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YASKAWA E-II SGDH Series, User Manual

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YASKAWA E-II SGDH Series User Manual Download Page 269

7.2 Applied Operation

7 -29

J

J

Torque Reference Offset Manual Adjustment

Follow the procedure below to manually adjust the torque reference offset.

Using the Hand-held Digital Operator

1.

Press the DSPL/SET Key to select the auxiliary function mode.

2.

Select the user constant Fn00B.

Press the Left or Right Cursor Key to select the digit.

Press the Up or Down Cursor Key to change the value.

3.

Press the DATA/ENTER Key, and the display will be as shown below. The manual adjust-
ment mode for the torque reference offset will be entered.

4.

Turn ON the Servo ON (/S-ON) signal. The display will be as shown below.

5.

Press the Left or Right Cursor Key to display the torque reference offset amount.

6.

Press the Up or Down Cursor Key to adjust the offset amount (adjustment of torque refer-
ence offset).

7.

Press the Left or Right Cursor Key, and the display will be as shown in the above step 4.

8.

Press the DATA/ENTER Key to return to the auxiliary function mode display.

This completes the torque reference offset manual adjustment.

7

AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]

Summary of Contents for E-II SGDH Series

Page 1: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 2: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 3: ...icationmaybe reproduced storedin a retrieval system or transmitted in anyform or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa...

Page 4: ...mportant information that should be memorized including precautions such as alarm displays to avoid damaging the devices Indicates definitions of difficult terms or terms that have not been previously...

Page 5: ...2 7 2 2 1 Storage Conditions 2 7 2 2 2 Operating Conditions 2 7 2 2 3 Installation Site 2 8 2 2 4 Orientation 2 8 2 2 5 Installation 2 9 2 2 6 Voltage Resistance Test 2 10 3 Wiring 3 1 Connecting to...

Page 6: ...Specifications 200 V 3 31 3 6 3 Three phase Power Supply Specifications 400 V 3 33 3 6 4 Position Control Mode 3 35 3 6 5 Speed Control Mode 3 37 3 6 6 Torque Control Mode 3 39 4 Trial Operation 4 1 T...

Page 7: ...62 5 4 4 Using the Holding Brake 5 64 5 5 Forming a Protective Sequence 5 68 5 5 1 Using Servo Alarm and Alarm Code Outputs 5 68 5 5 2 Using the Servo ON Input Signal 5 70 5 5 3 Using the Positioning...

Page 8: ...ion 6 13 6 3 Autotuning 6 16 6 3 1 Online Autotuning 6 16 6 3 2 Machine Rigidity Settings for Online Autotuning 6 19 6 3 3 Saving Results of Online Autotuning 6 21 6 3 4 User Constants Related to Onli...

Page 9: ...learing Option Unit Detection Results 7 52 8 Ratings and Characteristics 8 1 Servomotors 8 2 8 1 1 Ratings Specifications and Dimensional Drawings 8 2 8 2 Servopacks 8 28 8 2 1 Combined Specifications...

Page 10: ...ing OMRON s C500 NC112 Position Control Unit A 6 A 6 Connecting MITSUBISHI s AD72 Positioning Unit A 7 A 7 Connecting MITSUBISHI s AD75 Positioning Unit A 8 B List of User Constants B 1 User Constants...

Page 11: ...rvodrives Also keep this manual in a safe place so that it can be referred to whenever necessary Manual Name Manual Number Contents S II Series SGMjH SGDH User s Manual Servo Selection and Data Sheets...

Page 12: ...r S II Series SGMAH SGMPH SGMGH SGMSH SGMDH or SGMUH Servo motor D Servopack S II Series SGDH Servopack D Servodrive A set including a Servomotor and Servo Amplifier D Servo System A servo control sys...

Page 13: ...corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire J J Wiring WARNING D Connect the ground terminal to electrical codes ground resistance 100 W or less Imp...

Page 14: ...p can be applied at any time Not doing so may result in injury D Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures J J Maintenance and Inspection WARNI...

Page 15: ...anual is published as a next edition The edition number appears on the front and back covers S If the manual must be ordered due to loss or damage inform your nearest Yaskawa representa tive or one of...

Page 16: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 17: ...as names for product parts 1 1 Checking S II Series Products on Delivery 1 2 1 1 1 Servomotors 1 2 1 1 2 Servopacks 1 6 1 2 Product Part Names 1 8 1 2 1 Servomotors 1 8 1 2 2 Servopacks 1 9 1 AUDIN 7...

Page 18: ...s there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdriver If an...

Page 19: ...min 1500 r min 1000 r min 3000 r min 2000 r min 6000 r min A3 0 03 15 1 5 1 5 1 5 A5 0 05 20 1 8 2 0 2 0 01 0 1 0 1 22 2 2 02 0 2 0 2 30 2 9 3 0 3 0 3 0 03 0 3 32 3 2 04 0 4 0 4 40 4 0 4 0 4 0 4 0 05...

Page 20: ...1 4 Servomotor Capacity kW Symbol SGMAH SGMPH SGMGH SGMSH Symbol SGMAH SGMPH SGMGH SGMSH Symbol 3000 r min 3000 r min 1500 r min 1000 r min 3000 r min Symbol 3000 r min 3000 r min 1500 r min 1000 r mi...

Page 21: ...MPH SGMGH SGMSH A 1 6 S T B 1 11 or 1 11 13 G G S T C 1 21 G J G J S T 1 1 5 G J G J L L 2 1 9 G L L 3 1 10 or 1 10 3 J J 5 1 20 L L 7 1 29 or 1 33 G J G J L S T L 8 1 45 L L Not all applicable models...

Page 22: ...ase mounted R Rack mounted 5 kW or less P Duct ventilated 6 kW to 15 kW only S For only 0 75 kW 1 5 kW SGMAH and SGMPH Servomotor with single phase 200 V power supply 1 The only types SGMAH and SGMPH...

Page 23: ...ity kW Maximum Applicable Servomotor Capacity Symbol Capacity kW A3 0 03 15 1 5 A5 0 05 20 2 0 01 0 10 30 3 0 02 0 20 50 5 0 04 0 40 60 6 0 05 0 45 75 7 5 08 0 75 1A 11 10 1 0 1E 15 1 AUDIN 7 bis rue...

Page 24: ...ion describes product part names 1 2 1 Servomotors The figure below shows part names for Servomotors with or without brakes Encoder Frame Flange Output shaft 1 AUDIN 7 bis rue de Tinqueux 51100 Reims...

Page 25: ...fore do not touch the Servopack even after the power supply is turned OFF if the indicator is lit CN3 Connector for Personal Computer Monitoring Used to communicate with a personal computer or to con...

Page 26: ...entation 2 3 2 1 5 Allowable Shaft Loads 2 4 2 1 6 Handling Oil and Water 2 6 2 1 7 Cable Stress 2 6 2 2 Servopacks 2 7 2 2 1 Storage Conditions 2 7 2 2 2 Operating Conditions 2 7 2 2 3 Installation S...

Page 27: ...he Servomotor The Servomotor cannot operate without the proper Servo pack Prior to Installation The end of the motor shaft is coated with anticorrosive paint Thoroughly remove the paint using a cloth...

Page 28: ...the circumference The difference between the maximum and minimum measurements must be 0 03 mm 0 0012 in or less Turn together with coupling Measure this distance at four different positions on the ci...

Page 29: ...54 54 12 14 02 245 55 1 74 16 63 25 04 245 55 1 74 16 63 25 0 98 08 392 88 1 147 33 0 35 1 38 SGMPH 01 78 17 54 49 11 02 20 0 79 02 245 55 1 68 15 29 25 04 245 55 1 68 15 29 25 0 98 08 392 88 1 147 3...

Page 30: ...44 1 Fr Fs 30A 30D 980 220 392 88 1 63 Fs 40A 40D 1176 264 3 392 88 1 63 2 48 50A 50D 1176 264 3 392 88 1 SGMDH 22A 1176 264 3 490 110 55 SGMDH 32A 1176 264 3 490 110 55 2 17 40A 1176 264 3 490 110 6...

Page 31: ...rough shaft section 2 1 7 Cable Stress Make sure there are no bends or tension on the power lines Be especially careful to wire signal line cables so that they are not subject to stress because the co...

Page 32: ...3 U V W L1C L2C B1 B2 B3 1 2 C N 3 C N 1 C N 2 YASKAWA SERVOPACK MODE SET DATA CHARGE POWER SGDH 200V S II Series SGDH Servopack 2 2 2 Operating Conditions Use the Servopack under the following condit...

Page 33: ...ration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the Servopack but will eventually cause electronic components and contactor related devices to...

Page 34: ...ection J J Side by side Installation When installing Servopacks side by side as shown in the figure above allow at least 10 mm 0 39 in betweenandat least 50mm 1 97 in above andbelow eachServopack Inst...

Page 35: ...ditions D Voltage 1500 V rms AC for one minute D Braking current 30 mA or more D Frequency 50 or 60 Hz D Voltage applied points For SGDH AE Servopacks Between the frame ground and the point where the...

Page 36: ...00 V Models 3 7 3 2 2 0 5 kW to 1 5 kW 200 V Models 3 8 3 2 3 2 0 kW to 5 0 kW 200 V Models 3 8 3 2 4 6 0 kW to 15 0 kW 200 V Models 3 9 3 2 5 0 5 kW to 3 0 kW 400 V Models 3 9 3 2 6 5 0 kW 400 V Mode...

Page 37: ...5 2 CN2 Encoder Connector Terminal Layout and Types 3 28 3 6 Examples of Standard Connections 3 29 3 6 1 Single phase Power Supply Specifications 3 29 3 6 2 Three phase Power Supply Specifications 20...

Page 38: ...section provides examples of standard S II Series product connections to peripheral devices It also briefly explains how to connect each peripheral device 3 AUDIN 7 bis rue de Tinqueux 51100 Reims Fra...

Page 39: ...ingle phase 200 VAC Power supply ground line Host Controller Connect the SGDH Servopack to a Yas kawa host controller or one made by another company L1 L2 L1C L2C B1 B2 Regenerative resistor option Br...

Page 40: ...company Digital Operator Personal Computer Cable model JZSP CMS01 to 03 Molded case Circuit Breaker QF Protects the power line by shutting the circuit OFF when over current is de tected Noise Filter U...

Page 41: ...rake Encoder Cable Encoder Connector Brake power supply Magnetic contactor Magnetic contactor Power supply ground line HI Series Turns the servo ON and OFF Install a surge suppressor on the magnetic c...

Page 42: ...personal computer Current Sensor PG output Reference pulse input Speed torque reference input Sequence I O A D I O 1KM L1 L2 XX1 FU1 L1C L2C 1KM R T P1 N1 TR1 C1 5V 0V CN5 CN3 15V B1 B2 P2 N2 U V W C...

Page 43: ...option unit PWM control etc position speed calculation etc 1KM 1KM 1KM 3 2 3 2 0 kW to 5 0 kW 200 V Models DB 1 2 1KM L1 L3 L2 XX1 XX2 XX3 R T P N S L1C L2C 1KM FU1 C1 RY1 POWER 5V 0V CN5 CN3 15V 5V...

Page 44: ...ontrol etc position speed calculation etc 1KM 1KM 1RY 3 2 5 0 5 kW to 3 0 kW 400 V Models XX1 XX3 1KM Relay drive R2 Three phase 380 to 480 V 50 60Hz 10 15 CHARGE Noise filter Voltage Sensor Gate driv...

