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YASKAWA E-V-MD Series, User Manual

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YASKAWA E-V-MD Series User Manual Download Page 154

8.3  Advanced Autotuning

8-21

8

Adjustments

(1) Preparation

The following conditions must be met to perform advanced autotuning. 

• The main circuit power supply must be ON.
• There must be no overtravel.
• The servomotor power must be OFF.
• The control method must not be set to torque control.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• All alarms and warning must be cleared.
• The write prohibited setting parameter must be set to Write permitted.
• The tuning-less function must be disabled (Pn170.0 = 0).

Supplemental Information

• If advanced autotuning is started while the SERVOPACK is in speed control, the mode will change to posi-

tion control automatically to perform advanced autotuning. The mode will return to speed control after com-
pleting autotuning. To execute advanced autotuning in speed control, set the mode selection to 1.

(2) When Advanced Autotuning Cannot Be Performed

Advanced autotuning cannot be performed normally under the following conditions. Refer to 

8.4  Advanced 

Autotuning by Reference

 and 

8.5  One-parameter Tuning

 for details.

• The machine system can work only in a single direction.
• The operating range is within 0.5 rotation.

Refer to 

8.4  Advanced Autotuning by Reference

 for details on advanced autotuning with a reference input. 

Refer to 

8.5  One-parameter Tuning

 for details on one-parameter tuning.

(3) When Advanced Autotuning Cannot Be Performed Successfully

Advanced autotuning cannot be performed successfully under the following conditions. Refer to 

8.4  

Advanced Autotuning by Reference

 and 

8.5  One-parameter Tuning

 for details.

• The operating range is not applicable.
• The moment of inertia changes within the set operating range.
• The machine has high friction.
• 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 used.

Note:If a setting is made for calculating the moment of inertia, an error will result when P control operation is selected 

using /V_PPI of the servo command output signals (SVCMD_IO) while the moment of inertia is being calculated.

 CAUTION

• Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over-

shooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACK 

can come to an emergency stop at any time.

Travel

distance

SERVOPACK

Movement
Speed

Reference

Response

Execute advanced autotuning 
after a JOG operation to 
move the position to ensure a 
suitable movement range.

t: time

t: time

Rated motor

speed 

 2/3

Rated motor

speed 

 2/3

Rated motor

torque

: 

Approx. 100%

Rated motor

torque

: 

Approx. 100%

Automatic operation

Summary of Contents for E-V-MD Series

Page 1: ...ences V MD Series AC Servo Drives USER S MANUAL MANUAL NO SIEP S800001 02B 1 2 3 4 5 6 7 8 9 10 11 Outline Selecting Products Specifications and Dimensional Drawings Installation Wiring and Connections SigmaWin Operation Adjustments Utility Functions Maintenance Inspections and Troubleshooting Appendix ...

Page 2: ... liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any lia...

Page 3: ...CK An SGDV MD servo amplifier in the Σ V MD Series Servo Drive A set including a servomotor and SERVOPACK i e a servo amplifier Servo System A servo control system that includes the combination of a servo drive with a host controller and peripheral devices M III Model MECHATROLINK III communications reference used for SERVOPACK interface Servo ON Power to motor ON Servo OFF Power to motor OFF Base...

Page 4: ...a change to the parameter will be effective Indicates the parameter classification Indicates the minimum setting unit for the parameter Torque Position Speed Indicates the setting range for the parameter The notation n indicates a parameter for selecting functions Each corresponds to the setting value of that digit The notation shown here means that the third digit is 1 This section explains the s...

Page 5: ...LINK III Standard Servo Profile Commands No SIEP S800001 03 Σ V MD Series AC SERVOPACK Type A02 Safety Precautions No TOBP C710829 10 Σ V MD Series AC SERVOPACK Type A01 Safety Precautions No TOBP C710829 14 AC SERVOMOTOR Safety Precautions No TOBP C230200 00 Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded co...

Page 6: ... used when an incorrect value is set in the parameter PnA48 an incorrect value will be set in the encoder The alarm 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 cables or connectors from the SERVOPACK while the power is ON Failure to observe this war...

Page 7: ...led 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 disinfectants containing halogen which includes chlo rine fluorine bromine or iodine can contribute to the erosion of the capacitors CAUTION Never use the product in an environment subject to water corrosive gases flam...

Page 8: ...the input power supply is correct Incorrect polarity may cause damage Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range An incorrect power supply may result in damage to the equipment Install external breakers or other safety ...

