dialog box b is displayed select Yes when asked if you want to restart the computer and then click Finish to complete the setup ...

Page 46: ...and that the CD ROM drive is D drive Use the folder directory and drive according to the settings of your PC For Windows 7 Vista 1 Turn on the power to the PC to start Windows 7 or Vista 2 Confirm that SigmaWin has been installed If it has not yet been installed please install 3 Connect the LECY to the PC using a USB cable and then turn on the power to the LECY The following message will appear 4 ...

Page 47: ...Driver USB For Windows 7 64 bit C Program Files x86 SigmaIDE SigmaWinPlus Driver USB x64 10 Click Next Installation starts by copying the necessary files Wait until a message appears informing you that the installation is finished If a Security Error Message is Displayed Select Install this driver software anyway 11 When the installation is finished click Close This completes the driver installati...

Page 48: ...ard will appear 4 Confirm that the Install from a list or specified location Advanced option is selected and then click Next The next Wizard will appear 5 Select the Search for the best driver in these locations option and then select the Include this location in the search check box Click Browse to select the folder C Program Files SigmaIDE SigmaWinPlus Driver USB 6 Click Next The Wizard starts i...

Page 49: ... LECY as a USB device and that the USB driver is installed correctly 1 Click the Start button point to Settings and click Control Panel 2 Double click the System icon The System Properties window will appear 3 Click the Hardware tab and then click Device Manager The Device Manager window will appear 4 Double click SIGMA Series USB Device in the YASKAWA ELECTRIC CORP USB Device folder The SIGMA Ser...

Page 50: ...Start SigmaWin from the Start menu from a shortcut From the Start Menu To start SigmaWin from the Start menu 1 Click the Start button and point to Programs 2 Open the YE_Applications folder 3 Click SigmaWin From a Shortcut To start SigmaWin from a shortcut on the desktop 1 Open the YE_Applications folder on the desktop 2 Click SigmaWin 2 Selecting a DRIVER When SigmaWin is in initially started the...

Page 51: ...he default setting Online Select when setting up or tuning the servo drive with the DRIVER connected Offline Select when editing parameters or checking screens for tracing or mechanical analysis without the DRIVER connected When Offline is selected Select the ΣV and click Starting The SigmaWin main window will appear ...

Page 52: ...2 14 When Online is selected Enter the necessary settings for communication setup 1 Click Search 2 Click ΣV Then Click Search After the DRIVERs have been successfully connected to SigmaWin a list of the connected DRIVERs will appear on the screen ...

Page 53: ...en in this manual 2 4 1 Parameter Classification Parameters of the LECY Series DRIVER are classified into two types of parameters One type of parameters is required for setting up the basic conditions for operation and the other type is required for tuning parameters that are required to adjust servomotor characteristics Classification Meaning Display Method Setting Method Setup Parameters Paramet...

Page 54: ...o AC Servo Drives Engineering Tool Sigma Win ONLINE MANUAL Σ V Component 2 5 Monitor Displays The monitor displays can be used for monitoring the reference values I O signal status and DRIVER internal status The System Monitor window will automatically open when the SigmaWin starts Or in the SigmaWin Σ V component window click Monitor point to Monitor and then click System Monitor For more informa...

Page 55: ...Signal Connections 18 3 3 I O Signal Allocations 19 3 3 1 Input Signal Allocations 19 3 3 2 Output Signal Allocations 21 3 4 Examples of Connection to PC or PLC etc 22 3 4 1 Sequence Input Circuit 22 3 4 2 Sequence Output Circuit 23 3 5 Wiring MECHATROLINK III Communications 25 3 6 Encoder Connection 26 3 6 1 Encoder Signal CN2 Names and Functions 26 3 6 2 Encoder Connection Examples 27 3 7 Connec...

Page 56: ...erative resistor is insufficient connect a regenerative resistor between B1 and B2 If LECYM2 V9 is used remove the lead or shorting bar between B2 and B3 and connect a regenerative resistor between B1 and B2 Note The Regenerative resistor is not included 1 2 DC reactor connection terminal for power supply harmonic suppression The DC reactor connection terminals are short circuited when the DRIVER ...

Page 57: ... 1 2 Using a Standard Power Supply Three phase 200 V 1 Wire Types Use the following type of wire for main circuit Cable Type Allowable Conductor Temperature C Symbol Name IV 600 V grade polyvinyl chloride insulated wire 60 HIV 600 V grade heat resistant polyvinyl chloride insulated wire 75 The following table shows the wire sizes and allowable currents for three wires Use wires with specifications...

Page 58: ...igning the power ON sequence Design the power ON sequence so that main power is turned OFF when a servo alarm signal ALM is output The ALM signal is output for a maximum of five seconds when the control power is turned ON Take this into consideration when designing the power ON sequence Design the sequence so the ALM signal is activated and the alarm detection relay 1Ry is turned OFF to stop the m...

Page 59: ... Power Loss W Three phase 200 V 0 1 V5 0 3 0 91 7 3 17 24 3 0 2 V7 0 6 1 6 13 5 30 5 0 4 V8 1 2 8 24 0 41 0 0 75 V9 1 6 5 5 43 8 8 68 8 Note 1 LECYU2 V5 V7 and V8 do not have built in regenerative resistors Connect an external regenerative resistors if the regenerative energy exceeds the specified value 2 Regenerative resistor power losses are the allowable losses Take the following actions if thi...

Page 60: ...sh current Select a molded case circuit breaker and fuses in accordance with these specifications Note 1 To comply with the EU low voltage directive connect a fuse to the input side as protection against accidents caused by short circuits Select fuses or molded case circuit breakers that are compliant with UL standards The table above also provides the net values of current capacity and inrush cur...

Page 61: ...les use of three phase power supply for three phase DRIVER After restart Setup n 口1口口 Enables use of single phase power supply for three phase DRIVER WARNING If single phase 200 V is input to a DRIVER without changing the set ting of Pn00B 2 to 1 single phase power input a main circuit cable open phase alarm A F10 will be detected When using a single phase 200 V power supply the DRIVER may not be ...

Page 62: ...in circuit power supply are the same as for three phase power supply input 1 Do not use L3 terminal 3 Main Circuit Wire for DRIVERs Terminal Symbols Name Model LECYU2 口口 Unit mm2 V5 V7 V8 V9 L1 L2 Main circuit power input terminals HIV1 25 HIV2 0 L1C L2C Control power input terminals HIV1 25 U V W Servomotor connection terminals HIV1 25 HIV2 0 B1 B2 External regenerative resistors con nection term...

Page 63: ... an external regenerative resistors between B1 and B2 2 Regenerative resistor power losses are allowable losses Take the following action if this value is exceeded Remove the lead or shorting bar between terminals B2 and B3 on the DRIVER main circuit of LECYU2 V7 DRIVER Install an external regenerative resistors between external regenerative resistors connection terminals B1 and B2 6 How to Select...

Page 64: ...With a DC power input time is required to discharge electricity after the main power supply is turned OFF A high residual voltage may remain in the DRIVER after the power supply is turned OFF Be careful not to get an electric shock Install fuses on the wires if DC power is used Servomotor returns a regenerated energy to the power supply The DRIVER that can use a DC power supply is not capable of p...

Page 65: ...3 Wiring and Connection 3 11 3 Wiring Example with DC Power Supply Input DRIVER ...

Page 66: ...s for three DRIVERs in series to enable alarm detection relay 1RY to operate When the alarm occurs the ALM output signal transistor is turned OFF 2 Precautions Multiple DRIVERs can share a single molded case circuit breaker 1QF or noise filter Always select a molded case circuit breaker or noise filter that has enough capacity for the total power supply capacity load conditions of the DRIVERs DRIV...

Page 67: ...N and OFF frequently Such applications will cause elements in the DRIVER to deteriorate As a guideline at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started To ensure safe stable application of the servo system observe the following precautions when wiring Design and arrange the system so that each cable will be as short as possible Us...

Page 68: ...3A 9 LE CYM R3A 9 5m LE CYM S5A 9 LE CYM R5A 9 10m LE CYM SAA 9 LE CYM RAA 9 20m LE CYM SCA 9 LE CYM RCA 9 Motor cable for with lock with lock 100W 3m LE CYB S3A 5 LE CYB R3A 5 2 5m LE CYB S5A 5 LE CYB R5A 5 10m LE CYB SAA 5 LE CYB RAA 5 20m LE CYB SCA 5 LE CYB RCA 5 200W 400W 3m LE CYB S3A 7 LE CYB R3A 7 5m LE CYB S5A 7 LE CYB R5A 7 10m LE CYB SAA 7 LE CYB RAA 7 20m LE CYB SCA 7 LE CYB RCA 7 750W...