Page 45: ...speed diode For battery connection 1KM 3 2 7 6 0 kW and 7 5 kW 400 V Models 1KM XX3 10 15 FU1 P N R S T L1 L2 L3 XX1 1 2 XX2 CHARGE B1 B2 C1 P N U V W RY1 FAN1 12V AC Servomotor I O A D PG ASIC CPU L...

Page 46: ...r Gate drive Interface Gate drive Gate drive over current protector Voltage Sensor PWM control etc position speed calculation etc Power OFF Power ON Open during Servo alarm 1RY Surge suppressor AC pow...

Page 47: ...and is 20 m 787 40 in for PG feedback lines D Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the Servopack Make sure the charge indicat...

Page 48: ...ween B2 and B3 and connect 400 0 5 to 5 0 Remove the wire between B2 and B3 and connect an external regenerative resistor provided by cus tomer between B1 and B2 if the capacity of the internal regene...

Page 49: ...el diode J J Designing a Power ON Sequence Note the following points when designing the power ON sequence D Design the power ON sequence so that power is turned OFF when a servo alarm signal is output...

Page 50: ...GDH 04AE 2 8 20 33 0 75 SGDH 08AE S 4 4 47 12 2 15 74 1 50 SGDH 15AE S 7 5 60 14 2 15 89 Three phase 0 45 SGDH 05AE 3 8 27 54 phase 200V 0 75 SGDH 08AE 5 7 41 12 2 68 200V 1 0 SGDH 10AE 7 6 55 82 1 5...

Page 51: ...3 5 Wiring Main Circuit Terminal Blocks Observe the following precautions when wiring main circuit terminal blocks CAUTION D Remove the terminal block from the Servopack prior to wiring D Insert only...

Page 52: ...to 1 6 mm D Braided wire AWG28 to AWG12 The terminal block for Servopack SGDH DE for 400 V 50 W to 1 5 kW has an indication 300 V 15 A This is a rating recognition of UL authorization which means tha...

Page 53: ...cuit Terminal Blocks 3 18 3 4 I O Signals This section describes I O signals for the SGDH Servopack 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www...

Page 54: ...current 20 mA DC PAO PBO PCO PAO PBO PCO PG dividing ratio output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent PSO PSO Amount of S phase rotation 4 Serial data outp...

Page 55: ...nput 13 PL2 Open collec tor reference output 38 ALO2 Alarm code output 14 CLR Clear input tor reference power supply 39 ALO3 open collec tor output output 15 CLR Clear input tor output 40 S ON Servo O...

Page 56: ...ence speed is zero when ON 4 4 3 Reference pulse block Position control with reference pulse stop Stops refer ence pulse input when ON 4 2 12 P OT N OT 42 43 Forward Run prohibited Reverse Run prohibi...

Page 57: ...Output Signals Signal Name Pin No Function Refer ence Common ALM ALM 31 32 Servo alarm Turns OFF when an error is detected 4 5 1 TGON TGON 27 28 Detection during Servomotor rotation Detects whether t...

Page 58: ...he setting is the number of error pulses set in reference units input pulse units defined by the electronic gear 4 5 3 Not used 16 17 23 24 50 These terminals are not used Do not connect relays to the...

Page 59: ...ce pulse and error counter clear signal at the host controller can be either line driver or open collector outputs These are shown below by type D Line driver Output 2 8 V H level L level 3 7 V 150 W...

Page 60: ...c 3 3 kW J J Output Circuit Interfaces Anyofthe followingthree typesof Servopackoutput circuitscan be used Form an input circuit at the host controller that matches one of these types D Connecting to...

Page 61: ...mA DC max Servopack end Servopack end 5 to 24 VDC Servopack end 5 to 12 VDC D Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm servo ready andother se...

Page 62: ...1 19 1 20 P PG D 6 H 1 G 2 Shell CN1 J P P P 0 33 mm2 0 001 in2 Connector shell B phase C phase Note J J Absolute Encoders PCO PG o v Absolute encoder PSO PSO Orange White orange 2 3 2 4 1 48 1 49 1...

Page 63: ...facturer 53460 0611 55100 0600 54280 0600 Molex Japan Co Ltd Note 1 FA1394 is the product number for the Servopack end plug and the Servomo tor end socket set from Molex Japan Co Ltd 2 The Servomotor...

Page 64: ...5 Noise filter 1KM Servomotor Be sure to ground Be sure to prepare the end of the shielded wire properly 2 LPF Servo ON with 1Ry ON P control with 2Ry ON Reverse run prohibited with N LS OPEN Forward...

Page 65: ...15 50 60 Hz If a power supply of 187 V 15 of 220 V or less is used alarm A41 indicating voltage shortage may occur when accelerating to max speed with max torque of Servomotor 2 Short circuit B2 B3 t...

Page 66: ...P control with 2Ry ON Reverse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RD...

Page 67: ...rminals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 6 These circuits are hazardous and therefore are separated by protecting separator 7 Th...

Page 68: ...bited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 2 to 10 V rated motor...

Page 69: ...rminals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 6 These circuits are hazardous and therefore are separated by protecting separator 7 Th...

Page 70: ...ON P control with 2Ry ON Reverse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON...

Page 71: ...rvopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 6 Set via user constant 7 These circuits are hazardous and therefore are separated by protecting separator 8 Th...

Page 72: ...ibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 2 to 10 V rated moto...

Page 73: ...inals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 7 These circuits are hazardous and therefore are separated by protecting separator 8 Thes...

Page 74: ...verse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 5 2 to...

Page 75: ...between terminals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 8 These circuits are hazardous and therefore are separated by protecting sepa...

Page 76: ...ial Operation with the Servomotor Connected to the Machine 4 9 4 2 Supplementary Information on Trial Operation 4 10 4 2 1 Servomotors with Brakes 4 10 4 2 2 Position Control by Host Controller 4 11 4...

Page 77: ...N 1 L1C L2C B1 B2 U V W L1 L2 1 2 C N 2 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASKAWA Do not connect to the equipment Adjust the Servomotor according to equipment characteristics connect the...

Page 78: ...D Check main power supply circuit wiring D Check Servomotor wiring D Check CN1 I O signal wiring Make sure the host controller and other adjustments are completed as much as possible in step 1 prior t...

Page 79: ...O signals are not used so leave the connector disconnected 3 Turn ON power Normal display Alternate display Example of Alarm Display Turn ON Servopack power If the Servopack has turned ON normally th...

Page 80: ...OWER SGDH 200V Use the following procedure to connect the CN1 connector a Turn OFF power b Connect the CN1 connector c Turn ON power again 6 Check the input signals Check input signal wiring in Monito...

Page 81: ...rol power supply terminal for sequence signals IF an absolute encoder is being used the servo will not turn ON when the servo ONsignal S ON is input unless the SEN signal is also ON When the SEN signa...

Page 82: ...6 1 7 Operation in Monitor Mode Un000 Actual motor speed Un001 Reference speed Has the reference speed been input Is the motor speed as designed Does the reference speed coincide the actual motor spe...

Page 83: ...motor speed as designed Does the reference speed coincide with the actual motor speed Does the Servomotor stop when the speed reference is 0 4 Reset the user constants shown below to change the motor...

Page 84: ...ations D Check the final control form SGDH Servopack Servomotor Connect to the machine Follow the procedures below to perform the trial operation 1 Make sure power is OFF 2 Connect the Servomotor to t...

Page 85: ...from rotating due to gravity D Shaft with External Force Applied External force Servomotor Servomotor To prevent faulty operation due to gravity or external force make sure that the Servomotor and ho...

Page 86: ...r S Run the Servomotor at low speed Input a reference speed of 60 r min for ex ample to check to see if the Servomotor makes one revolution per second Check the user constant set ting at Pn300 to see...

Page 87: ...n See 5 3 5 Speed Control Pn300 Speed Reference Input Gain See 5 2 1 Pn201 PG Divider See 5 2 3 Position Control Pn200 0 Reference Pulse Form See 5 2 2 Pn202 Electronic Gear Ratio Numerator See 5 2 5...

Page 88: ...edforexter nal short circuits Signal Name Pin Number Description S ON Servo ON CN1 40 See 5 5 2 for more details on turning ON and OFF the Servomotor P OT Forward run prohibited CN1 42 See 5 1 2 for m...

Page 89: ...Using the Electronic Gear Function 5 27 5 2 6 Contact Input Speed Control 5 31 5 2 7 Using Torque Control 5 36 5 2 8 Torque Feed forward Function 5 42 5 2 9 Speed Feed forward Function 5 43 5 2 10 Tor...

Page 90: ...Signal 5 77 5 5 9 Handling Power Loss 5 79 5 6 Selecting a Regenerative Resistor 5 80 5 6 1 External Regenerative Resistors 5 81 5 6 2 Calculating the Required Capacity of Regenerative Resistors 5 84...

Page 91: ...mode used when an alarm occurs Servo Gain and Other Constants Pn100 to Pn123 Set numerical values such as speed and position loop gains Position Control Constants Pn200 to Pn208 Set position control p...

Page 92: ...sed Standard Setting Reverse Rotation Mode Forward Reference PAO phase A PBO phase B Encoder output from Servopack Encoder output from Servopack PAO phase A PBO phase B Reverse Reference Encoder outpu...

Page 93: ...Torque Control Position Control Connect limit switches as shown below to prevent damage to the devices during linear motion Forward rotation end Reverse rotation end Limit switch Servomotor Servopack...

Page 94: ...n CN1 42 is at 0 V 8 Does not use the P OT input signal for prohibiting forward rotation Forward rotation is always allowed and has the same effect as shorting CN1 42 to 0 V Pn50B 0 3 Factory setting...

Page 95: ...he preset torque and then locks the Servomotor in Zero Clamp Mode Torque setting Pn406 emergency stop torque 2 Decelerates the Servomotor to a stop at the preset torque and puts the Servomotor in coas...

Page 96: ...Stop by dynamic brake Coast to a stop Coast status Coast status User Constant Setting Item Pn001 0 0 Factory setting Uses the dynamic brake to stop the Servomotor and maintains dynamic brake status af...

Page 97: ...ng 800 Speed Torque Control Position Control This user constant sets the maximum torque limits for forward and reverse rotation Use this user constant when torque must be limited due to equipment cond...

Page 98: ...rcuit between CN1 1 and 2 is closed CN1 1 is at low level Servomotor output torque is not being limited Internal torque reference is less than the limit setting Settings Pn402 Forward Torque Limit Pn4...

Page 99: ...Rotation speed Torque Torque Torque Rotation speed Rotation speed Rotation speed N CL CN1 46 Input P CL CN1 45 Forward External Torque Limit Input Speed Torque Control Position Control Output N CL CN1...

Page 100: ...ng 100 Speed Torque Control Position Control Pn405 Reverse External Torque Limit Unit Setting Range 0 to 800 Factory Setting 100 Speed Torque Control Position Control Set the torque limits when the to...

Page 101: ...SG CN1 6 Signal Ground Speed Control The above inputs are used for speed control analog reference Pn000 1 0 4 7 9 or A Always wire for normal speed control The motor speed is controlled in proportion...

Page 102: ...P P P Indicates twisted pair wires Adjust Pn300 according to output voltage specifications Adjust the speed reference input gain at the following user constant Pn300 Speed Reference Input Gain Unit 0...