Page 9: ...As a guideline at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started When carrying out JOG operation origin search or EasyFFT forcing movable machine parts to stop does not work for forward overtravel or reverse overtravel Take necessary precautions Failure to observe this caution may result in damage to the equipment When using the se...

Page 10: ...ay result in damage to the equipment CAUTION When disposing of the products treat them as ordinary industrial waste Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance ...

Page 11: ...d product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer tha...

Page 12: ... property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety ...

Page 13: ...ards SERVOPACK SGDV MD EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Low Voltage Directive 2006 95 EC EN 61800 5 1 Servomotor SGMMV EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 60034 1 EN 60034 5 ...

Page 14: ...Size 2 4 2 2 2 Selection Calculations 2 5 2 3 Combinations 2 7 2 4 Selecting Cables 2 8 2 4 1 Power Supply Cables 2 8 2 4 2 Servomotor Encoder Relay Cables 2 8 2 4 3 I O Signal Cables 2 8 2 4 4 MECHATROLINK Communications Cables 2 8 2 4 5 Ethernet Cables 2 8 2 5 Selecting Peripheral Devices 2 9 Chapter 3 Specifications and Dimensional Drawings 3 1 3 1 Servomotors 3 2 3 1 1 Ratings and Specificatio...

Page 15: ...Typical Main Circuit Wiring Example 5 7 5 1 4 Power Losses 5 9 5 1 5 Input Power Supply Molded case Circuit Breaker and Fuse 5 9 5 1 6 General Precautions for Wiring 5 10 5 2 I O Signal CN1 Connections 5 11 5 2 1 I O Signal Names and Functions 5 11 5 2 2 I O Signal Connector Specifications 5 12 5 2 3 Example of I O Signal Connections 5 13 5 2 4 Sequence Input Circuit 5 14 5 2 5 Sequence Output Cir...

Page 16: ...7 3 5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence 7 14 7 3 6 Setting Motor Overload Detection Level 7 15 7 4 Trial Operation 7 17 7 4 1 Inspection and Checking before Trial Operation 7 17 7 4 2 Trial Operation via MECHATROLINK III 7 18 7 4 3 Electronic Gear 7 19 7 5 Limiting Torque 7 22 7 5 1 Internal Torque Limit 7 22 7 5 2 Checking the Torque Limit 7 22 7 6 Absolute Encoder Set...

Page 17: ...eters 8 76 8 8 Additional Adjustment Function 8 77 8 8 1 Switching Gain Settings 8 77 8 8 2 Manual Adjustment of Friction Compensation 8 81 8 8 3 Current Gain Level Setting 8 83 8 8 4 Speed Detection Method Selection 8 83 8 9 Compatible Adjustment Function 8 84 8 9 1 Feedforward Reference 8 84 8 9 2 Mode Switch P PI Switching 8 85 8 9 3 Torque Reference Filter 8 87 Chapter 9 Utility Functions 9 1 ...

Page 18: ... Warnings 10 15 10 3 2 Troubleshooting of Warnings 10 16 10 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 10 19 Chapter 11 Appendix 11 1 11 1 Parameter Configuration 11 2 11 1 1 Unit Parameters 11 2 11 1 2 Axis Parameters 11 2 11 2 List of Parameters 11 3 11 2 1 List of Parameters 11 3 11 2 2 MECHATROLINK III Common Parameters 11 20 11 3 Parameter Recording Tabl...

Page 19: ...e 1 1 Σ V MD series Type A01 A02 SERVOPACKs 1 2 1 2 Examples of Servo System Configurations 1 2 1 2 1 Type A01 Configurations 1 2 1 2 2 Type A02 Configurations 1 3 1 3 Part Names 1 4 1 3 1 Servomotor 1 4 1 3 2 SERVOPACK 1 4 ...

Page 20: ...200 VAC Servomotor encoder relay cable Battery case When an absolute encoder is used SGMMV Servomotor MECHATROLINK III communications cable I O signal cable Ethernet PC SigmaWin Host controller Noise filter Molded case circuit breaker MCCB Power supply Single phase 100 200 VAC R T Magnetic contactor Isolated AC DC converters for control power supply Turns the brake power supply ON and OFF Install ...

Page 21: ...hen overcurrent is detected Noise filter Eliminates external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Isolated AC DC converter for main circuit power supply Isolated AC DC converter for control power supply I O signal cable Host controller Battery case when an absolute encoder is used 100 200 VAC Brake power supply Used for a servomotor with ...