Page 69: ...s for Motor cable 2 Wiring Specifications for Motor cable with lock 3 Wiring Specifications for Encoder cable Standard type Robot type DRIVER end Leads Lock Note No polarity for connection to a lock DRIVER end Leads DRIVER End DRIVER End Lock Lock Lock ...

Page 70: ... the current feedback pulse counter SI4 EXT 2 SI5 EXT 3 SI6 SI0 13 General purpose input signal Used for general purpose input Monitored in the I O monitor field of MECHATROLINK II 24VIN 6 Control power supply for sequence signal Control power supply input for sequence signals Allowable voltage fluctuation range 11 to 25 V Note The 24 VDC power supply is not included 3 4 1 P CL N CL Can be allocat...

Page 71: ... RDY CLT VLT WARN NEAR Can be allocated Positioning comple tion Speed coincidence detection Rotation detection servo ready Torque limit Speed limit detection Warning Near The allocation of an output signal to a pin can be changed in accordance with the function required PAO PAO 17 18 Phase A signal Encoder output pulse signals for two phase pulse train with 4 4 4 PBO PBO 19 20 Phase B signal 90 ph...

Page 72: ...done to turn ON the servomotor power When not using the safety function use the DRIVER with the Safety Jumper Connector provided as an accessory inserted into the CN8 5 Always use line receivers to receive the output signals 6 It is a safety function equivalent to the STO function IEC 61800 5 2 using the hard wire base block function HWBB Note The functions allocated to the input signals DEC P OT ...

Page 73: ...ry check the operation and confirm that there are no safety problems When two or more signals are allocated to the same input circuit input signal level is valid for all allocated signals resulting in an unexpected machine operation Input signals are allocated as shown in the following table Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly Interpr...

Page 74: ...Pn50B 0 H N OT 0 1 2 3 4 5 6 7 8 L N OT 0 A B C D E F Forward External Torque Limit Pn50B 2 L P CL 0 1 2 3 4 5 6 7 8 H P CL 9 A B C D E F Reserve External Torque Limit Pn50B 3 L N CL 0 1 2 3 4 5 6 7 8 H N CL 9 A B C D E F Homing Deceleration LS Pn511 0 L DEC 0 1 2 3 4 5 6 7 8 H DEC 9 A B C D E F External Latch Signal 1 Pn511 1 L EXT1 4 5 6 7 8 H EXT1 D E F External Latch Signal 2 Pn511 2 L EXT2 4 ...

Page 75: ...ing Com pletion COIN signal in speed control is Invalid Inverting the polarity of the lock signal BK i e positive logic will prevent the holding lock from working in case of its signal line disconnection If this setting is absolutely necessary check the operation and confirm that there are no safety problems When two or more signals are allocated to the same output circuit a signal is output with ...

Page 76: ...VER 24 VIN 3 3 kΩ DEC etc 24 VDC DRIVER 24 VIN 3 3 kΩ DEC etc Note The 24 VDC external power supply capacity must be 50 mA minimum The DRIVER s input circuit uses bidirectional photocoupler Select either the sink circuit or the source circuit according to the specifications required for each machine Note The connection example in 3 2 3 shows sink circuits The ON OFF polarity differs between when a...

Page 77: ...auses the holding lock will not work This could damage the machine or cause an accident resulting in death or injury 1 Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Relay Circuit Example Line Receiver Circuit Example DRI...

Page 78: ...ernal device monitor EDM1 for safety output signals is explained below A configuration example for the EDM1 output signal is shown in the following diagram Output signal is the source output It is not able to use the sink output DRIVER PC or PLC etc CN8 24 V Power Supply 8 EDM1 7 EDM1 0 V Specifications Type Signal Name Pin No Output Status Meaning Output EDM1 CN8 8 CN8 7 ON Both the HWBB1 and HWB...

Page 79: ...removing the MECHATROLINK III communications cable connectors from the DRIVER refer to the following procedure Slide the lock injector of the connector to the DRIVER side to unlock and remove the MECHATROLINK III communications cable connectors Note The MECHATROLINK III communications cable connector may be damaged if it is removed without being unlocking 1 Slide the lock injector to the DRIVER si...

Page 80: ...s and connection examples 3 6 1 Encoder Signal CN2 Names and Functions The following table shows the names and functions of encoder signals CN2 Signal Name Pin No Function PG 5 V 1 Encoder power supply 5 V PG 0 V 2 Encoder power supply 0 V BAT 3 Battery BAT 4 Battery PS 5 Serial data PS 6 Serial data Shield Shell ...

Page 81: ...how connection examples of the encoder the DRIVER and the PC or PLC etc 1 The pin arrangement for wiring connectors varies in accordance with the servomotor that is used 2 represents shielded twisted pair wires 3 Do not connect the battery with 14 and 15 pins CN1 DRIVER PC or PLC etc Z Z ...

Page 82: ...0 V V5 V7 V8 None Basically Not Required No built in regenerative resistor is provided Install external Regenerative resistors when the smoothing capacitor in DRIVER cannot process all the regenerative power V9 Standard Equipment A built in regenerative resistor is provided as standard Install external regenerative resistors when the built in regenerative resistor cannot process all the regenerati...

Page 83: ...how to set the capacity of regenerative resistors refer to 3 7 2 Setting Regenerative resistors Capacity Enlarged View 2 DRIVER Model LECYU2 V9 Disconnect the wiring between the DRIVER s B2 and B3 terminals and connect an external regenerative resistors between the B1 and B2 terminals After connecting the option select the capacity For more information on how to set the capacity of regenerative re...

Page 84: ...acity of the actual external regenerative resistors being used The setting will vary with the cooling method of external regenerative resistors For natural convection cooling Set the value to a maximum 20 of the actually installed regenerative option capacity W For forced convection cooling Set the value to a maximum 50 of the actually installed regenerative option capacity W Example Set 20 W 100 ...

Page 85: ...ise from the DRIVER or the peripheral devices from causing a malfunction of any one of these devices take the following precautions against noise as required Position the input reference device and noise filter as close to the DRIVER as possible Always install a surge absorber in the relay solenoid and electromagnetic contactor coils Do not bundle or run the main circuit cables together with the I...

Page 86: ...orrect Grounding Take the following grounding measures to prevent the malfunction due to noise Grounding the Motor Frame Always connect servomotor frame terminal FG to the DRIVER ground terminal Also be sure to ground the ground terminal If the servomotor is grounded via the machine a switching noise current will flow from the DRIVER main circuit through servomotor stray capacitance The above grou...

Page 87: ... necessary select an appropriate leakage cur rent detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter Contact the manufacturer of the noise filter for details Do not put the input and output lines in the same duct or bundle them together Incorrect Correct Noise Filter Noise Filter Ground plate Ground plate Noise Fil...

Page 88: ...se Filter Noise Filter DRIVER DRIVER DRIVER DRIVER Shielded ground wire Ground plate Ground plate If a noise filter is located inside a control panel first connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel then ground the plates Control Panel DRIVER Noise Filter DRIVER Ground Ground plate ...

Page 89: ...ing and other conditions However because this product is built in check that the following conditions are still met after being installed in the user s product The applicable standards are EN55011 A2 group 1 class A EN61800 3 and EN61000 6 2 1 Three phase 200V LECYU2 V5 V7 V8 Symbol Cable Name Specification I O signal cable Shield cable Safety signal cable Shield cable Motor cable Shield cable Enc...

Page 90: ...YU2 V9 Symbol Cable Name Specification I O signal cable Shield cable Safety signal cable Shield cable Motor cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable MECHATROLINK III communication cable Shield cable Driver Lock Lock ...

Page 91: ...hase 250V 10A V9 FN2070 16 07 Single phase 250V 16A Three phase 200 V V5 V7 V8 FN258L 7 07 Three phase 80V 7A 0 5 mA 440VAC 50Hz 2 V9 FN258L 16 07 Three phase 480V 16A 0 8 mA 440VAC 50Hz Note RoHS compliant models are not available Contact the manufactures when in need of a RoHS compliant model Some noise filters have large amounts of leakage current The grounding measures taken also affect the ex...

Page 92: ...3 Wiring and Connection 3 38 External Dimensions Units mm 1 FN Type by Schaffner EMC Inc ...

Page 93: ...3 Wiring and Connection 3 39 2 FN Type ...

Page 94: ...ixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from DRIVERs The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as po...