Page 103: ...reference input forthe system created J J Reference by Pulse Input Positioning is controlled by inputting a move reference pulse Reference code input Clear input Reference pulse input PULS PULS CN1 7...

Page 104: ...is ON Equivalent to high level input When Tr1 is OFF Equivalent to low level input This circuit uses the 12 V power supply built into the Servopack Input is not insulated CN1 11 CLR SIGN PULS CN1 15...

Page 105: ...ifications User Constant Pn200 0 Reference Pulse Form Input Pulse Multiplier Logic Forward Rotation Reference Reverse Rotation Reference 0 Sign pulse train Positive logic High PULS CN1 7 SIGN CN1 11 L...

Page 106: ...lses Example of I O Signal Generation Timing Servo ON Baseblock Sign pulse train Release t1 30ms t2 6ms when user constant Pn506 is set to 0 t3 40ms PG pulse t4 t5 t6 2ms t7 20ms Note 1 The interval f...

Page 107: ...y 90_ B phase lags A phase by 90_ B phase A phase t2 t T t1 Reverse reference Forward reference t1 t2 0 1 ms t 1 0 ms t T 100 50 User constant Pn200 0 is used to switch the input pulse multiplier mode...

Page 108: ...once on the rising edge of the CLR signal Cleared only once at this point CLR CN1 15 High 2 Clears the error counter when the CLR signal goes low Error pulses do not accumulate as long as the signal...

Page 109: ...P 2 CN1 33 Phase A 3 1 CN1 34 PBO PBO R P 6 CN1 35 Phase B 5 7 CN1 36 PCO PCO R P 10 CN1 19 Phase C 11 9 CN1 20 Choke coil 8 C OV 16 5V Smoothing capacitor 0V 5V CN1 1 Contactor shell OV Shield P Ind...

Page 110: ...ntrol Position Control Output PCO CN1 20 Encoder Output Phase C Speed Torque Control Position Control Divided encoder signals are output Always connect these signal terminals when a position loop is f...

Page 111: ...urn operation If the configuration of the mechanical system prevents turning the Servomotor before the origin return operation then perform the origin return operation at a Servo motor speed of 600 r...

Page 112: ...and turn ON again after changing the user constant 2 A 13 bit encoder will run at 2048 P R even if the setting at Pn201 is set higher than 2049 5 2 4 Sequence I O Signals Sequence I O signals are use...

Page 113: ...e an internal 24 V power supply S External power supply specifications 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage...

Page 114: ...per output Maximum operating voltage 30 VDC Maximum output current 50 mA DC Sequence output signals are used to indicate Servopack operating status Servopack Photocoupler 50 mA max 31 CN1 32 25 26 27...

Page 115: ...6666 revolutions 2048 4 pulses is 1 revolution Therefore 1 6666 2048 4 13653 pulses 13563 pulses are input as references The equation must be calculated at the host controller No of encoder pulses 20...

Page 116: ...n reference unit Travel distance per load shaft revolution Reference unit When the ball screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 5 0 001 5000 reference figure unit Ball Screw Dis...

Page 117: ...tronic gear ratio according to equipment specifications M Reference input pulse SGDH Servopack SGMjH Servomotor Electronic gear B A Electronic gear ratio B A Pn202 Pn203 B Number of encoder pulses 4 m...

Page 118: ...0 0008 in Pulley diameter f100mm Set a PG dividing ratio equivalent to 16 bit for the absolute encoder 131072 15700 32768 3925 Preset Val ues Pn202 32768 ues Pn203 3925 J J Control Block Diagram The...

Page 119: ...the contact input speed control function 1 Set contact input speed control as shown below Pn000 1 Control Mode Selection Factory Setting 0 Speed Torque Control Position Control The speed can be contro...

Page 120: ...t Input Speed Control Unit r min Setting Range 0 to 10000 Factory Setting 100 Speed Control Pn302 Speed 2 SPEED 2 Contact Input Speed Control Unit r min Setting Range 0 to 10000 Factory Setting 200 Sp...

Page 121: ...peed control Set each constant to 0 for normal speed control Set each user constant to the following time intervals Pn305 Time interval from when the Servomotor startsuntil it reaches maximum speed of...

Page 122: ...ntrol is not used input signals are used as external torque limit inputs The contact input speed control function is used only when signals are allocated to SPD D SPD A and SPD B Direction of Rotation...

Page 123: ...Speed Control Mode is switched to Pulse Reference Input Mode while the Servomotor is operating at speed 1 speed 2 or speed 3 the Servopack will not receive a reference pulse until the positioning com...

Page 124: ...an speed output D Level 4 Switches between speed and torque control The following describes uses for levels 3 and 4 in the torque control function J J Torque Control Selection Set in the following use...

Page 125: ...nputs a speed reference or speed limit S T REF CN1 9 inputs a torque reference torque feed for ward reference or torque limit depending on the control mode S P CON C SEL CN1 41 is used to switch betwe...

Page 126: ...onstant Pn002 0 as shown below User Constant Pn002 0 Torque Reference Input T REF CN1 9 10 Contents Remarks 0 Normal position control 1 Torque limit input Torque limit position control by analog volt...

Page 127: ...voltagebetweenT REFand SG 300 200 100 300 200 100 0 4 8 12 4 8 12 Reference torque Input voltage V The slope is set to Pn400 Factory setting D Factory Settings Pn400 30 This setting means that 3 V is...

Page 128: ...ation in Contact Input Speed Control Mode 7 8 9 Switches the control mode A Turns ON OFF zero clamp B Turns inhibit ON OFF The P CON signal function switches automatically when Pn50A 0 is set to 0 J J...

Page 129: ...cessive equipment speed during torque control Since the speedlimit detectionsignal VLT functionsthe same intorque control asthe CLTsig nal see 5 1 3 Limiting Torque where the CLT signal is described M...

Page 130: ...undershooting To prevent this set the optimum value while observing system response Connect a speed reference signal line to V REF CN1 5 and 6 and a torque feed forwardrefer ence signal line to T REF...

Page 131: ...ispro vided to the Servopack with the position reference Overshooting and undershooting can result if too much feed forward is used Set the optimum settings based on the actual response The position r...

Page 132: ...Integration Pn101 Speed loop gain Pn100 Speed feedback Pn400 Torque limit value Speed reference T REF V REF Torque reference Pn403 Torque limit Pn404 P CL ON Pn402 Pn405 N CL ON J J Using Torque Limit...

Page 133: ...N1 45 is ON a forward torque limit is applied and if the N CL signal CN1 46 is ON a reverse torque limit is applied Pn300 Pn400 T REF V REF Pn404 P CL ON Pn402 Pn405 N CL ON N CL P CL Integration Pn10...

Page 134: ...ser constant Pn400 The factorysettingat Pn400is30 If forexample the torque limit is 3V thentorque islimited to 100 of the rated torque A torque value higher than 100 torque is clamped at 100 A 100 tor...

Page 135: ...le the inhibit function Pn000 1 Setting Description 1 Enables the inhibit function Always counts reference pulses B Enables the inhibit function The P CON INHIBIT signal is used to en able or disable...

Page 136: ...nstants User constants are divided into the following three groups User Constant Function Pn000 to Pn601 Specify Servopack functions set servo gains etc Fn000 to Fn013 Execute auxiliary functions such...

Page 137: ...Circuit Signal Allocation The functions allocated to sequence input signal circuits can be changed CN1 connector input signals are allocated with the factory settings as shown in the following table C...

Page 138: ...vopack CN1 S ON Determines terminal allocation for input signals CN1 40 is factory set for the S ON input signal Any terminal from CN1 40 to 46 can be allocated to the S ON signal through the Pn50A 1...

Page 139: ...S ON signal from the SI3 CN1 43 input terminal D Inputs the S ON signal from the SI4 CN1 44 input terminal E Inputs the S ON signal from the SI5 CN1 45 input terminal F Inputs the S ON signal from the...

Page 140: ...irethissignal butunnecessarywiringcanbeeliminatedbysetting Pn50A 1 to 8 Signals are input with OR logic when multiple signals are allocated to the same input circuit 5 INFO AUDIN 7 bis rue de Tinqueux...

Page 141: ...om SI1 CN1 41 B Inputs the reverse of the signal on the left from SI2 CN1 42 C Inputs the reverse of the signal on the left from SI3 CN1 43 D Inputs the reverse of the signal on the left from SI4 CN1...

Page 142: ...G SEL ON low level Pn50D 2 0 to F Same as above Same as above indicates that the user constant can be set to from 0 to F to allocate input signals to the following terminals as shown in the example fo...

Page 143: ...ction 28 SG TGON 29 SO3 S RDY Servo ready 30 SG S RDY The output signal selection user constants and their factory settings are shown below Pn50E Output Signal Selections 1 Factory Setting 3211 Speed...

Page 144: ...3 Same as above Brake Interlock BK Pn50F 2 0 to 3 Same as above Warning WARN Pn50F 3 0 to 3 Same as above Near NEAR Pn510 0 0 to 3 Same as above Not used Note Same as above means output signals are d...

Page 145: ...eversed 1 Output signal reversed SO2 CN1 27 28 Pn512 1 0 Output signal not reversed 1 Output signal reversed SO3 CN1 29 30 Pn512 2 0 Output signal not reversed 1 Output signal reversed Not used Pn512...

Page 146: ...Control Analog Refer ence 8 Position Control Pulse Train Reference Torque Control Analog Ref erence 9 Torque Control Analog Reference Speed Control Analog Reference A Speed Control Analog Reference Ze...

Page 147: ...L SPD A and N CL SPD B input signals are OFF highlevel See 5 2 6 Contact Input SpeedControl Position Control Pulse Train Reference Speed Control Analog Reference This mode switches between position an...

Page 148: ...speed or torque J J Reference Offset Adjustment The following methods can be used to adjust the reference offset to 0 V Automatic Adjustment of Reference Offset The reference offset is automatically...

Page 149: ...after the Servomotor stops and the servomotor coasts to a stop 2 Coasts the Servomotor to a stop 2 The Servomotor is turned OFF and motion stops due to equipment friction 1 If the Servomotor is stopp...

Page 150: ...zero clamp function is turned ON Even if the Servomotor is forcibly rotated by external force it will still return to the zero clamp position Host controller Speed reference A speed reference below th...

Page 151: ...onstant to set the motor speed level at which zero clamp is performed Pn501 Zero Clamp Level Unit r min Setting Range 0 to 10000 Factory Setting 10 Speed Control Set the motor speed at which zero clam...

Page 152: ...o hold and cannot be used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque J J Wiring Example Use the Servopack contact output sign...

Page 153: ...the following user constant must be selected when the BK signal is used Pn50F Output Signal Selections 2 Setting Range 0000 Speed Torque Control Position Control BK Brake interlock output Pn50F 2 1 2...

Page 154: ...tor ON OFF status Release brake Servo ON Servomotor ON Hold with brake Servo OFF Servomotor OFF Servo OFF time delay With the standard setting the servo is turned OFF when the BK signal brake operatio...

Page 155: ...CN1 40 in put or alarm oc currence Motor speed r min Pn 507 BK output Stop by dynamic brake or coast to a stop Pn001 0 Pn508 Release brake Servo ON Hold with brake Servo OFF Brake ON timing when the...

Page 156: ...Maximum output current 50 mA DC A suitable external I O power supply must be provided by the user separately because there is no internal 24 V power supply in the Servopack The use of the photocoupler...