Page 22: ...r supply connector Connects the control power supply CN32 Main circuit power supply connector Connects the main circuit power supply LED indicators LK1 LK2 CN CMERR RUN ALM LK1 LK2 green Light during MECHATROLINK communications CN green Lights when the SERVOPACK receives a CONNECT command normally CMERR yellow Flashes when there is an error for a MECHATROLINK command Lights when there is a communi...

Page 23: ... I O signals LED indicator LK1 LK2 CN CMERR RUN ALM LK1 LK2 green Lights during MECHATROLINK communications ALM red Lights when an alarm occurs CN green Lights when the SERVOPACK receives a CONNECT command normally RUN green Flashes while one or more servos are ON Lights when the servos for all axes are OFF CMERR yellow Flashes when there is an error for a MECHATROLINK command Lights when there is...

Page 24: ...or all axes Flashes once Servo warning 2 Lit Servo alarm 2 or initializing CN Green MECHATROLINK III communications status Not lit Power ON phase 0 Flashing Waiting for a connection phase 1 Lit Connection completion 3 phases 2 and 3 CMERR Yellow MECHATROLINK III communications error status Not lit Normal communications Flashes once Command error CMD_ALM Lit Communications error COMM_ALM LK1 Green ...

Page 25: ...he status of the power supply to the SERVOPACK with the power supply indicator Indicator Name Color Description Status Power Supply Status POWER Orange Main circuit power supply status Not lit The main circuit power supply is OFF Lit The main circuit power supply is ON ...

Page 26: ...g Servomotors 2 4 2 2 1 SigmaJunmaSize 2 4 2 2 2 Selection Calculations 2 5 2 3 Combinations 2 7 2 4 Selecting Cables 2 8 2 4 1 Power Supply Cables 2 8 2 4 2 Servomotor Encoder Relay Cables 2 8 2 4 3 I O Signal Cables 2 8 2 4 4 MECHATROLINK Communications Cables 2 8 2 4 5 Ethernet Cables 2 8 2 5 Selecting Peripheral Devices 2 9 ...

Page 27: ...24 or 48 VDC 4th digit Serial Encoder Code Specification 2 17 bit absolute 1st 2nd digits 3rd digit 4th digit 5th digit 2 6th digit 1 7th digit 7th digit Options Code Specification 1 No options C With holding brake 24 VDC flange size 25 25 mm 6th digit Shaft End Code Specification 2 Straight standard A Straight with flat seats optional SGMMV 5th digit Design Revision Order Code Specification A Sta...

Page 28: ...SGDV MD Σ V MD Series E 8 M3 A 01 Number of Axes Code Specification 8 8 axes Power Supply Voltage Code Specification E 24 or 48 VDC Interface Specification Code Specification M3 MECHATROLINK III Design Revision Order Options Code Specification No I O 01 I O provided 1st digit 2nd digit 3rd digit 4th digit 5th digit 6th digit ...

Page 29: ...ction program to help you easily select AC servomotor capacities The SigmaJunmaSize is a Web based application You can use it at the following website http www e mechatronics com support tool servo sgmjnmsizepls The SigmaJumaSize does not directly support making combinations with Σ V MD series SERVOPACKs To select a servomotor capacity select a DC power input SGDV E SERVOPACK Servo Setting View Ex...

Page 30: ...1 2 s max Friction coefficient μ 0 2 Mechanical efficiency η 0 9 90 Servomotor Coupling Ball screw Gear Linear motion Mechanical Specifications L υ tc ta td m min Speed Time s tm t L 15 υ t 1 5 㧔s㧕 where ta td ta tm 1 2 1 2 1 1 0 1 㧔s㧕 tc 1 2 0 1 2 1 0 㧔s㧕 60 n 60 40 60 0 275 15 60ℓ L υ Load axis rotation speed nL 1500 㧔min 1㧕 PB 15 0 01 L υ Motor shaft rotation speed Gear ratio 1 R 1 2 R 2 Theref...

Page 31: ...ervomotor is suitable for the machine specifications 9 Result The provisionally selected servomotor is confirmed to be applicable The torque diagram is shown below TL Motor rated torque 2 Po Pa Provisionally selected servomotor rated output nM Motor rated speed JL Allowable load moment of inertia Po Pa Required acceleration torque TP TL 0 43 60ta 2πnM 㧔JM JL㧕 60 0 1 2π 3000 㧔0 259 2 29㧕 10 4 1 23 ...