Page 95: ... 1 1 2 1 2 CN7 Connection Cables for Personal Computer 2 5m LEC JZ CVUSB Cable with Connectors at Both Ends 2 CN6A CN6B MECHATROLINK III Communication Cable Cables with Connectors at Both Ends 0 2m 3 0m LEC CYU 3 CN8 Cable for Safety Function Device Cables with Connector 1 3m LEC JZ CVSAF 4 1 When using the safety function connect this cable to the safety devices Even when not using the safety fun...

Page 96: ...he CN1 connector kit includes one case and one connector Connector Kit Model Case Connector Model Qty Model Qty LE CSNA 10326 52A0 008 1 set 10126 3000PE Soldered １ Manufactured by Sumitomo 3M Ltd Cable Size Item Specifications Cable Use twisted pair or twisted pair shielded wire Applicable Wires AWG24 26 28 30 Cable Finished Diameter 16 dia max ...

Page 97: ...d one connector Connector Kit Case Connector Model Qty Model Qty 10326 52F0 008 1 set 10126 3000PE Soldered １ Manufactured by Sumitomo 3M Ltd Cable Size Item Specifications Cable Use twisted pair or twisted pair shielded wire Applicable Wires AWG24 26 28 30 Cable Finished Diameter 16 dia max ...

Page 98: ...ing other cables operation cannot be guaranteed 3 Cable with Connectors at Both Ends for CN6 Model LEC CYU External Dimensions Units mm Use a MECHATROLINK III communications cable specified by this company When using other cables noise resistance may be reduced and operation cannot be guaranteed Model Cable Length L LEC CYU L 0 2m LEC CYU J 0 5m LEC CYU 1 1m LEC CYU 3 3m ...

Page 99: ...3 Wiring and Connection 3 45 4 Cable with Connector for CN8 Model LEC JZ CVSAF External Dimensions Units mm ...

Page 100: ... Information 27 4 5 2 Motor Position and Speed Responses 28 4 5 3 Limitations 29 4 6 Limiting Torque 30 4 6 1 Internal Torque Limit 30 4 6 2 External Torque Limit 31 4 6 3 Checking Output Torque Limiting during Operation 32 4 7 Absolute Encoders 33 4 7 1 Connecting the Absolute Encoder 34 4 7 2 Absolute Data Request SENS ON Command 35 4 7 3 Battery Replacement 36 4 7 4 Absolute Encoder Setup and R...

Page 101: ...4 2 4 9 2 External Device Monitor EDM1 59 4 9 3 Application Example of Safety Functions 61 4 9 4 Confirming Safety Functions 62 4 9 5 Connecting a Safety Function Device 63 4 9 6 Precautions for Safety Function 64 ...

Page 102: ...ing 0 3 04H 0 4 EFH E F F0H to FFH Disabled Do not use these addresses F 0 to F 2 Settings of the DIP Switch S3 The following table shows the settings of the DIP switch S3 Switch No Function Setting Description Factory setting Pins 1 and 2 Sets the number of transmission bytes 1 2 Number of transmission bytes 1 OFF 2 ON OFF OFF 16 byte ON OFF 32 byte OFF ON 48 byte ON ON Reserved Do not change Pin...

Page 103: ...rvomotor rotation direction can be reversed with parameter Pn000 0 without changing the polarity of the speed position reference This causes the rotation direction of the servomotor to change but the polarity of the signal such as encoder output pulses output from the DRIVER does not change refer to 4 4 4 Encoder Output Pulses Note SigmaWin trace waveforms are shown in the above table ...

Page 104: ...opping For details on how to set the parameter refer to 3 Servomotor Stopping Method When Overtravel is Used 1 Signal Setting Type Name Connector Pin Number Setting Meaning Input P OT CN1 7 ON Forward run allowed Normal operation status OFF Forward run prohibited Forward overtravel N OT CN1 8 ON Reverse run allowed Normal operation status OFF Reverse run prohibited Reverse overtravel Rotation in t...

Page 105: ...ng DB Coast After restart Setup n 口口01 n 口口02 Coast n 口口1口 Deceleration to a stop Zero clamp n 口口2口 Coast A servomotor under torque control cannot be decelerated to a stop The servomotor is stopped with the dynamic braking DB or coasts to a stop according to the setting of Pn001 0 After the servomotor stops the servomotor will enter a coast state For details on servomotor stopping methods after th...

Page 106: ...clear the overtravel warning send a Clear Warning or Alarm command ALM_CLR regardless of the status of the servomotor power and the overtravel signal If the warning is cleared by this method during an overtravel state the occurrence of the warning will not be indicated until the overtravelling is corrected and reset The overtravel warning will be detected when the software limit is in effect CAUTI...

Page 107: ...tware limit enabled n 口口口3 Factory setting Both software limits disabled 2 Software Limit Check using References Enable or disable software limit checks when target position references such as POSING or INTERPOLATE are input When the input target position exceeds the software limit a deceleration stop will be performed from the software limit set position Parameter Description When Enabled Classif...

Page 108: ...to hold and cannot be used for braking Use the holding lock only to hold a stopped servomotor There is a delay in the braking operation Set the following ON OFF timing 1 The operation delay time of the lockdepends on the model For details refer to LockOperation Delay Time shown below 2 After the SV_ON command has been sent and 50 ms has passed since the lock was released output the reference from ...

Page 109: ...r supply is turned ON and OFF on the DC side Be sure to evaluate the above times on the actual equipment before using the application 1 Wiring Example Use the lock signal BK and the lock power supply to form a lock ON OFF circuit The following diagram shows a standard wiring example The timing can be easily set using the lock signal BK BK RY Lock control relay 24 VDC power supply is not included D...

Page 110: ...using a 24 V lock separate the 24 VDC power supply from other power sup plies such as the one used for the I O signals of CN1 connectors Always install the 24 VDC power supply separately If the power supply is shared the I O signals might malfunction 2 Lock signal BK Setting This output signal controls the lock The allocation of the BK signal can be changed Refer to 3 Lock Sig nal BK Allocation fo...

Page 111: ...eceived Use parameter Pn506 to change the timing to turn OFF the servomotor power after the SV_OFF command has been received Pn506 Lock Reference Servo OFF Delay Time Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 50 10 ms 0 Immediately Setup When using the servomotor to control a vertical axis the machine movable part may shift slightly depending...

Page 112: ...mediately Setup Pn508 Waiting Time for Lock signal When Motor Running Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 100 10 ms 50 Immediately Setup BK Signal Output Conditions When Servomotor Rotating The BK signal goes to high level lock ON when either of the fol lowing conditions is satisfied When the motor speed falls below the level set in Pn...

Page 113: ...rol power supply the servomotor will be stopped by dynamic braking If the servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply or the control power supply is turned OFF but the SV_OFF command has not been received arrange the sequence externally so the current will be cut off for servomotor wires U V and W To minimize the coasting distance of the...

Page 114: ...m occurs is the same as that in 1 Stopping Method for Servomotor after SV_OFF Command is Received Parameter Stop Mode Mode After Stop ping When Enabled Classification Pn001 n 口口口0 Factory setting DB DB After restart Setup n 口口口1 Coast n 口口口2 Coast Coast Stopping Method for Servomotor for Gr 2 Alarms Parameter Stop Mode Mode After Stopping When Enabled Classifica tion Pn00B Pn001 n 口口0口 Factory set...

Page 115: ...y to the main circuit recovers Note If the instantaneous power interruption is longer than the set value of Pn509 the S RDY signal turns OFF The holding time of the control power supply for the 200 V DRIVERs is approximately 100 ms If the control power supply makes control impossible during an instantaneous power interruption the same operation will be performed as for normally turning OFF the pow...

Page 116: ...ge and time ranges This function is intended for voltage drops in the main circuit power supply Set the host PC or PLC etc and DRIVER torque limit so that a torque reference that exceeds the specified acceleration will not be output when the power supply for the main circuit is restored Do not limit the torque to values lower than the holding torque for the vertical axis This function limits torqu...

Page 117: ...PLC etc n 口口2口 Detects warning and limits torque by Pn424 and Pn425 Only in the DRIVER Pn424 Torque Limit at Main Circuit Voltage Drop Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 50 Immediately Setup Pn425 Release Time for Torque Limit at Main Circuit Voltage Drop Speed Position Torque Classification Setting Range Setting Unit Factory Set...

Page 118: ...overload alarm The time required to detect an overload warning can be changed by changing the setting of the overload warning level Pn52B This protective function enables the warning out put signal WARN to serve as a protective function and to be output at the best timing for your system The following graph shows an example of the detection of an overload warning when the overload warning level Pn...

Page 119: ... motor base current Motor base current Threshold value of motor current to start calculation for overload alarm Derating of base current at detecting overload of motor Pn52C Derating of motor base current The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50 The calculation for the overload of motors starts at 50 of the motor base current and then an ov...