Page 157: ...output WhenaServoalarm ALM occurs eliminatethecauseofthealarmandsetthefollowing ALM RST input signal to high level ON to reset the alarm Input ALM RST CN1 44 Alarm Reset Speed Torque Control Position...

Page 158: ...turn the Servomotor OFF while it is oper ating except in an emergency Servo OFF Servomotor is OFF Servomotor can not oper ate Do not use the Servo ON S ON signal but rather always use an input referen...

Page 159: ...N1 25 Pn500 Error pulse Un008 ON Circuit between CN1 25 and 26 is closed and CN1 25 is at low level Positioning is completed Position error is below the setting OFF Circuit between CN1 25 and 26 is op...

Page 160: ...s always ON for torque control 5 5 4 Speed Coincidence Output The basic use and wiring procedures for the speed coincidence V CMP output signal used to indicateamatchwiththespeedreference photocoupler...

Page 161: ...Coincidence Signal Output Width Unit r min Setting Range 0 to 100 Factory Setting 10 Speed Control This user constant is used to set conditions for speed coincidence signal V CMP output The V CMPsigna...

Page 162: ...otor speed is below the setting Preset value Pn502 Running Output Level Motor speed Un000 TGON Pn502 The following user constant setting is used to change the CN1 connector terminal that outputs the T...

Page 163: ...ing voltage 30 VDC Maximum output current 50 mA DC Servopack I O power supply Output S RDY CN1 29 Servo Ready Output Signal Speed Torque Control Position Control This signal indicates the Servopack re...

Page 164: ...s an overload or regenerative overload warning OFF Open or high level Normal operation ON Closed or low level Error warning status The following user constant setting is used to change the CN1 connect...

Page 165: ...l high level Regenerative overload 5 5 8 Using the Near Output Signal The basic use and wiring procedures for the near NEAR output signal photocoupler output signal aredescribedbelow Thesignalisaseque...

Page 166: ...rminal CN1 1 2 Pn510 0 0 1 25 26 2 27 28 3 29 30 Note Multiple signals allocated to the same output circuit are output using OR logic Set other output signals to a value other than that allocated to t...

Page 167: ...ntrol is lost equivalent to normal power OFF operation regardless of the user constant setting D Whenaninsufficientvoltagealarm A 41 occursduringpowerlosswitha largeServomotor load D When control is l...

Page 168: ...y of the Servopack then install anexternal regenerativeresistor ThefollowingtableshowsthespecificationsoftheServopack sbuilt inresistor and the amount of regenerative power average values that it can...

Page 169: ...onstant setting must be changed as shown below Pn600 Regenerative Resistor Capacity Unit 10 W Setting Range 0 to Servopack capacity Factory Setting 0 Speed Torque Control Position Control The factory...

Page 170: ...take out the lead wire between the B2 and B3 terminals B3 The user must provide the regenerative resistor Servopacks with Capacities of 6 0 kW or More Servopacks with capacities of 6 0 kW or more do n...

Page 171: ...t is sold as an option Regenerative Resistor Unit Regenerative resistors reach high temperatures so be careful to cool them Also use heat resistant non flam mable wiring and make sure that the wiring...

Page 172: ...ltage is SGDH A5BE to 02BE 15 7 cuit input voltage is 100 VAC 200 V SGDH A3AE A5AE 18 5 Value when main cir cuit input voltage is SGDH 01AE to 04AE 37 1 cuit input voltage is 200 VAC Calculate the rot...

Page 173: ...SGMGH 11 SGMSH 29 22 SGMUH 19 Speed reference Servomotor rotation speed Servomotor generated torque Load inertia 0 motor only Regeneration mode T Operating cycle Allowable frequency 1 T r min Maximum...

Page 174: ...ng the Regenerative Energy This section shows the procedure for calculating the regenerative resistorcapacity whenaccel eration and deceleration operation is as shown in the following diagram Rotation...

Page 175: ...g EL 0 When the operation period in regeneration mode is continuous add the following items to the abovecalculationprocedureinordertofindtherequiredcapacity W forthe regenerativeresis tor D Energy for...

Page 176: ...100 200 300 0 1800 2800 0 600 800 1200 1400 400 200 1000 1600 2000 2400 2200 2600 30A A SGMGH 13A A 20A A 09A A 05A A 44A A 75A A 55A A 1EA A 1AA A 1800 2000 100 300 0 0 600 800 1200 1400 400 200 100...

Page 177: ...A 13D A 20D A 30D A SGMGH 44D A 1AD A 55D A 75D A 1ED A W Loss Torque 100 200 300 0 200 400 600 800 1200 1000 0 10D 15D 20D 30D SGMSH 1400 40D 50D S S SGMUH Servomotor 400 V Torque W Loss 100 200 300...

Page 178: ...Servopack for 200 V Continued Servopack SGDH 20AD 15AD 01AD to 04AD 05AD to 10AD A3AD A5AD 30AD 0 20 100 120 40 60 80 200 220 240 180 260 J AC input power supply voltage Vrms Absorbable energy J AC in...

Page 179: ...Absorbable energy AC input power supply voltage Vrms Servopack 200 300 500 600 100 0 400 320 50DE 60DE 75DE 1ADE 1EDE SGDH 360 400 440 480 520 700 800 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France...

Page 180: ...it encoder and 12 bit encoder Specially when Infinite length posi tioning system of conventional type is to be configured with series be sure to make the following system modification Absolute Encoder...

Page 181: ...ler Servopack CN1 2 5V Approx 1 mA at high level 0V 7406 or equivalent 100W 0V 1mF PNP is recommended for transistors Signal Levels High level 4 0 V min Low level 0 8 V max D Let at least three second...

Page 182: ...ion goes into effect when the power is turned OFF after the change has been made 5 7 3 Handling Batteries In order for the absolute encoder to retain position data when the power is turned OFF the dat...

Page 183: ...be performed by using the Hand held Digital Operator or the Servo pack s Panel Operator or else personal computer monitor software can be employed The setup operation procedure shown here uses the Di...

Page 184: ...mode This completes the absolute encoder s setup operation Turn the power OFF and then back ON again J J Setup Using the Built in Panel Operator 1 Press the DSPL SET Key to select the auxiliary funct...

Page 185: ...ust be cleared by turning OFF the power 5 7 5 Absolute Encoder Reception Sequence The sequence inwhich the Servopack receivesoutputs from the absolute encoder andtransmits them to the host device is s...

Page 186: ...mber of initial incremental pulses read at setup This is saved and controlled by the host control ler E O PM PE RS PM Current value required for the user s system R Number of pulses per encoder revolu...

Page 187: ...en this range is exceeded the data changes from 32767 to 32768 or from 32768 to 32767 When changing multiturn limit the range changes For details see 5 7 6 Multiturn Limit Setting 1 Stop bit PSO Seria...

Page 188: ...tting the Pulse Dividing Ratio Use the following user constant to set the pulse dividing ratio Pn201 PG Divider Unit P R Setting Range 16 to 16384 Factory Setting 16384 Speed Torque Control Position C...

Page 189: ...encoder to 0 every m turns The Multiturn Limit Setting allows the value m to be set for the encoder The use of an absolute encoder can be specified by setting the following user constant Pn002 2 Absol...

Page 190: ...Pn205 the multiturn data will change to 0 Set Pn205 to m 1 Turn the power OFF and then back ON after changing the setting of user constant Pn002 2 or Pn205 The multiturn limit value in the Encoder is...

Page 191: ...r 4 Press the DSPL SET Key The following displaywill appearand the multiturn limit setting in the absolute encoder will be changed Flashes for one second 5 Press the DATA ENTER Key to return to the au...

Page 192: ...t be changed only for special applications Changingit inappropriately or unintentionally can be dangerous WARNING If theMultiturnLimit Disagreement alarmoccurs checkthe settingof userconstant Pn205 in...

Page 193: ...e cable length 2 For a ground wire use as thick a cable as possible 2 0 mm2 or thicker S At least class 3 ground 100 W max is recommended S Ground to one point only S If the motor is insulated from th...

Page 194: ...h frequency oscillator install a noise filter on the input side of the power supply line Note 1 Since the Servopack uses high speed switching elements signal lines may receive noise To prevent this al...

Page 195: ...MAH 02A 0 75 0 20 02AE SGMPH 02A 0 75 0 40 04AE SGMAH 04A 1 2 8 0 40 04AE SGMPH 04A 1 2 8 0 75 08AE S SGMAH 08A 2 1 11 0 75 08AE S SGMPH 08A 2 1 11 1 50 15AE S SGMPH 15A 4 0 19 Three phase 200 V 0 45...

Page 196: ...DjA 10 3 14 9 SGMSH 50DjA 10 3 14 9 SGMUH 40DjA 6 0 60DE SGMGH 55DjA 12 4 17 8 7 5 75DE SGMGH 75DjA 15 4 22 3 11 0 1ADE SGMGH 1ADjA 22 6 32 7 15 0 1EDE SGMGH 1EDjA 30 9 44 6 1 This is the net value at...

Page 197: ...ire with a thickness of at least 3 5 mm2 0 005 in2 preferably plain stitch cooper wire 2 For wires indicated by P use twisted pair wires whenever possible 3 When using a noise filter follow the precau...

Page 198: ...e made to only one point in the system J J Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line The followingtable lists recommended noise filters for each...

Page 199: ...owinginstallationandwiringinstructions Incorrect use ofa noise filter halves its benefits D Separate input lines from output lines Do not put the input and output lines in the same duct or bundle them...

Page 200: ...re Thick and short BOX Filter Filter D When grounding a noise filter inside a Unit If a noise filter is located inside a Unit connect the noise filter ground wire and the ground wires from other devic...

Page 201: ...he system so that the power supply s S phase is the ground Power OFF Power ON 1KM 1RY Connect the alarm output ALM terminals for the three Servopacks in series to enable alarm detection relay 1RY to o...

Page 202: ...P CMP19 40 50 m 1968 50 in JZSP CMP19 50 Whenspecifyingthe cable length just specifythe model number JZSP CMP19 j Thej in the model number designates the length of the cable in meters For example to o...

Page 203: ...S Encoder Connector at Servomotor For SGMAH and SGMPH Ser vomotors For SGMGH SGMSH SGMDH and SGMUH Servo motors JZSP CMP9 1 JZSP CMP19 j Maximum length 50 m 1968 50 in 5 AUDIN 7 bis rue de Tinqueux 5...

Page 204: ...AC to 480 V 2 380 VAC to 480 V 200 VAC 100 VAC Refer to the capacities shown in the following table when selecting a voltage conversion trans former Voltage Servopack Model Voltage capacity per Servop...

Page 205: ...Power Supply Connection Example 5 8 6 DC Reactor for Harmonic Suppression SGDH Servopacks have DC reactor connection terminals for power supply harmonic suppres sion Servopacks with capacities of 6 k...

Page 206: ...Single phase 200 V SGDH A3AE 200 V SGDH A5AE SGDH 01AE 40 0 85 X5071 SGDH 02AE 20 1 65 X5070 SGDH 04AE 10 3 3 X5069 SGDH 08AE S 4 5 3 X5079 SGDH 15AE S 2 5 10 5 X5078 Three phase 200 V SGDH 05AE 2 0 4...

Page 207: ...6 2 3 Using Proportional Control 6 8 6 2 4 Setting Speed Bias 6 9 6 2 5 Using Mode Switch 6 10 6 2 6 Speed Feedback Compensation 6 13 6 3 Autotuning 6 16 6 3 1 Online Autotuning 6 16 6 3 2 Mechanical...