Page 120: ... overloading 4 4 Trial Operation This section describes a trial operation using MECHATROLINK III communications 4 4 1 Inspection and Checking before Trial Operation To ensure safe and correct trial operation inspect and check the following items before starting trial operation 1 DRIVERs Inspect and check the following items and take appropriate measures before performing trial operation if any pro...

Page 121: ... 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 PC or PLC etc use the SVPRM_WR command set the mode to RAM area If saving settings in the DRIVER use the SVPRM_WR command set the mode to the non vo...

Page 122: ...Enabled 1 to 1073741824 1 1 After restart Setup 4 4 3 Electronic Gear The electronic gear enables the workpiece travel distance per reference unit input from the host PC or PLC etc The minimum unit of the position data moving a load is called a reference unit 1 Electronic Gear Ratio Set the electronic gear ratio using Pn20E and Pn210 If the gear ratio of the servomotor and the load shaft is given ...

Page 123: ...io setting range 0 001 Electronic gear ratio B A 4000 If the electronic gear ratio is outside this range a parameter setting error 1 A 040 will be output 2 Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations ...

Page 124: ...N1 19 Encoder output pulse phase B PBO CN1 20 PCO CN1 21 Encoder output pulse phase Z One pulse is output per motor rota tion PCO CN1 22 Host PC or PLC etc DRIVER CN1 CN2 PAO PBO PCO Converts serial data to pulse Serial data 2 Output Phase Form Note The pulse width for phase Z origin pulse changes according to the setting of the encoder output pulses Pn212 and becomes the same as that for phase A ...

Page 125: ...to 2048 1 6000 16 to 16384 1 6000 16386 to 32768 2 3000 32772 to 65536 4 1500 65544 to 131072 8 750 131088 to 262144 16 375 Note 1 The setting range varies with the encoder resolution for the servomotor used An encoder output pulse setting error A 041 will occur if the setting is outside the allowable range or does not satisfy the setting conditions Pn212 25000 P Rev is accepted but Pn212 25001 P ...

Page 126: ...ring performing this function regardless of whether the motor is actually connected or not DRIVER Reference Reference Host PC or PLC etc Simulates the operation without motor Response Response Use Pn00C 0 to enable or disable the test without a motor Parameter Meaning When Enabled Classification Pn00C n 口口口0 Factory setting Disables the test without a motor After restart Setup n 口口口1 Enables the t...

Page 127: ... restart Setup n 口1口口 Sets an absolute encoder as an encoder type for the test without a motor 4 5 2 Motor Position and Speed Responses For the test without a motor the following responses are simulated for references from the host PC or PLC etc according to the gain settings for position or speed control Servomotor position Servomotor speed The load model however will be a rigid system with the m...

Page 128: ... Multiturn limit value setting change when a multiturn limit disagreement alarm occurs Resetting configuration error in option modules Vibration detection level initialization Origin setting Software reset Tuning less levels setting Advanced autotuning Advanced autotuning by reference One parameter tuning Anti resonance control adjustment function Vibration suppression function EasyFFT Online vibr...

Page 129: ...ignals SVCMD_IO Limits torque by using P_CL and N_CL signals of the servo command output signals SVCMD_IO For details refer to 8 MECHATROLINK III Commands Note The maximum torque of the servomotor is used when the set value exceeds the maximum torque 4 6 1 Internal Torque Limit This function always limits maximum output torque by setting values of following parameters Pn402 Forward Torque Limit Sp...

Page 130: ...te Use parameter Pn50B 2 and Pn50B 3 to allocate the P CL signal and the N CL signal for use For details refer to 3 3 1 Input Signal Allocations 2 Related Parameters Set the following parameters for external torque limit Pn402 Forward Torque Limit Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 800 Immediately Setup Pn403 Reverse Torque Limit...

Page 131: ...ection 4 6 3 Checking Output Torque Limiting during Operation The following signal can be output to indicate that the servomotor output torque is being limited Type Signal Name Connector Pin Number Setting Meaning Output CLT Must be allocated ON closed Servomotor output torque is being lim ited OFF open Servomotor output torque is not being limited Note Use parameter Pn50F 0 to allocate the CLT si...

Page 132: ... battery case is required to save position data in the absolute encoder The battery is attached to the battery case of the encoder cable Set Pn002 2 to 0 factory setting to use the absolute encoder Parameter Meaning When Enabled Classification Pn002 n 口0口口 Factory setting Uses the absolute encoder as an absolute encoder After restart Setup n 口1口口 Uses the absolute encoder as an incremental encoder...

Page 133: ...ncoder the DRIVER and the host PC or PLC etc 1 Using an Encoder Cable with a Battery Case 1 The absolute encoder pin numbers for the connector wiring depend on the servomotors 2 represents shielded twisted pair wires 3 When using an absolute encoder provide power by installing an encoder cable with a Battery Case DRIVER PC or PLC etc Z Z ...

Page 134: ...N Command The Turn Sensor ON command SENS_ON must be sent to obtain absolute data as an output from the DRIVER The SENS_ON command is sent at the following timing Send the SENS_OFF command to turn OFF the control power supply DRIVER control power supply ...

Page 135: ...30 when the battery voltage drops If Pn008 0 is set to 0 alarm detection will be enabled for 4 seconds after the ALM signal outputs max 5 sec onds when the control power is turned ON No battery related alarm will be displayed even if the battery voltage drops below the specified value after these 4 seconds If Pn008 0 is set to 1 alarm detection will be always enabled after the ALM signal outputs m...

Page 136: ...r replacing the battery turn OFF the control power supply to clear the absolute encoder battery error alarm A 830 6 Turn ON the control power supply again 7 Check that the alarm display has been cleared and that the DRIVER operates normally If the DRIVER control power supply is turned OFF and the battery is disconnected which includes disconnecting the encoder cable the absolute encoder data will ...

Page 137: ...ns on Setup and Reinitialization The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 Set up or reinitialize the encoder when the servomotor power is OFF If the following absolute encoder alarms are displayed cancel the alarm by using the same method as the set up initializing with Fn008 They cannot be canceled with the DRIVER Clear Warning or Alarm com mand ALM_CLR E...

Page 138: ...urn limit setting Pn205 m 1 The case in which the relationship between the turntable revolutions and motor revolutions is m 100 and n 3 is shown in the following graph Pn205 is set to 99 Pn205 100 1 99 9 8 7 6 Table 5 Table rotations Rotational rotations 4 3 2 1 0 Rotational data Set value of Pn205 99 serial data 100 50 100 200 300 0 Motor rotations Pn205 Multiturn Limit Setting Speed Position Tor...

Page 139: ... been set in the encoder and DRIVER If this alarm is displayed perform the operation described below and change the multiturn limit value in the encoder to the value set in Pn205 This setting can be performed using the Write Memory command MEM_WR For details refer to Σ V Series User s Manual MECHATROLINK III Standard Servo Profile Commands No SIEP S800000 63 This setting can be performed with the ...

Page 140: ...controller is shown below 1 Outline of Absolute Data The serial data pulses etc of the absolute encoder that are output from the DRIVER are output from the PAO PBO and PCO signals as shown below Signal Name Status Contents PAO At initialization Rotational serial data Initial incremental pulses Normal Operations Incremental pulses PBO At initialization Initial incremental pulses Normal Operations I...

Page 141: ... the position at setup Initial incremental pulses Initial incremental pulses which provide absolute data are the number of pulses required to rotate the motor shaft from the servomotor origin to the present position Just as with normal incremental pulses these pulses are divided by the dividing circuit inside the DRIVER and then output The initial incremental pulse speed depends on the setting of ...

Page 142: ...it Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below Note 1 Data is P 00000 CR or P 00000 CR when the number of revolutions is zero 2 The revolution range is 32768 to 32767 When this range is exceeded the data changes from 32767 to 32678 or from 32678 to 32767 When changing multiturn limit the range changes For details refer to 4 7 5 Multiturn Limi...

Page 143: ...4 Operation 4 44 ...

Page 144: ...e of the alarm before resetting it If the alarm is reset and operation continued without eliminating the cause of the alarm it may result in damage to the equipment or fire Resetting Alarms by Sending Clear Warning or Alarm Command ALM_CLR For details refer to 8 MECHATROLINK III Commands Resetting Alarms Using the SigmaWin In the SigmaWin Σ V component main window click Alarm and then click Displa...

Page 145: ...ing parameter Pn502 Rotation Detection Level Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 1 min 1 20 Immediately Setup 4 8 4 Servo Ready Output Signal S RDY This signal is turned ON when the DRIVER is ready to accept the servo ON SV_ON command The S RDY signal is turned ON under the following conditions The main circuit power supply is ON ...

Page 146: ...es OFF open Speed does not coincide Note Use parameter Pn50E 1 to allocate the V CMP signal for use Refer to 3 3 2 Output Signal Allocations for details Pn503 Speed Coincidence Signal Output Width Speed Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 min 1 10 Immediately Setup The V CMP signal is output when the difference between the reference speed and actual mo...

Page 147: ...al to check the completion of positioning from the host PC or PLC etc Type Signal Name Connector Pin Number Setting Meaning Output COIN Must be allocated ON closed Positioning has been completed OFF open Positioning is not completed Note Use parameter Pn50E 0 to allocate the COIN signal for use Refer to 3 3 2 Output Signal Allocations for details Pn522 Positioning Completed Width Position Classifi...

Page 148: ... The servomotor has not reached a point near to positioning completed Note Use parameter Pn510 0 to allocate the NEAR signal for use Refer to 3 3 2 Output Signal Allocations for details Pn524 NEAR Signal Width Position Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 1 reference unit 1073741824 Immediately Setup The positioning near signal NEAR is output when ...

Page 149: ...with speed limit Time Refer to the following parameters for speed limit 1 Signals Output during Servomotor Speed Limit The following signal is output when the motor speed reaches the limit speed Type Signal Name Connector Pin Number Setting Meaning Output VLT Must be allocated ON closed Servomotor speed limit being applied OFF open Servomotor speed limit not being applied Note Use parameter Pn50F ...

Page 150: ...the maximum speed of the servomotor or the overspeed alarm detection speed Select the overspeed alarm detection speed to limit the speed to the maxi mum speed of the servomotor or the equivalent Pn407 Speed Limit During Torque Control Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 1 10000 Immediately Setup Note The servomotor s maximum speed or the o...

Page 151: ... shut off Refer to the diagram below For safety function signal connections the input signal is the 0 V common and the output signal is the source output This is the opposite of other signals described in this manual To avoid confusion the ON and OFF status of signals for safety functions are defined as follows ON The state in which the relay contacts are closed or the transistor is ON and current...

Page 152: ...lure etc Make sure that safety is ensured even in that situation The rotation angle depends on the motor type The maximum rotation angle is given below Rotational motor 1 6 rotation max rotation angle at the motor shaft The HWBB function does not shut off the power to the DRIVER or electrically isolate it Take measures to shut off the power to the DRIVER when performing maintenance on it 2 Hard Wi...

Page 153: ...ll enter a baseblock BB state and can accept the servo ON command SV_ON 31H If the HWBB1 and HWBB2 signals are OFF and the servo ON command is received the HWBB state will be maintained after the HWBB1 and HWBB2 signals are turned ON Send the servo OFF command and the DRIVER is placed in a BB state Then send the servo ON com mand again Note Even if the servomotor power is turned OFF by turning OFF...

Page 154: ...return to the HWBB status is recommended Object Action Commands Servo ON SV_ON Interpolating INTERPORATE Positioning POSING Constant speed feed FEED Constant speed feed with position detection function EX_FEED Interpolating with position detection function LATCH External input positioning EX_POSING Homing ZRET 5 Error Detection in HWBB Signal If only the HWBB1 or HWBB2 signal is input an A Eb1 ala...

Page 155: ... To avoid confusion the ON and OFF status of signals for safety functions are defined as follows ON The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur rent flows into the signal line Connection Example Specifications Type Signal Name Connector Pin Numb...

Page 156: ...he DRIVER cannot be operated by turning ON the HWBB1 and HWBB2 signals Cancel the utility func tion first and then set the DRIVER to the utility function again and restart operation JOG operation Fn002 Origin search Fn003 Program JOG operation Fn004 Advanced autotuning Fn201 EasyFFT Fn206 Automatic offset signal adjustment of motor current detection signal Fn00E 8 Servo Ready Output S RDY The serv...

Page 157: ...namic Brake If the dynamic brake is enabled in Pn001 0 Stopping Method for Servomotor after SV_OFF Command is Received the servomotor will come to a stop under the control of the dynamic brake when the HWBB function works while the HWBB1 or HWBB2 signal is OFF CAUTION The dynamic brake is not a safety related part of a control system Be sure to design the system so that the system will not be put ...

Page 158: ... or PLC etc the system only qualifies for the performance level c PLc Failure Detection Signal for EDM1 Signal The relation of the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal in the table Failures can be detected if the failure status can be confirmed e g when the power supply is turned ON S...

Page 159: ...elay contacts are open or the transistor is OFF and no cur rent flows into the signal line Connection Example EDM1 output signal is used for source circuit EDM1 output signal can t use for sink circuit Specifications Type Signal Name Connector Pin Number Setting Meaning Output EDM1 CN8 8 CN8 7 ON closed Both the HWBB1 and the HWBB2 signals are working normally OFF open The HWBB1 signal the HWBB2 s...

Page 160: ...B1 and the HWBB2 signals turn ON and the operation becomes possible Note The EDM1 signal is used as a sourcing output Connect the EDM1 so that the current flows from EMD1 to EMD1 2 Failure Detection Method In case of a failure such as the HWBB1 or the HWBB2 signal remains ON the safety unit is not reset when the guard closes because the EDM1 signal keeps OFF Therefore starting is impossible then t...

Page 161: ...conduct the following confirmation test on the HWBB function after wiring When the HWBB1 and HWBB2 signals turn OFF check that the digital operator displays Hbb and that the servomotor does not operate Check with the display of the feedback circuit input of the connected device to confirm that the EDM1 signal is OFF while in normal operation ...

Page 162: ...not listed above it is not necessary to remove the servomotor connection terminal connector Go to step 2 2 Remove the safety function s jumper connector from CN8 3 Connect a safety function device to CN8 Note When not using the safety function use the DRIVER with the safety function s jumper connector inserted in CN8 If the DRIVER is used without the jumper connector inserted into CN8 no current w...

Page 163: ...at the rotation of the motor will not result in a dangerous condition Incorrect use of the machine may cause injury The dynamic brake and the lock signal are not safety related parts of a control system Be sure to design the system that these failures will not cause a dangerous condition when the HWBB function operates Incorrect use of the machine may cause injury Connect devices meeting safety st...

Page 164: ...s 40 5 5 One parameter Tuning Fn203 41 5 5 1 One parameter Tuning 41 5 5 2 One parameter Tuning Procedure 42 5 5 3 One parameter Tuning Example 45 5 5 4 Related Parameters 46 5 6 Anti Resonance Control Adjustment Function Fn204 47 5 6 1 Anti Resonance Control Adjustment Function 47 5 6 2 Anti Resonance Control Adjustment Function Operating Procedure 48 5 6 3 Related Parameters 48 5 7 Vibration Sup...

Page 165: ...justment Function Fn204 This function effectively suppresses continuous vibration Speed and Position Vibration Suppression Function Fn205 This function effectively suppresses residual vibration if it occurs when positioning Position 5 Adjustments 5 1 Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure 5 1 1 Adjustments Ad...

Page 166: ...ents 5 3 5 1 2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart Make suitable adjustments considering the conditions and operating requirements of the machine DRIVER ...

Page 167: ...rs for monitoring analog signals are described in the following sections 1 Connector CN5 for Analog Monitor To monitor analog signals connect a measuring instrument with cable YASKAWA CONTROLS CO LTD to the connector CN5 Line Color Signal Name Factory Setting White Analog monitor 1 Torque reference 1 V 100 rated torque Red Analog monitor 2 Motor speed 1 V 1000 min 1 Black 2 lines GND Analog monito...

Page 168: ...ence speed 1 V 1000 min 1 n 口口06 Reserved Do not change n 口口07 Motor load position error 0 01 V 1 reference unit n 口口08 Positioning completed Positioningcompleted 5 V Positioning not com pleted 0 V Completion indicated by out put voltage n 口口09 Speed feedforward 1 V 1000 min 1 n 口口0A Torque feedforward 1 V 100 rated torque n 口口0B Active gain 1 1st gain 1 V 2nd gain 2 V Gain type indicated by outpu...

Page 169: ...nitor 2 Offset Voltage Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0 Immediately Setup Pn552 Analog Monitor Magnification 1 Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 01 100 Immediately Setup Pn553 Analog Monitor Magnification 2 Speed Position Torque Classificati...

Page 170: ...limits so that the out put torque will not be greater than required Setting torque limits can reduce the amount of shock applied to the machine when troubles occur such as collisions or interference If a torque limit is set lower than the value that is needed for operation overshooting or vibration can be occurred For details refer to 4 6 Limiting Torque 3 Excessive Position Error Alarm Level The ...