Page 208: ...rence is multiplied by the acceleration or deceleration value set in Pn305 or Pn306 to provide speed control The soft start function enables smooth speed control when inputting progressive speed refer...

Page 209: ...tion Control Averaging Time for Average Movement Filter Pn208 Position Reference Movement Averaging Time Unit 0 01ms Setting Range 0 to 6400 Factory Setting 0 Position Control After resetting the cons...

Page 210: ...tage Reference voltage Reference speed or reference torque Make offset adjustment with the Servopack J J Reference Offset Adjustment The following two methods are available to set the reference offset...

Page 211: ...in limit depending on machine conditions 6 1 6 Notch Filter Vibration in the machine can sometimes be eliminated by using a notch filter for the frequency at which the vibration is occurring Pn408 0 N...

Page 212: ...opack sspeedloopgainandintegraltimeconstantrespectively The higher the speed loop gain or the smaller the speed loop integral time constant value the fasterthespeedcontrolresponsewillbe Thereis howeve...

Page 213: ...ng is also valid for zero clamp operation The above user constant is automatically set by the autotuning operation Pn505 Overflow level Unit 256 reference units Setting Range 1 to 32767 Factory Settin...

Page 214: ...control changeover switch D PI control Proportional integral control D P control Proportional control Pn000 1 Control Method Selection Factory Setting 0 Speed Control Position Control Pn000 1 setting...

Page 215: ...Setting Speed Bias The settling time for positioning can be reduced by assigning bias to the speed reference block in the Servopack To assign bias use the following constants Pn107 Bias Unit r min Set...

Page 216: ...djust the mode switch 2 For normal use the speed loop gain and position loop gain set by autotuning provide sufficient speed posi tion control Even if overshooting or undershooting occur they can be s...

Page 217: ...e Pn10C 200 Motor speed Reference speed Speed Internal torque reference Pn10C Torque 0 Pn10C PI control PI control PI control P control P control Operating Example If the system is always in PI contro...

Page 218: ...Used as Detection Point If motor acceleration exceeds the value set in user constant Pn10E the speed loop switches to P control Motor speed Reference speed Speed Motor acceleration Pn10E Acceleration...

Page 219: ...ased Motor speed Speed reference Without mode switch Long setting time Increase speed loop gain Overshooting Without mode switch With mode switch function Setting time Motor speed Motor speed Motor sp...

Page 220: ...ant in Pn101 Speed loop integral time constant 4 2 Speed loop gain sec Unit of speed loop gain Hz Check the unit when setting the speed loop integral time constant in Pn101 Pn101 can be set in 0 01 ms...

Page 221: ...he machinery may vibrate excessively if the compensation value greatly changes or Pn110 1 is set to 1 i e no speed feedback compensation enabled after increasing the speed loop gain or position loop g...

Page 222: ...ants can be set automatically by using the online autotuning function User Constant Content Pn100 Speed loop gain Pn101 Speed loop integral time constant Pn102 Position loop gain Pn401 Torque referenc...

Page 223: ...n the following cases S When driving using Torque Control Mode S When using IP control for the speed loop S When using the torque feed forward function S When switching gain using G SEL 6 IMPORTANT AU...

Page 224: ...Load inertia changes Operation OK Adjust the friction compensation Set in Pn110 2 End Make servo gain adjustments manually No Yes No Yes No Yes No Yes No Save the results of autotuning to user consta...

Page 225: ...tem loopgain increasesand the time requiredfor positioningisshortened Ifthe rigidityisexcessivelyhigh however it maycause themachinery to vibrate In that case decrease the set value The rigidity value...

Page 226: ...ss the MODE SET Key to select Fn007 in the auxiliary function mode 2 Press the DATA SHIFT Key for a minimum of 1 second The following data will be dis played 3 Press Up or Down Cursor Key to select th...

Page 227: ...te the load inertia at the time of online autotuning Pn103 Inertia Ratio Unit Setting Range 0 to 10000 Factory Setting 0 Speed Torque Control Position Control Inertia ratio Motor axis conversion load...

Page 228: ...and select Fn007 in the auxiliary function mode 2 Press the DATA SHIFT Key for a minimum of 1 second If the inertia ratio is 200 forex ample the following data will be displayed 3 PresstheMODE SETKey...

Page 229: ...sfluctuates due to the load conditions Then the response characteristicscanbe keptstable bycontinuouslyrefreshingthe inertiacalculation data is refreshed continuously and reflecting them in the servo...

Page 230: ...extent of friction in order to ensure highly precise load inertia calculation Pn110 2 Friction Compensation Selection Factory Setting 1 Speed Control Position Control Pn110 2 Setting Description 0 Fri...

Page 231: ...osition loop speed loop and current loop The innermost loop must have the highest response speed andthe middle loop must have higherresponse speedthanthe outermost If thisprinciple isnot followed it w...

Page 232: ...he followinggraph Ifthishappens reducethe positionloop gain or increase the speed loop gain to prevent the speed reference from oscillating Speed reference Time Actual speed reference output from cont...

Page 233: ...ing value Pn103 setvalue Motor axis conversion load inertia JL Servomotor rotor inertia JM 100 In the case of manual adjustments of user constants the user must set the value of user constant Pn103 Th...

Page 234: ...tion loop gain through the host or change the speed reference input gain in Pn300 in the Servopack The position loop gain remains the same if the setting in Pn102 is changed Adjustment Method 1 Set th...

Page 235: ...has an integral element so that the speed loopcan respondto minute inputs This integral element delays the operation of the servo system so a longer positioning set ting time isrequired withslower res...

Page 236: ...t is toolarge the positioning setting time will be too long 4 Set the torque reference filter to a small value in Pn401 if the mechanical system has shaft torsion resonance If the mechanical system ge...

Page 237: ...he output is within the bias increment width As a result the number of accumulated pulses of the error counter decreases andthe time required forposi tioning can be shortened If the bias set value of...

Page 238: ...n101 ms 10 to 20 10 to 20 50 to 120 If the inertia ratio is a little larger than 10 start gain adjustments with the position and speed loop gains slightly below the above corresponding ranges and the...

Page 239: ...rol The following monitor signals can be observed Settings in Pn003 0 and Pn003 1 Description Settings in Pn003 0 and Pn003 1 Monitor signal Observation gain 0 Motor r min 1 V 1000 r min 1 Speed refer...

Page 240: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 241: ...larm Traceback Mode 7 20 7 2 2 Controlling Operation Through the Digital Operator 7 22 7 2 3 Automatic Adjustment of the Speed and Torque Reference Offset 7 24 7 2 4 Manual Adjustment of the Speed and...

Page 242: ...or which can be connected to the Servopack through connector CN3 of the Servopack ThereisnoneedtoturnOFFtheServopacktoconnectthisHand heldOperatortotheServopack Refertothe followingillustrationstoconn...

Page 243: ...the set value of each user constant Value Change JOG Key Up Cursor Key Press this key to increase the set value This key is used as a forward start key in JOG op eration Down Cursor Key Press this ke...

Page 244: ...onstant or display the set value of each user constant S This key is used for selecting the editing flashing digit or data setting 7 1 3 Resetting Servo Alarms Servo alarms can be reset using the Digi...

Page 245: ...ser Constant Setting Mode Monitor mode Refer to 7 1 7 Operation in Monitor Mode Hand held Digital Operator Panel Operator Press the DSPL SET Key The basic mode changes Press the MODE SET Key The basic...

Page 246: ...is factory setting Speed Reference Input Lit if input speed reference exceeds preset value Not lit if input speed reference is below preset value Specified value Set in Pn502 20 r min is factory sett...

Page 247: ...below preset value Preset value Set in Pn502 20 r min is standard setting Reference Pulse Input Lit if reference pulse is input Not lit if no reference pulse is input Error Counter Clear Input Lit whe...

Page 248: ...user constant Pn507 from 100 to 85 Using the Hand held Digital Operator 1 Press DSPL SET Key to select the user constant setting mode 2 Select the user constant number to set Pn507 is selected in thi...

Page 249: ...es faster 5 Pressthe DATA SHIFT Keyfora minimum ofone secondto save the data The displaywill flash 6 Press the DATA SHIFT Key once more for a minimum of one second to display the user constant number...

Page 250: ...nline Autotuning Switches 0010 See 2 Position Control related Constant Pn200 Position Control Reference Selection Switches 0000 See 1 Sequence related Constants Pn50A Input Signal Selections 1 2100 Se...

Page 251: ...que meaning For example the rightmost digit of user constant Pn000 is expressed as Pn000 0 Each digit of the function selection user constants is defined as shown below The user constant display exam...

Page 252: ...y the current data of the user constant selected inthe above step 2 Digit to be set 4 Press the Left or Right Cursor Key to select the digit Digit to be set 5 Press the Up or Down Cursor Key to select...

Page 253: ...s the Up or Down Cursor Key to select the value defined as a function setting for the selected digit Digit to be set Repeat the above steps 4 and 5 for changing the data as required 6 Pressthe DATA SH...

Page 254: ...r number selected in the above step 2 Data 4 Press the DATA ENTER Key once more to return to the monitor number display This is how to display 1500 the contents of monitor number Un000 With the Panel...

Page 255: ...load rate Value for the rated torque as 100 Displays effective torque in 10 cycle Un00A Regenerative load rate Value for the processable regenerative power as 100 Displays regenerative consumption po...

Page 256: ...s on input terminals Input signals are allocated as shown above and displayed on the panel display of the Servopack or the Digital Operator They are indicated by ON OFF display of seven segment LEDs i...

Page 257: ...ion for details on output terminals Outputsignalsareallocatedasshownaboveanddisplayedonthepanel displayoftheServopack or the Digital Operator They are indicated by ON OFF display of seven segment LEDs...

Page 258: ...eys simultaneously to clear the 32 bit counter data 6 Press the DATA ENTER Key once more to return to the monitor number display Using the Panel Operator 1 Press the MODE SET Key to select the monitor...

Page 259: ...encoder multi turn reset and encoder alarm reset See note Fn009 Automatic tuning of analog speed torque reference offset See note Fn00A Manual adjustment of speed reference offset See note Fn00B Manua...

Page 260: ...efer to Section 7 2 5 Clearing Alarm Traceback Data for details Alarm Code See the table of alarms Alarm Sequence Number The higher the number the older the alarm data J J Checking Alarms Follow the p...

Page 261: ...hand digit alarm sequence number the older the alarm data For descriptions of each alarm code refer to Section 8 2 Troubleshooting The following are Operator related alarms which are not recorded in...

Page 262: ...r For motor speed setting procedure refer to 7 1 6 Operation in User Constant Setting Mode and 5 3 2 Setting JOG Speed C N 3 C N 1 L1C L2C B1 B2 U V W L1 L2 1 2 C N 2 SGDH MODE SET DATA CHARGE POWER S...

Page 263: ...orpower turnedOFF Alternatively press the SVON Keyto set to the servo OFF state This disables operation under Digital Operator control Using the Panel Operator 1 Press the MODE SET Key to select Fn002...

Page 264: ...circuit has a small offset measured in mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It adjusts both th...

Page 265: ...rvo OFF 0V Speed or Torque Reference Host Controller 2 Press the DSPL SET Key to select the auxiliary function mode 3 Select the user constant Fn009 Press the Left or Right Cursor Key to select the di...