Page 171: ... be increased as not to satisfy these equations If so lower the level of the acceleration deceleration for the position reference so that the servomotor can perform at the requested speed or increase the excessive position error alarm level Pn520 Related Parameter Pn520 Excessive Position Error Alarm Level Position Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741...

Page 172: ...n 1 10000 Immediately Setup Related Alarms Alarm Dis play Alarm Name Meaning A d01 Position Error Overflow Alarm at Servo ON This alarm occurs if the servomotor power is turned ON when the position error is greater than the set value of Pn526 while the servomotor power is OFF A d02 Position Error Overflow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn529 l...

Page 173: ... the SV_ON command is received For details on the automatic notch filter refer to 3 Automatically Setting the Notch Filter on the next page The servomotor may vibrate if the load moment of inertia exceeds the allowable load value If vibration occurs set the mode to 2 in Fn200 or lower the adjustment level 5 2 1 Tuning less Function The tuning less function obtains a stable response without manual ...

Page 174: ...lable EasyFFT Fn206 Available While this function is being used the tuning less function cannot be used After completion of the EasyFFT it can be used again Friction compensation Not available Gain switching Not available Offline moment of inertia calculation Not available Disable the tuning less function by setting Pn170 0 to 0 before executing this function Mechanical analysis Available While th...

Page 175: ...ility function Immediately Tuning n 口1口口 Factory setting Set the 2nd notch filter automatically with utility function 4 Tuning less Level Settings Two tuning less levels are available the rigidity level and load level Both levels can be set in the Fn200 util ity function or in the Pn170 parameter Rigidity Level Parameter Meaning When Enabled Classification Pn170 n 口0口口 Rigidity level 0 Level 0 Imm...

Page 176: ...If the settings are not correct NO OP will be displayed during the tuning less function The tuning less function must be enabled Pn170 0 1 The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The test without a motor function must be disabled Pn00C 0 0 2 Operating Procedure with Sigma Win 1 In the SigmaWin Σ V component main window click Setup and then Response Level ...

Page 177: ...ting will be enabled but the settings in Pn408 3 Pn160 0 and Pn139 0 will be not enabled Parameters Disabled by Tuning less Function Related Functions and Parameters Item Name Pn Number Torque Con trolEasy FFT Mechanical Analysis Ver tical Axis Mode Gain Speed Loop Gain 2nd Speed Loop Gain Pn100 Pn104 Speed Loop Integral Time Constant 2nd Speed Loop Integral Time Constant Pn101 Pn105 Position Loop...

Page 178: ...an be changed using SigmaWin while this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter ...

Page 179: ...dvanced autotuning once again with the setting to calculate the moment of inertia If advanced autotun ing is performed without changing the parameters machine vibration may occur resulting in damage to the machine Pn00B 0 1 Displays all parameters Pn140 0 0 Does not use model following control Pn160 0 0 Does not use anti resonance control Pn408 n 00口0 Does not use friction compensation 1st notch f...

Page 180: ...e set to torque control The gain selection switch must be in manual switching mode Pn139 0 0 Gain setting 1 must be selected The test without a motor function must be disabled Pn00C 0 0 All alarms and warning must be cleared The hardwire baseblock HWBB must be disabled The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 Jcalc must be set to ON to calculate the load m...

Page 181: ...ing completed width Pn522 is too small Advanced autotuning makes adjustments by referring to the positioning completed width Pn522 If the DRIVER is operated in position control Pn000 1 1 set the electronic gear ratio Pn20E Pn210 and positioning completed width Pn522 to the actual value during operation If the DRIVER is operated in speed control Pn000 1 0 set Mode to 1 to perform advanced autotunin...

Page 182: ...sure to set a suitable value for the moment of inertia ratio Pn103 If the setting greatly differs from the actual moment of inertia ratio normal control of the DRIVER may not be possible and vibration may result When using the MP2000 Series with phase control select the mode 1 standard level If 2 or 3 is selected phase control of the MP2000 Series may not be possible 1 Operating Procedure In the S...

Page 183: ...stant Edit Click Edit to view the Speed Loop Related Setting Change box Identification Start Level Set the moment of inertia mass identification start level Help Click Help to open the window for guidelines on the reference condition settings Reference Selection Select the reference pattern for identifying the moment of inertia mass Recommended method Detailed Setting Create the reference pattern ...

Page 184: ...rence Transmission box to begin the transfer Start Click to Start to transfer the reference conditions to the DRIVER A progress bar displays the progress status of the transfer Cancel The Cancel button is available only during the transfer to the DRIVER After the transmission is finished it is unavailable and cannot be selected Next The Next button is available if the data is transferred successfu...

Page 185: ...ansferred click Next and the Operation Measurement box appears 3 Operation Measurement In the Operation Measurement box run and measure the actual motor Measurements are taken two to seven times and then verified Run the motor and take measurements using the following procedure 1 Click Servo ON to turn on the servo power 2 Click Forward to take measurements by turning moving the motor forward Afte...

Page 186: ...ave been taken The actual number of times the measurements have been taken is displayed in the upper left part on the screen The progress bar displays the percentage of data that has been transferred 1 5 After the measurement has been successfully completed click Servo ON to turn to the servo OFF status 6 Click Next and the Write Results box appears When Next is clicked without turning to the serv...

Page 187: ...nertia mass ratio to DRIVER parameter Pn103 Pn103 Moment of Inertia Mass Ratio Displays the value assigned to the parameter Click Write Results and the new ratio calculated from the operation measurement will be displayed Back The Back button is unavailable Cancel Click Cancel to return to the main window Finish Click Finish and a warning message appears reminding you to reset the origin position ...

Page 188: ...rence input from host controller in the Tuning main window and then click Autotuning The Autotuning Setting Conditions box will appear 2 Select whether or not to use the load moment of inertia load mass identification from the Switching the load moment of inertia load mass identification box the mode from the Mode selection box the mechanism from the Mechanism selection box and enter the moving di...

Page 189: ...ce Setting Travel distance setting range The travel distance setting range is from 99990000 to 99990000 reference unit Specify the STROKE travel distance in increments of 1000 reference units The negative direction is for reverse rotation and the positive direction is for forward rotation Initial value About 3 rotations Notes Set the number of motor rotations to at least 0 5 otherwise Error will b...

Page 190: ...will be made When the setting is complete the LED indicator lamps bottom left of the box of the functions used for the setting will light up 5 When tuning is completed click Finish The results of tuning will be written in the parameters For more information on the usage of the SigmaWin refer to AC Servo Drives Engineering Tool Sigma Win ONLINE MANUAL Σ V Component 4 6 3 Autotuning without Referenc...

Page 191: ...suppression function An error occurred during the calculation of the mo ment of inertia Referto thefollowing table Whenan ErrorOccursduring CalculationofMomentof Inertia Travel distance setting er ror The travel distance is set to approximately 0 5 rotation or less which is less than the min imum adjustable travel distance Increase the travel distance It is recom mended to set the number of motor ...

Page 192: ... of inertia fluctuated greatly and did not converge within 10 tries Set the calculation value based on the machine specifi cations in Pn103 and execute the calculation with the Jcalc set to OFF Err3 Low frequency vibration was detected Double the set value of the moment of inertia calculat ing start level Pn324 Err4 The torque limit was reached When using the torque limit increase the torque limit...

Page 193: ...t This function reduces low vibration frequency which the notch filter does not detect Usually set this function to Auto Setting The anti resonance control is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning and anti resonance control will be automatically adjusted and set Vibration Suppression The vibration s...

Page 194: ... set to the factory setting and the mode setting is changed to 2 or 3 the feedforward gain Pn109 speed feedforward VFF input and torque feedforward TFF input will be disabled Set Pn140 3 to 1 if model following control is used together with the speed feedforward VFF input and torque feedforward TFF input from the PC or PLC etc Parameter Function When Enabled Classification Pn140 n 0口口口 Factory set...

Page 195: ...n Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switch Yes Yes Pn409 1st Notch Filter Frequency No Yes Pn40A 1st Notch Filter Q Value No Yes Pn40C 2nd Notch Filter Frequency No Yes Pn40D ...

Page 196: ... by reference is performed generally to fine tune the DRIVER after advanced autotuning of the DRIVER has been performed If the moment of inertia ratio is correctly set to Pn103 advanced autotuning by reference can be performed without performing advanced autotuning DRIVER Advanced autotuning by reference performs the following adjustments Gains e g position loop gain and speed loop gain Filters to...

Page 197: ...ing time i e the period while the positioning completed COIN signal is OFF is 10 ms or less The rigidity of the machine is low and vibration occurs when positioning is performed The position integration function is used P control operation proportional control is performed The mode switch is used The positioning completed width Pn522 is too small Advanced autotuning by reference starts adjustments...

Page 198: ...rocedure Autotuning with Reference Input 1 Select the Position reference input option under Reference input from host controller in the Tuning main window and then click Autotuning The Autotuning Setting Conditions box will appear 2 Select the mode from the Mode selection combo box and the mechanism from Mechanism selection combo box and then click Next The Autotuning Moment of Inertia Ratio Setti...

Page 199: ...ay be obtained by changing the rigidity type Type 1 For belt drive mechanisms LEFB LEJB Type 2 For ball screw drive mechanisms Factory setting LEY LEFS LEJS 3 Enter the correct moment of inertia ratio and then click Next The following window will appear 4 Turn the servo on and then input the reference from the host controller Click Start tuning to start tuning ...

Page 200: ... warning Overtravelingoccurred Remove the cause of the overtravel Gain setting 2 was selected by gain switching Disable the automatic gain switching HWBB operated Disable the HWBB function When Error Flashes on the Display Error Probable Cause Corrective Actions The gain adjustment was not successfully completed Machine vibration is occurring or the posi tioning completed signal COIN is turning ON...

Page 201: ...Setting vibration will be automatically detected during advanced autotuning by reference and anti resonance control will be automatically adjusted and set Parameter Function When Enabled Classification Pn160 n 口口0口 Does not use the anti resonance control automatically with the utility function Immediately Tuning n 口口1口 Factory setting Uses the anti resonance control automatically with the utility ...

Page 202: ... set to the factory setting and the mode setting is changed to 2 or 3 the feedforward gain Pn109 speed feedforward VFF input and torque feedforward TFF input will be disabled Set Pn140 3 to 1 if model following control is used together with the speed feedforward VFF input and torque feedforward TFF input from the PC or PLC etc Parameter Function When Enabled Classification Pn140 n 0口口口 Factory set...

Page 203: ...p Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switch Yes Yes Pn409 1st N...

Page 204: ...ts Perform one parameter tuning if satisfactory response characteristics is not obtained with advanced autotun ing or advanced autotuning by reference To fine tune each servo gain after one parameter tuning refer to 5 8 Additional Adjustment Function CAUTION Vibration or overshooting may occur during adjustment To ensure safety perform one parameter tuning in a state where the DRIVER can come to a...

Page 205: ... possible 1 SigmaWin Operating Procedure In the SigmaWin Σ V component main window click Tuning and then click Tuning Click Advanced adjustment in the Tuning main window and then click Custom tuning in the Tuning box that will appear The Custom Tuning Mode selection box will appear For more information on the usage of the SigmaWin refer to AC Servo Drives Engineering Tool Sigma Win ONLINE MANUAL Σ...

Page 206: ...ng time will be shorter and the response will be better If the level is too high however overshooting or vibration may occur Overshooting will be reduced if the FB level is increased 2 Related Functions on One parameter Tuning This section describes functions related to one parameter tuning Notch Filter Usually set this function to Auto Setting The notch filter is factory set to Auto Setting If th...

Page 207: ...on Adjusted with the frictioncompensation function Feedforward If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3 the feedforward gain Pn109 speed feedforward VFF input and torque feedforward TFF input will be disabled Set Pn140 3 to 1 if model following control is used together with the speed feedforward VFF input and torque feedforward TFF input from the PC o...

Page 208: ...oting occurs before the specifications are met go to step 3 3 Overshooting will be reduced if the FB level is increased If the overshooting is eliminated go to step 4 4 The graph shows overshooting generated with the FF level increased after step 3 In this state the overshooting occurs but the positioning settling time is shorter The tuning will be com pleted if the specifications are met The adju...

Page 209: ...p Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switch Yes Yes Pn409 1st N...

Page 210: ...tia ratio Pn103 using advanced autotuning before executing the anti resonance control adjustment function If the setting greatly differs from the actual moment of inertia ratio normal control of the machine may not be possible and vibration may result This function detects vibration between 100 and 1000 Hz Vibration will not be detected for frequencies outside of this range and instead F will be d...

Page 211: ...ncrease the damping gain from about 0 to 200 in 10 increments while checking the effect of vibration reduction If vibration reduction is still insufficient at a gain of 200 cancel the setting and lower the control gain by using a different method such as one parameter tuning 5 6 3 Related Parameters The following table lists parameters related to this function and their possibility of being change...

Page 212: ... Phase control of the MP2000 Series may not be possible if the vibration suppression function is per formed when using the MP2000 Series with phase control This function detects vibration frequency between 1 to 100 Hz Vibration will not be detected for frequencies outside of this range and instead F will be displayed Frequency detection will not be performed if no vibration results from position e...

Page 213: ...ting Procedure In the SigmaWin Σ V component main window click Tuning and then click Tuning In the Tuning main window click Custom tuning and then Vibration suppression For more information on the usage of the SigmaWin refer to AC Servo Drives Engineering Tool Sigma Win ONLINE MANUAL Σ V Component 4 6 7 Vibration Suppression Function Note Frequency detection will not be performed if there is no vi...

Page 214: ...Commands for details Model following control is used to make optimum feedforward settings in the DRIVER when model following control is used with the feedforward function Therefore model following control is not normally used together with either the speed feedfor ward VFF input or torque feedforward TFF input from the PC or PLC etc However model following control can be used with the speed feedfo...

Page 215: ...xecution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Name Mid execution changes Automatic changes Pn140 Model Following Control Related Switch Yes Yes Pn141 Model Following Control Gain No Yes Pn142 Model Following Control Gain Co...

Page 216: ...omatic gain switching refer to 3 Automatic Gain Switching 1 Gain Combinations for Switching Setting Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain Torque Refer ence Filter Model Follow ing Control Gain Model Follow ing Control Gain Compen sation Friction Com pensation Gain Gain Setting 1 Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn...

Page 217: ...Time 1 Pn131 Gain Switching Time 1 Condition A not satis fied Gain setting 2 to gain setting 1 Pn136 Gain Switching Waiting Time 2 Pn132 Gain Switching Time 2 Select one of the following settings for switching condition A Parameter Switching Condition A for Position Control For Other than Posi tion Control No Switching When Enabled Classification Pn139 n 口口0口 Factory setting Positioning completed ...

Page 218: ...ation Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0 01 ms 2000 Immediately Tuning Pn102 Position Loop Gain Position Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 0 1 s 400 Immediately Tuning Pn401 Torque Reference Filter Time Constant Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 ...

Page 219: ...ng When Enabled 15 to 51200 0 01 ms 2000 Immediately Tuning Pn106 2nd Position Loop Gain Position Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 0 1 s 400 Immediately Tuning Pn412 1st Step 2nd Torque Reference Filter Time Speed Position Torque Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 0 01 ms 100 Immediately Tunin...

Page 220: ...ive gain monitor 1 For gain setting 1 2 For gain setting 2 Note When using the tuning less function gain setting 1 is enabled Parameter No Analog Moni tor Name Output Value Remarks Pn006 Pn007 n 口口0B Effective gain moni tor 1 V Gain setting 1 is enabled 2 V Gain setting 2 is enabled ...

Page 221: ...口口口 Factory setting Does not use friction compensation Immediately Setup n 1口口口 Uses friction compensation Pn121 Friction Compensation Gain Speed Position Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 1000 1 100 Immediately Tuning Pn123 Friction Compensation Coefficient Speed Position Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 0...

Page 222: ...ess If the effect is insufficient increase the friction compensation gain Pn121 by 10 increments until it stops vibrating Effect of Parameters for Adjustment Pn121 Friction Compensation Gain This parameter sets the responsiveness for external disturbance The higher the set value is the better the responsiveness will be If the equipment has a resonance frequency however vibration may result if the ...

Page 223: ...red but the response characteristics of the DRIVER will also be degraded Adjust the current gain level within the allowable range at which DRIVER response characteristics can be secured Pn13D Current Gain Level Speed Position Classification Setting Range Setting Unit Factory Setting When Enabled 100 to 2000 1 2000 Immediately Tuning If the parameter setting of the current gain level is changed the...

Page 224: ... to use backlash compensation Backlash Compensation Direction Set the direction in which to apply backlash compensation Parameter Function When Enabled Classification Pn230 n 口口口0 Factory setting Compensates with a reference in the forward direc tion After restart Setup n 口口口1 Compensates with a reference in the reverse direc tion Backlash Compensation Value Set the amount of backlash compensation...

Page 225: ... the backlash compensation value The upper limit of the backlash compensation value can be confirmed in Un031 Backlash Compensation Time Constant Set a time constant for a first order lag filter to use when adding the backlash compensation value Pn231 to the position reference If you set Pn233 to 0 the first order lag filter is disabled Pn233 Backlash compensation time constant Position Classifica...