Page 266: ...t the user constant Fn009 4 Pressthe DATA SHIFT Keyfora minimum ofone second and the display will be asshown below 5 Press the MODE SET Key and the following display will flash for one second The refe...

Page 267: ...e as follows Reference Speed or Reference Torque Offset Setting Range Offset Units Analog Input Voltage Offset Setting Range Offset Setting Range Speed Reference 9999 to 9999 Speed Reference 0 058 mV...

Page 268: ...to select the user constant Fn00A 3 Pressthe DATA SHIFT Keyfora minimum ofone second and the display will be asshown below The manual adjustment mode for the speed reference offset will be entered 4 T...

Page 269: ...t ment mode for the torque reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as shown below 5 Press the Left or Right Cursor Key to display the torque reference o...

Page 270: ...The display will be as shown below 5 Press the DATA SHIFT Key for less than one second to display the torque reference offset amount 6 Press the Up or Down Cursor Key to adjust the offset amount Adjus...

Page 271: ...nstant Fn006 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the value 3 Press the DATA ENTER Key and the display will be as shown below 4 Pressthe DSP...

Page 272: ...TKeytoclearthealarmtracebackdata Thefollowingdisplaywillflash for one second and after the alarm traceback data is cleared the display will return to the one in the above step 3 Flashing for one secon...

Page 273: ...ight Cursor Key to select the digit Press the Up or Down Key to change the value 3 Press the DATA ENTER Key to display the Servomotor model and voltage code Servomotor Model Voltage Voltage Servomotor...

Page 274: ...shows specification code Y10 Indicated in decimal 7 Press the DATA ENTER Key to return to the auxiliary function mode display Pressing the DATA ENTER Key after the above display 3 to 5 will alsoreturn...

Page 275: ...d resolution code will be displayed Encoder Type Encoder Resolution Encoder Type Encoder Resolution Code Type Code Resolution 00 Incremental encoder 13 13 bits 01 Absolute encoder 16 16 bits 17 17 bit...

Page 276: ...the encoder mounted on the motor will be displayed Software Version Display Software Version 4 Press the DATA ENTER Key to return to the user constant code display This completes the checking software...

Page 277: ...m the origin search operation S If the Servo ON input signal S ON is ON turn it OFF S Release the Servo ON signal mask if the user constant Pn 50A 1 is set to 7 and the Servo has been set to always be...

Page 278: ...Pressthe DATA SHIFT Keyfora minimum ofone second and the display will be asshown below 4 Press the MODE SET Key and the display will change asshown below Now it is readyfor executing the origin searc...

Page 279: ...constant Fn005 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the value 3 Press the DATA ENTER Key and the display will be as shown below 4 Press the...

Page 280: ...er constants will be initialized Flashing for one second Flashing during initialization End 5 Pressthe DATA SHIFT Keyfora minimumofonesecondtoreturntothe auxiliaryfunction mode display This completes...

Page 281: ...ero point drift caused by noise entering the monitor system The gain adjustment function can be changed to match the sensitivity of the measuring system Monitor Output Voltage Zero Adjustment Gain Adj...

Page 282: ...hannels will be displayedal ternately as shown below DSPL SET Key Displayed alternately Data Display 5 Press the Left or Right Cursor Key to display the analog monitor output data Pressing the Left or...

Page 283: ...will be displayed Pressingthe DATA SHIFT Keyagainfor lessthan one second will return to the display shown in the above step 3 or 4 Data Display DATA SHIFT Key Displayed Alternately 6 Pressthe UporDow...

Page 284: ...r output forthe twochannels will be displayedal ternately as shown below DSPL SET Key Displayed Alternately 5 Pressthe Left orRight CursorKeytodisplaythe analogmonitorgainconstant Pressingthe Left or...

Page 285: ...will be displayed Pressing the DATA SHIFT Key again for less than one second will return to the display shown in the above step 3 or 4 Data Display DATA SHIFT Key Displayed Alternately 6 Press the Up...

Page 286: ...djustment of the current detection offset Automatic adjustment is possible only with power supplied to the main circuits and with the servo OFF Using the Hand held Digital Operator 1 Press the DSPL SE...

Page 287: ...the MODE SET Key The display will change as shown below and the offset will be automatically adjusted Flashing for one second 5 Pressthe DATA SHIFT Keyfora minimumofonesecondtoreturntothe auxiliaryfun...

Page 288: ...ey and the display will be as shown below 4 PresstheDSPL SETKeytoswitchbetweenthe U phase Cu1_0 andV phase Cu2_0 cur rent detection offset adjustment mode DSPL SET Key Displayed Alternately 5 Press th...

Page 289: ...DATA SHIFT Key again for less than one second and the display will return to one shown in the above step 3 or 4 Data Display DATA SHIFT Key Displayed Alternately 6 PresstheUporDownCursorKeytoadjustth...

Page 290: ...1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the user constant Fn010 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the va...

Page 291: ...MODE SET Key The display will change to one shown below and the password will be registered Flashing for one second 5 Pressthe DATA SHIFT Keyfora minimumofonesecondtoreturntothe auxiliaryfunction mod...

Page 292: ...he user constant value Fn005 of auxiliary function mode as required Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the user constant Fn014...

Page 293: ...sstheMODE SETKey andthedisplaywillbeasshownbelow Theoptionunitdetection results will be cleared Flashing for one second Flashing during initialization End 5 Press the DATA SHIFT Key to return to the a...

Page 294: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 295: ...es Servo Drives 8 1 Servomotors 8 2 8 1 1 Ratings Specifications and Dimensional Drawings 8 2 8 2 Servopacks 8 28 8 2 1 Combined Specifications 8 28 8 2 2 Ratings and Specifications 8 33 8 2 3 Dimensi...

Page 296: ...ifications Voltage 200 V 100 V Servomotor Model SGMAH A3A A5A 01A 02A 04A 08A A3B A5B 01B 02B Rated Output 1 kW 0 03 0 05 0 1 0 2 0 4 0 75 0 03 0 05 0 1 0 2 Rated Torque 1 2 N m 0 0955 0 159 0 318 0 6...

Page 297: ...stant ms 1 0 1 1 1 2 4 6 5 4 8 7 1 0 1 1 1 1 4 4 1 These items and torque motor speed characteristics quoted in combination with an SGDH Servopack are at an armature winding temperature of 100 C Other...

Page 298: ...H 01A 1 2 1 5 0 5 A B SGMAH 02A 2 4 3 1 A B SGMAH 04A 4 8 6 2 A B SGMAH 08A 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque...

Page 299: ...r speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4...

Page 300: ...0 098 6 0 0 008 0 24 0 0 0003 25 0 98 0 3 0 661 SGMAH A5A B 77 0 3 03 0 4 0 882 SGMAH 01A B 94 5 3 72 8 0 0 009 0 32 0 0 0004 0 5 1 10 SGMAH 02A B 96 5 3 80 60 2 36 70 2 76 5 5 0 22 6 0 24 50 0 0 025...

Page 301: ...6 4 1 7 5 2 2 2 7 Instantaneous Max Current 1 A rms 2 8 6 0 8 0 13 9 23 0 7 1 8 4 Rated Speed 1 r min 3000 Max Speed 1 r min 5000 Torque Constant N m A rms 0 392 0 349 0 535 0 641 0 687 0 160 0 258 o...

Page 302: ...0 25 SGMPH 01A 1 2 1 5 0 5 SGMPH 02A 2 4 3 1 SGMPH 04A 8 16 12 4 SGMPH 15A 4 8 6 2 SGMPH 08A 5000 0 1000 2000 4000 3000 0 Torque N m 5000 0 1000 2000 4000 3000 0 Torque N m Torque oz in 5000 0 1000 20...

Page 303: ...mm in Model LL LC LA LZ LG LB LE S LR Mass kg lb SGMPH 01A B 62 2 44 60 2 36 70 2 76 5 5 0 22 6 0 24 50 0 0 025 1 98 0 0 0010 3 0 12 8 0 0 009 0 32 0 0 0004 25 0 98 0 7 1 54 SGMPH 02A B 67 2 64 80 3...

Page 304: ...orque lb in 79 122 207 254 404 630 775 1050 1550 1984 Rated Current A rms 3 8 7 1 10 7 16 7 23 8 32 8 42 1 54 7 58 6 78 0 Instantaneous Max Current A rms 11 17 28 42 56 84 110 130 140 170 Rated Speed...

Page 305: ...12 3 18 2 28 40 7 59 8 78 8 111 250 355 Rated Power Rate kW s 11 2 20 9 33 8 41 5 75 3 120 137 184 174 289 Rated Angular Acceleration rad s2 3930 3880 4060 3620 4050 4210 3930 3850 2490 3030 Inertia T...

Page 306: ...AjA 20DjA 40 A B 0 1000 2000 3000 Motor speed r min 0 Torque N m Torque lb in A B 0 1000 2000 3000 Motor speed r min 0 Torque N m Torque lb in A B 0 1000 2000 3000 Motor speed r min 0 Torque N m Torqu...

Page 307: ...00 0 300 0 0 A Continuous Duty Zone B Intermittent Duty Zone SGMGH 1AAjA 1ADjA SGMGH 1EAjA 1EDjA 40 80 60 20 100 A B 0 100 0 200 0 300 0 0 Motor speed r min Torque lb in 400 800 600 200 0 Torque N m 1...

Page 308: ...0 0 013 0 87 0 0 0005 9 6 21 2 SGMGH 20AjA 20DjA 166 6 54 180 7 09 200 7 87 13 5 0 53 18 0 71 114 3 0 0 025 4 50 0 0 0010 3 2 0 13 76 2 99 35 0 01 0 1 38 0 0004 0 79 3 11 14 30 9 SGMGH 30AjA 30DjA 19...

Page 309: ...ent A rms 3 0 5 7 7 6 11 6 18 5 24 8 30 43 2 Instantaneous Max Current A rms 7 3 13 9 16 6 28 42 56 84 110 Rated Speed r min 1000 Max Speed r min 2000 Torque Constant N m A rms 1 03 1 06 1 21 1 03 1 0...

Page 310: ...20AjB SGMGH 30AjB 40 60 20 80 A B 0 500 1000 2000 1500 Motor speed r min 0 Torque N m Torque lb in A B 0 500 1000 2000 1500 Motor speed r min 0 Torque N m Torque lb in A B 0 500 1000 2000 1500 Motor...

Page 311: ...SGMGH 40AjB 150 0 50 0 100 0 200 0 150 0 0 100 50 1000 500 0 SGMGH 55AjB 150 1500 0 50 0 100 0 200 0 150 0 0 A Continuous Duty Zone B Intermittent Duty Zone 1000 500 0 1500 A B A B 8 AUDIN 7 bis rue...

Page 312: ...0 0 013 0 75 0 0 0005 58 2 28 5 5 12 1 SGMGH 06AjB 161 6 34 7 6 16 8 SGMGH 09AjB 185 7 28 22 0 0 013 0 87 0 0 0005 9 6 21 2 SGMGH 12AjB 166 6 54 180 7 09 200 7 87 13 5 0 53 18 0 71 114 3 0 0 025 4 50...

Page 313: ...18 8 25 4 28 6 2 8 4 7 6 2 8 9 12 5 13 8 Instantaneous Max Current A rms 17 28 42 56 77 84 8 5 14 19 5 28 38 42 Rated Speed r min 3000 Max Speed r min 5000 Torque Constant N m A rms 0 636 0 561 0 544...