Page 226: ...backlash compensation value If using the encoder output pulse for position feed back at the PC or PLC etc must consider the backlash compensation value When Servo is ON The backlash compensation value Pn231 is added in the compensation direction when the servo is ON i e the servomotor is powered and a reference is input in the same direction as the backlash compensation direc tion Pn230 0 If there...

Page 227: ...The relationship between APOS and the servomotor shaft position is as follows When servo is OFF APOS Servomotor shaft position The following figure shows what happens when the servo is turned OFF after driving the servomotor in the forward direction from target position TPOS0 to TPOS1 Backlash compensation is not applied when the servo is OFF i e the DRIVER manages the position data so that APOS a...

Page 228: ...or When Servo is OFF i e backlash compensation is not applied When Control is Changed Backlash compensation is performed only for position control Backlash compensation is not applied if changing from position control to any other type of control Backlash compensation is applied in the same way as When Servo is ON if changing from any other type of control to position control ...

Page 229: ... Monitor Information This section describes the information that is set for the MECHATROLINK monitoring information Monitor 1 Monitor 2 Monitor 3 and Monitor 4 and the backlash compensation operation Monitor Code Designation Meaning Unit Remarks 0 POS Reference position in the reference coordinate system after the position reference filter Reference unit 1 MPOS Reference position Reference unit 2 ...

Page 230: ...ven external encoder 000DH FPG count upper 32 bits Reference unit 0017H Input reference speed min 1 Same as monitor display Un007 0018H Position error amount Reference unit Same as monitor display Un008 001CH Input reference counter Reference unit Same as monitor display Un00C 001DH Feedback pulse counter Encoder pulse Same as monitor display Un00D 001EH Fully closed feedback pulse counter Externa...

Page 231: ... Guide Use the speed loop gain Pn100 Hz and the torque filter time constant Pn401 ms to set the torque refer ence filter Adjusted value for stable control Pn401 ms 1000 2π Pn100 Hz 4 Critical gains Pn401 ms 1000 2π Pn100 Hz 1 Pn40F 2nd Step 2nd Torque Reference Filter Frequency Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 100 to 5000 1 Hz 5000 Immedi...

Page 232: ...justment of Analog Monitor Output Fn00D 14 6 10 Automatic Offset Signal Adjustment of the Motor Current Detection Signal Fn00E 16 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Signal Fn00F 17 6 12 Write Prohibited Setting Fn010 18 6 13 Product Information Display Fn011 20 6 14 Resetting Configuration Errors in Option Modules Fn014 21 6 15 Vibration Detection Level Initializat...

Page 233: ... Fn00E Automatic offset signal adjustment of the motor current detection signal 6 10 Fn00F Manual offset signal adjustment of the motor current detection signal 6 11 Fn010 Write prohibited setting 6 12 Fn011 Product Information display 6 13 Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm occurs 4 7 6 Fn014 Resetting configuration error in option modules 6 14 Fn...

Page 234: ...s 1 hour 1 Preparation There are no tasks that must be performed before displaying the alarm history 2 Operating Procedure In the SigmaWin Σ V component main window click Alarm and then click Display Alarm Click Alarm Traceback tab page and are shown in order of occurrence with alarm codes and details about the type of alarm such as name For more information on the usage of the SigmaWin refer to A...

Page 235: ...or power must be OFF The JOG speed must be set considering the operating range of the machine Set the jog speed in Pn304 Pn304 Jog Speed Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 1 500 Immediately Setup 2 Operating Procedure Use the following procedure The following example is given when the rotating direction of servomotor is set...

Page 236: ...r aligning the motor shaft to the machine 1 Preparation The following conditions must be met to perform the origin search The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The main circuit power supply must be ON All alarms must be cleared The hardwire baseblock HWBB must be disabled The servomotor power must be OFF 2 Operating Procedure Use the following procedure...

Page 237: ...tting parameter Fn010 must be set to Write permitted P 0000 The main circuit power supply must be ON All alarms must be cleared The hardwire baseblock HWBB must be disabled The servomotor power must be OFF The travel distance and speed must be set correctly considering the machine operation range and safe operation speed There must be no overtravel 2 Additional Information The functions that are a...

Page 238: ...te When Pn536 Number of Times of Program JOG Movement is set to 0 infinite time operation is enabled Note When Pn530 0 is set to 2 infinite time operation is disabled Note When Pn530 0 is set to 3 infinite time operation is disabled ...

Page 239: ...ns Fn口口口 6 8 Note When Pn536 number of times of program JOG movement is set to 0 infinite time operation is enabled Note When Pn536 number of times of program JOG movement is set to 0 infinite time operation is enabled ...

Page 240: ...ram JOG Acceleration Deceleration Time Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 2 to 10000 1 ms 100 Immediately Setup Pn535 Program JOG Waiting Time Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 ms 100 Immediately Setup Pn536 Number of Times of Program JOG Movement Speed Position Torque ...

Page 241: ...aration The following conditions must be met to initialize the parameter values The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The servomotor power must be OFF 2 Operating Procedure Use the following procedure 1 In the SigmaWin Σ V component main window click Parameters and then click Edit Parameters The Parameter Editing window for the online mode appears 2 Cli...

Page 242: ...n The follow conditions must be met to clear the alarm history The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 2 Operating Procedure Use the following procedure 1 In the SigmaWin Σ V component main window click Alarm and then click Display Alarm 2 To clear an alarm click Reset after removing the cause of the alarm For more information on the usage of the SigmaWin...

Page 243: ...tem Specifications Offset Adjustment Range 2 4 V to 2 4 V Adjustment Unit 18 9 mV LSB Note The adjustment value will not be initialized when parameter settings are initialized using Fn005 Make offset adjustment with a measuring instrument connected so that the analog monitor output is zero An example of settings for a zero analog monitor output is shown below While the servomotor is not turned ON ...

Page 244: ...mponent main window click Setup point to Adjust Offset and click Adjust the Analog Monitor Output 2 Click the Zero Adjustment tab 3 While watching the analog monitor use the 1 and 1 buttons to adjust the offset For more information on the usage of the SigmaWin refer to AC Servo Drives Engineering Tool Sigma Win ONLINE MANUAL Σ V Component 4 4 3 Offset Adjustment ...

Page 245: ...tor speed Item Specifications Gain adjustmentRange 100 50 Adjustment Unit 0 4 LSB The gain adjustment range is made with a 100 output set as a center value adjustment range 50 to 150 The following is a setting example Setting the Set Value to 125 100 125 0 4 50 Therefore the monitor output voltage is 0 5 time as high Setting the Set Value to 125 100 125 0 4 150 Therefore the monitor output voltage...

Page 246: ...mponent main window click Setup point to Adjust Offset and click Adjust the Analog Monitor Output 2 Click the Gain Adjustment tab 3 While watching the analog monitor use the 1 and 1 buttons to adjust the gain For more information on the usage of the SigmaWin refer to AC Servo Drives Engineering Tool Sigma Win ONLINE MANUAL Σ V Component 4 4 3 Offset Adjustment ...

Page 247: ... 1 Preparation The following conditions must be met to automatically adjust the offset of the motor current detection signal The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The DRIVER must be in Servo Ready status Refer to 4 8 4 The servomotor power must be OFF 2 Operating Procedure Use the following procedure 1 In the SigmaWin Σ V component main window click Set...

Page 248: ...ondition must be met to manually adjust the offset of the motor current detection signal The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 2 Operating Procedure Use the following procedure 1 Turn the motor at 100 min 1 2 In the SigmaWin Σ V component main window click Setup point to Adjust Offset and click Adjust the Motor Current Detection Offset 3 Click Continue ...

Page 249: ...ted 6 14 Fn01B Vibration detection level initialization Cannot be executed 6 15 Fn020 Origin setting Cannot be executed 6 16 Fn030 Software reset Executable 6 17 Fn200 Tuning less levels setting Cannot be executed 5 2 2 Fn201 Advanced autotuning Cannot be executed 5 3 2 Fn202 Advanced autotuning by reference Cannot be executed 5 4 2 Fn203 One parameter tuning Cannot be executed 5 5 2 Fn204 Anti re...

Page 250: ... click Setup and then click Write Prohibited Setting If the Write Prohibited Setting is ON 2 Click the button to change the value to 0000 and click Setting The write prohibited setting is off If the Write Prohibited Setting is OFF 2 Click the button to change the value to 0001 and click Setting The write prohibited setting is on 3 Click OK and restart the SERVOPACK For more information on the usag...

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