Page 314: ...m Torque lb in A B 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque lb in A B 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque lb in A B 5000 0 1000 2000 4000 3000 Moto...

Page 315: ...12 40 1 57 24 0 0 013 0 94 0 0 0005 45 1 77 4 6 10 1 SGMSH 15AjA 15D A 175 6 89 5 8 12 8 SGMSH 20AjA 20D A 198 7 80 7 0 15 4 SGMSH 30AjA 30D A 199 7 83 130 5 12 145 5 71 9 0 35 12 0 47 110 0 0 035 4...

Page 316: ...utput kW 2 2 3 2 4 0 Rated Torque N m 10 5 15 3 19 1 lb in 93 135 169 Instantaneous Peak Torque N m 36 7 53 5 66 9 Peak Torque lb in 326 474 592 Rated Current A rms 15 7 20 9 23 2 Instantaneous Max Cu...

Page 317: ...n Torque N m Torque lb in Motor speed r min Torque N m Torque lb in 20 30 10 200 300 100 0 SGMDH 22AjAjB 40 4 0 2 0 40 0 200 0 SGMDH 32AjAjB 6 0 A B 0 100 0 200 0 300 0 0 A B 0 100 0 200 0 300 0 0 40...

Page 318: ...LG LB LE Q S LR Mass kg lb W o Brake W Brake SGMDH 22A A 187 7 36 220 8 66 235 9 25 13 5 0 53 18 0 71 200 0 0 046 7 87 0 0 0018 4 0 16 50 1 97 28 0 0 013 1 10 0 0 0005 55 2 17 15 5 34 2 20 5 45 2 SGM...

Page 319: ...ak Torque lb in 57 6 97 5 190 257 Rated Current A rms 2 7 4 1 8 1 9 6 Instantaneous Max Current A rms 8 5 14 28 38 5 Rated Speed r min 6000 Max Speed r min 6000 Torque Constant N m A rms 0 81 0 83 0 8...

Page 320: ...eed r min 0 4000 6000 8 4 0 2000 A B 12 SGMUH 10DjA Torque N m Torque lb in 80 40 0 0 4000 6000 10 5 0 100 50 0 2000 A B 15 SGMUH 15DjA Torque N m Torque lb in Motor speed r min 0 4000 6000 20 10 0 20...

Page 321: ...77 4 6 10 1 SGMUH 15D A 175 6 89 116 4 57 130 5 12 9 0 35 10 0 39 110 0 013 0 009 4 33 0 0005 0 0004 3 5 0 14 40 1 57 24 0 0 013 0 94 0 0 0005 45 1 77 5 8 12 8 SGMUH 30D A 199 7 83 155 6 10 165 6 50...

Page 322: ...2 motor Motor Speed r min Rated 3000 maximum 5000 Applicable Encoder Standard 13 bit incremental encoder Continuous Output Cur rent A rms 0 66 0 95 2 4 3 0 Max Output Current A rms 2 0 2 9 7 2 9 0 All...

Page 323: ...rative Frequency 2 times min 89 SGMPH Series Appli cable Servo Model SGMPH 01A 02A 04A 08A 15A 08A 15A Servo motor Capacity kW 0 1 0 2 0 4 0 75 1 5 0 75 1 5 motor Motor Speed r min Rated 3000 maximum...

Page 324: ...03AjB 06Aj B 09Aj B 12Aj B 20Aj B 30Aj B 40Aj B 55Aj B Servo motor Capacity kW 0 3 0 6 0 9 1 2 2 0 3 0 4 0 5 5 Motor Speed r min Rated 1000 maximum 2000 Applicable Encoder Standard 17 bit incremental...

Page 325: ...rms 17 28 42 56 77 84 Allowable Regenerative Frequency times min 39 31 48 20 29 22 SGMDH Series Applicable Servomo Model SGMDH 22A 32A 40A Series Servomo tor Capacity kW 2 2 3 2 4 0 Motor Speed r min...

Page 326: ...0D Series Servomotor Capacity kW 1 0 1 5 2 0 3 0 4 0 5 0 Motor Speed r min Rated 3000 maximum 5000 Applicable Encoder Standard 17 bit incremental encoder Continuous Output Cur rent A rms 2 8 4 7 6 2 8...

Page 327: ...8 Max Output Current A rms 1 3 2 0 2 8 6 5 8 5 11 0 13 9 17 28 42 56 400V Continuous Output Current A rms 1 9 3 5 5 4 8 4 11 9 Max Output Current A rms 5 5 8 5 14 20 28 Input Power Main circuit 100 V...

Page 328: ...ble setting range 1 to 10 VDC at rated torque positive torque reference with positive reference input voltage 12 V max ence In put Input Impedance About 14 kW Circuit Time Constant About 47 ms Contact...

Page 329: ...d encoder error overrun CPU error parameter error etc LED Display Charge Power five 7 segment LEDs built in Digital Operator func tions CN5 Analog Monitoring Analog monitor connector built in for moni...

Page 330: ...tor Table 8 15 Servopack Ratings and Specifications 2 Servopack Model SGDH 50 60 75 1A 1E Appli cable Servo 200V SGMGH jAjA 1500r min 44 55 75 1A 1E cable Servo motor SGMGH jAjB 1000r min 40 55 SGMSH...

Page 331: ...tics 400 Hz at JL JM Torque Control Toler ance Repeatability 2 Soft Start Time Set ting 0 to 10 s Can be set individually for acceleration and deceleration Input Signals Speed Refer ence In Reference...

Page 332: ...Power Supply 5 12 V 1 kW resistor built in I O Sig nals Position Output Form A B C phase line driver S phase line driver only with an absolute encoder nals Frequency Dividing Ratio Any Sequence Input...

Page 333: ...lay JOG and auto tuning operations speed torque reference signal and other draw ing functions Others Reverse rotation connection origin search automatic Servomotor ID DC reac tor connection terminals...

Page 334: ...ection and Data Sheets J J Base Mounting Models Unit mm in SGDH A3BE to 01BE Single phase 100 V 30 to 100W SGDH A3AE to 02AE Single phase 200 V 30 to 200 W 1 54 160 6 30 55 2 17 75 2 95 130 5 12 Appro...

Page 335: ...95 106 4 17 39 8 1 54 0 31 SGDH 15AE Three phase 200 V 1 5 kW SGDH 05DE to 15DE Three phase 400 V 0 5 to 1 5kW 110 4 33 Approx mass 2 8 kg 6 17 lb 180 7 09 160 6 30 75 2 95 106 4 17 39 8 1 54 0 31 8...

Page 336: ...W 3 0 kW 250 9 84 Approx mass 3 8 kg 8 38 lb 110 4 33 180 7 09 75 2 95 196 7 72 39 8 1 54 0 31 SGDH 50AE Three phase 200 V 5 0 kW 250 9 84 230 9 06 135 5 31 Ver 50ADA Approx mass 5 5 kg 12 1 lb 75 2 9...

Page 337: ...B2 B3 U V W 8 0 31 Approx mass 5 5 kg 12 1 lb 1 54 SGDH 60AE 75AE Three phase 200 V 6 0 kW 7 5 kW L1 L2 L3 U V W B1 B2 230 9 06 235 9 25 350 13 8 L1C WARNING MODE SET DATA Ver POWER BATTERY CHARGE L2C...

Page 338: ...N2 YASKAWA SERVOPACK 400V SGDH 60DE DATE POWER SGDH 1AAE 1EAE Three phase 200 V 11 0 kW 15 0 kW CN3 G 39 1 54 8 0 31 285 11 22 450 17 72 260 10 24 Approx mass 26 kg 57 3 lb CN8 CN5 BATTERY Ver CHARGE...

Page 339: ...22 450 17 72 260 10 24 Approx mass 22 kg 48 5 lb CN8 BATTERY Ver CHARGE MODE SET YASKAWA SERVOPACK 400V SGDH DATE POWER CN2 CN1 L1 L2 L3 1 24V 0V B1 B2 U V W CN5 2 8 AUDIN 7 bis rue de Tinqueux 51100...

Page 340: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 341: ...Servodrive Inspection and Maintenance 9 2 9 1 1 Servomotor Inspection 9 2 9 1 2 Servopack Inspection 9 3 9 1 3 Replacing Battery for Absolute Encoder 9 4 9 2 Troubleshooting 9 5 9 2 1 Troubleshooting...

Page 342: ...Yaskawa representative Table 9 1 Servomotor Inspections Item Frequency Procedure Comments Vibration and Noise Daily Touch and listen Levels higher than normal Exterior According to de gree of contami...

Page 343: ...lowing parts are subject tomechanical wearor deteriorationover time To avoidfailure replace these parts at the frequency indicated The user constants of any Servopacks overhauled by Yaskawa are reset...

Page 344: ...coders Replace the battery using the following procedure if the battery voltage drops below the mini mum required battery voltage J J Battery Replacement Procedure 1 Replace the battery while the cont...

Page 345: ...presentative if the problem cannot be solved by the described proce dures J J A 02 A 02 User Constants Breakdown Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output O...

Page 346: ...Replace Servopack J J A 04 A 04 User Constant Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output OFF OFF OFF OFF Note OFF Output transistor is OFF alar...

Page 347: ...Status and Remedy for Alarm At power ON A B Cause Remedy A The range of Servomotor capacities that can be combined has been exceeded Replace the Servomotor so that a suitable combination is achieved...

Page 348: ...shorted Replace Servomotor C S Circuit board 1PWB defective S Power transistor defective Replace Servopack D Current feedback circuit power transistor DB circuit or circuit board defective Replace Se...

Page 349: ...after the main circuit power ON A B C Occurred when the control power turned ON D Cause Remedy A Regenerative transistor is abnormal Replace Servopack B Disconnection of the regenerative resistor Repl...

Page 350: ...r is ON Status and Remedy for Alarm During Servomotor operation A B Cause Remedy A Regenerative power exceeds the allowable value Use an external regenerative resistor that matches the regenerative po...

Page 351: ...N E A B C D A D During Servomotor operation Occurred when main circuit power turned ON Cause Remedy A The power supply voltage is not within the range of specifications Check power supply B Load excee...

Page 352: ...tate ON Output transistor is ON Status and Remedy for Alarm Occurred when the control power turned ON D A B C A B C During Servomotor operation Occurred when main circuit power turned ON Cause Remedy...

Page 353: ...omotor rotation after reference input At power ON B C D A Cause Remedy A Servomotor wiring incorrect Check and correct wiring Check for U V and W phase wiring errors B Position or speed reference inpu...

Page 354: ...N Output transistor is ON Status and Remedy for Alarm At power ON C A When servo ON S ON signal turned ON B When speed reference input No Servomotor rotation During normal operation B Cause Remedy A S...

Page 355: ...nal speed S Lower the load inertia S Minimize the use of the dynamic brake B Circuit board 1PWB defective Replace Servopack J J A 74 A 74 Overload of Surge Current Limit Resistor Display and Outputs A...

Page 356: ...n A B C D Cause Remedy A The ambient temperature of the Servopack exceeds 55 C Alter conditions so that the ambient tempera ture goes below 55 C B The air flow around the heat sink is bad Follow insta...

Page 357: ...for Alarm At power ON Pn002 2 0 or 2 Pn002 2 1 A B C C Cause Remedy A The following power supplies to the absolute encoder all failed S 5 V supply S Battery power Follow absolute encoder set up proce...

Page 358: ...ransistor is OFF alarm state Status and Remedy for Alarm At power ON A B When SEN signal turned ON Pn002 2 0 or 2 A During operation A B Cause Remedy A Error during encoder memory check S Follow absol...

Page 359: ...not connected S Battery connection defective Check and correct battery connection B Battery voltage below specified value Specified value 2 7 V Install a new battery while the control power to Servopa...

Page 360: ...emedy for Alarm At power ON A During operation B Cause Remedy A Faulty encoder Replace the Servomotor is the problem oc curs often B Operational error in encoder caused by exter nal noise Check and co...

Page 361: ...ated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During Servomotor o...

Page 362: ...D Con verter etc Replace Servopack C Circuit board 1PWB defective Replace Servopack J J A b2 A b2 Reference Torque Input Read Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO...

Page 363: ...wer ON User constant Pn50A 1 Other than 7 A B C D On speed reference input A B C When servo ON S ON signal turned ON A B C D Cause Remedy A Servomotor wiring incorrect or disconnected Check wiring and...

Page 364: ...defective Replace Servomotor B Servopack defective Replace Servopack J J A C9 A C9 Encoder Communications Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output ON...

Page 365: ...rvopack J J A Cb A Cb Encoder Echoback Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output...

Page 366: ...rm At power ON A B Cause Remedy A The setting of the Multiturn Limit Setting Pn205 user constant in the Servopack is in correct Change use constant Pn205 B The multiturn limit has not been set in the...

Page 367: ...rence is input B C D Cause Remedy A Servomotor wiring incorrect or poor connec tion Check wiring and connectors at encoder B Servopack was not correctly adjusted Increase speed loop gain Pn100 and pos...

Page 368: ...tput transistor is ON Status and Remedy for Alarm Occurred with option unit when the control power turned ON B C D Occurred without option unit when the control power turned ON A Cause Remedy A The SG...

Page 369: ...supply ON A B Cause Remedy A One phase L1 L2 or L3 of the main circuit power supply is disconnected S Check power supply S Check wiring of the main circuit power supply S Check QF noise filter magnet...

Page 370: ...ed to Servopack while power turned ON A B C D At power ON Digital Operator connected before Servopack power turned ON A B C D Cause Remedy A Cable defective or poor contact between Digital Operator an...

Page 371: ...Check connector connections S Replace cable B Malfunction due to external noise Separate Digital Operator and cable from noise source C Digital Operator defective Replace Digital Operator D Servopack...

Page 372: ...t Check reference input pins Correctly input speed position references S ON is turned OFF Check settings of user constants Pn50A 0 and Pn50A 1 Turn S ON input ON P CON input function setting incorrect...

Page 373: ...ase the value of user constant Pn100 speed loop gain Reduce the integration time constant Pn101 Servomotor Overheated Ambient temperature too high Measure Servomotor ambient temperature Reduce ambient...

Page 374: ...ative circuit is faulty S Regenerative resistor is faulty A 32 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 OFF OFF ON OFF Overvoltage 4 Main circuit DC voltag...

Page 375: ...e Servomotor ran out of control A C8 Absolute Encoder Clear Er ror and Multi turn Limit Setting Error 2 The multi turn for the absolute encoder was not properly cleared or set A C9 Encoder Communicati...

Page 376: ...en warning displays and warning code outputs are shown in the following table Table 9 6 Warning Displays and Outputs Warning Display Warning Code Outputs Warning Name Meaning of Warning Display ALO1 A...

Page 377: ...ting the CP 9200SH Servo Controller Module SVA A 3 A 3 Connecting the GL series B2813 Positioning Module A 4 A 4 Connecting OMRON s C500 NC221 Position Control Unit A 5 A 5 Connecting OMRON s C500 NC1...

Page 378: ...34 PB PBO 3 35 PBO 4 36 PC PCO 5 19 PCO 6 20 VREF V REF 7 5 SG SG 8 6 BAT BAT 9 21 BAT0 BAT 10 22 24V 24VIN 19 47 SVON S ON 13 40 PCON P CON 14 41 SEN SEN 11 12 0SEN SG ALM RST 15 44 ALM ALM ALM0 ALM...

Page 379: ...42 DO4 ALM RST 24 44 DI2 TGON 19 27 TGON 28 DI1 V CMP 43 25 V CMP 26 DI0 S RDY 18 29 S RDT 30 DI3 ALM 44 31 024V ALM 45 32 21 BAT BAT 22 SENS SEN SENSG SG 26 2 CN 4 1 TLIMPG PA TLIMP 0V IN A PG0V PCL...

Page 380: ...20 34 33 43 42 40 47 32 31 P P P P P P CN1 CN2 PULSE 0V CLR SIGN PULSE SG CLR SIGN 24 6 5 38 21 22 23 2 14 15 12 11 8 7 1 2 2Ry L1C L3 L2 L1 L2C U SGDH 1Ry 3 Connector shell CN2 Servomotor 4 PULSE CLR...

Page 381: ...n positioning is canceled ON when proximity is detected L1C L3 L2 L1 L2C S ON 24VIN 2 Connec tor shell CN1 Servomotor 3 11 12 X B X C X A 024 V 24 V PAO SG PCO PBO PAO PCO PBO 024 V M PG Servopack W V...

Page 382: ...7 14 24 V 1Ry CN1 0V EXTERNAL INTERRUPT Servopack SGDH L1C L3 L2 L1 L2C PC O PCO ALM ALM PULSE CLR SIGN PULSE CLR SIGN 012 V M PG W V U A 1 B 2 C 3 D 4 Servomotor 1 The ALMsignal is output for approxi...

Page 383: ...VIN P OT N OT ALM ALM V REF T REF SG PAO SG PCO PCO PBO PBO PAO 47 32 31 40 1 20 19 34 33 36 35 5 9 6 10 S ON 1Ry CN2 4 024 V Servopack SGDH Servomotor 1 The ALMsignalis outputfor approximately two se...

Page 384: ...itioning is canceled CN2 I O Power Supply X axis Y axis L1C L3 L2 L1 L2C Servomotor M PG Servopack W V A 1 B 2 C 3 D 4 U SGDH 024 V 24 V PULSE CLR SIGN PULSE CLR SIGN ALM ALM PCO PCO The ALMsignalis o...

Page 385: ...nctions and monitor modes for SGDH Servopacks B 1 User Constants B 2 B 2 Switches B 6 B 3 Input Signal Selections B 11 B 4 Output Signal Selections B 13 B 5 Auxiliary Functions B 15 B 6 Monitor Modes...

Page 386: ...s 1 to 2000 40 6 2 1 Pn103 Inertia Ratio 0 to 10000 0 6 2 1 6 3 3 Pn104 2nd Speed Loop Gain Hz 1 to 2000 40 Pn105 2nd Speed Loop Integral Time Constant 0 01 ms 15 to 51200 2000 Pn106 2nd Position Loop...

Page 387: ...Related Constants Pn200 Position Control Reference Selection Switches See note 3 0000 5 2 2 Constants Pn201 PG Divider See note 3 p r 16 to 16384 16384 5 2 3 Pn202 Electronic Gear Ratio Numerator See...

Page 388: ...forward Filter Time Constant 0 01 ms 0 to 65535 0 Torque related constants Pn400 Torque Reference Input Gain 0 1 V rated torque 10 to 100 30 5 2 7 constants Pn401 Torque Reference Filter Time Constan...

Page 389: ...ons 4 See note 3 8888 5 3 3 Pn50E Output Signal Selections 1 See note 3 3211 5 3 4 Pn50F Output Signal Selections 2 See note 3 0000 5 3 4 Pn510 Output Signal Selections 3 See note 3 0000 5 3 4 Pn511 R...

Page 390: ...speed control contact refer ence Speed control analog reference 5 Internal set speed control contact refer ence Position control pulse train reference 6 Internal set speed control contact refer ence...

Page 391: ...wer input Input DC power supply through 1 and terminals 3 Warning Code Out put Selection 0 ALO1 ALO2 and ALO3 output only alarm codes 0 put Selection 1 ALO1 ALO2 and ALO3 output both alarm codes and w...

Page 392: ...1000 r min 6 Motor speed 4 1 V 250 r min 7 Motor speed 8 1 V 125 r min 8 Fixed constant Do not change 9 A B C D E F 2 Not used 0 3 Not used 0 Pn10B Gain Application Switches 0 Mode Switch Selec tion...

Page 393: ...gative logic 8 A phase B phase x2 negative logic 9 A phase B phase x4 negative logic 1 Error Counter Clear Signal Form 0 Clears error counter when the signal goes high 0 Signal Form 1 Clears error cou...

Page 394: ...que Function 0 Notch Filter Selec tion 0 Disabled 0 Torque Function Switches tion 1 Uses a notch filter for torque reference Switches 1 Not used 0 2 Not used 0 3 Not used 0 B AUDIN 7 bis rue de Tinque...

Page 395: ...m the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reverse signal from the SI0 CN1...

Page 396: ...Set Speed Selection 0 to F Same as above 8 OFF 2 SPD B Signal Mapping Inter nal Set Speed Selection 0 to F Same as above 8 OFF 3 C SEL Signal Mapping Con trol Mode Switching 0 to F Same as above 8 OF...

Page 397: ...g 0 to 3 Same as above 2 BK Signal Map ping 0 to 3 Same as above 3 WARN Signal Mapping 0 to 3 Same as above Pn510 0 NEAR Signal Mapping 0 to 3 Same as above 1 Reserved 0 to 3 Same as above 2 Not used...

Page 398: ...2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the COIN signal is treated as OFF 3 Types of WARN signals Overload and regenerative overloa...

Page 399: ...rque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of torque reference offset Fn00C Manual zero adjustment of analog monitor output Fn00D Manual gain adjus...

Page 400: ...n Un008 Error counter value reference units Amount of position error Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10 s cycle Un00A Regenerative load rate...

Page 401: ...nt of speed and torque reference offset 7 25 autotuning 6 16 auxiliary functions B 15 B batteries 5 94 absolute encoder 9 4 bias function 6 31 brake ON timing 5 66 Built in Panel Operator 5 96 5 103 6...

Page 402: ...lse counter monitor display 7 19 forward rotation prohibited signal 7 23 7 38 friction compensation 6 24 functions selection 7 10 fuse capacity 5 107 G gain adjusting 6 4 7 42 7 45 GL series B2813 Pos...

Page 403: ...ilters 5 110 notch filter 6 5 O offset adjusting 5 60 6 4 automatic adjustment 7 25 manual adjustment 7 28 oil and water Servomotors 2 6 OMRON C500 NC112 Position Control Unit A 6 C500 NC221 Position...

Page 404: ...tive overload signal 5 76 regenerative resistors built in 5 80 calculating capacity 5 84 connecting 5 82 external 5 81 response characteristics 6 30 responsiveness 6 26 6 30 Reverse Rotation Mode 5 4...

Page 405: ...tions SGMAH Servomotors 8 2 SGMDH Servomotors 8 22 SGMGH Servomotors 8 10 8 15 SGMPH Servomotors 8 7 SGMSH Servomotors 8 19 speed bias 6 9 speed coincidence output 5 72 speed control 6 32 adjusting ma...

Page 406: ...al operation 4 2 U undershooting 6 10 user constants 5 48 configuration 5 3 function selection 7 10 initializing settings 7 40 list of B 2 numbers 7 9 setting from host controller 5 13 W warning displ...

Page 407: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 408: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

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