Page 32: ...ucts 2 3 Combinations Rotational Servomotor SERVOPACK Model Model Capacity SGMMV ultra low capacity low inertia SGMMV B3E 3 3 W SGDV MDA01E M3A or SGDV MDA02E8M3A SGMMV B5E 5 5 W SGMMV B9E 11 W SGMMV A1E 10 W SGMMV A2E 20 W SGMMV A3E 30 W ...

Page 33: ... incremental encoder no battery case 1 m JZSP CV1WJ0 01 E 3 m JZSP CV1WJ0 03 E 5 m JZSP CV1WJ0 05 E 10 m JZSP CV1WJ0 10 E For servomotor without holding brake and absolute encoder with battery case 1 m JZSP CV1WA0 01 E 3 m JZSP CV1WA0 03 E 5 m JZSP CV1WA0 05 E 10 m JZSP CV1WA0 10 E For servomotor with holding brake and absolute encoder with battery case 1 m JZSP CV1WB0 01 E 3 m JZSP CV1WB0 03 E 5 ...

Page 34: ...cations and refer to 5 1 5 Input Power Supply Molded case Circuit Breaker and Fuse Peripheral Device Order No Molded case circuit breakers The user must provide suitable devices according to the sys tem specifications Fuses Magnetic contactors Isolated AC DC converters for main circuit power supply Isolated AC DC converters for control power supply Brake power supply Noise filters Surge absorbers ...

Page 35: ...s and Specifications 3 2 3 1 2 Dimensional Drawings 3 6 3 1 3 Mechanical Specifications 3 9 3 1 4 Heat Dissipation Conditions 3 10 3 1 5 Holding Brake Delay Time 3 10 3 2 SERVOPACKs 3 11 3 2 1 Ratings 3 11 3 2 2 Basic Specifications 3 11 3 2 3 MECHATROLINK III Function Specifications 3 15 3 2 4 Dimensional Drawings 3 18 ...

Page 36: ...for shaft opening 25 mm 25 mm Totally enclosed selfcooled IP55 exept for shaft opening Insulation Resistance 500 VDC 10 MΩ min Surrounding Air Humidity 20 to 80 no condensation Surrounding Air Temperature 0 to 40 C Drive Method Direct drive Excitation Permanent magnet Rotation Direction Counterclockwise CCW with forward run Mounting Flange mounted Thermal Class 15 mm 15 mm B UL A 25 mm 25 mm B Vol...

Page 37: ...3 A 24 VDC power supply is not included Motor Speed min 1 SGMMV B3E Torque N m A B 4000 3000 2000 1000 0 5000 6000 7000 0 0 0075 0 015 0 0225 0 03 Motor Speed min 1 SGMMV B5E Torque N m A B 4000 3000 2000 1000 0 5000 6000 7000 0 0 015 0 03 0 045 0 06 Motor Speed min 1 SGMMV B9E Torque N m A B 4000 3000 2000 1000 0 5000 6000 7000 0 0 03 0 06 0 09 0 12 Motor Speed min 1 SGMMV A1E Torque N m A B 4000...

Page 38: ...ty zone of Torque Motor Speed Characteristics 4 Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a holding brake Detecting time s 1000 100 10 1 0 1 100 150 200 250 Torque reference percent of rated torque SGMMV B3E B5E SGMMV B9E 1000 100 10 1 100 200 300 SGMMV A1 A2 A3 Detecting time s Torque reference percent of...

Page 39: ...free from our web site http www e mechatronics com An overvoltage alarm A 400 is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia Take one of the following steps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum speed 6 Allowable Radial and Thrust Loads Design the mechanical system so thrust and radi...

Page 40: ...ss kg B3E2A 1 58 48 21 3 0 055 B5E2A 1 64 54 27 3 0 06 B9E2A 1 98 88 61 4 0 1 1 2 3 4 2 5 15 16 0 1 Dia 10 26 7 L1 L2 15 12 5 3 6 45 20 3 7 L 0 02 A 0 04 Dia A 0 04 A 2 M2 Tapped Holes Depth 3 Protective Tube 4 Dia 300 15 300 15 Encoder Cable 4 Dia UL20276 Pin No 1 Pin No 5 Pin No 2 Pin No 6 Plug 55102 0600 Molex Japan Co Ltd Receptacle 43025 0400 Molex Japan Co Ltd Motor Lead AWG26 UL10095 or UL3...

Page 41: ... 80 64 37 5 0 17 A3 2A 1 90 74 47 5 0 21 1 2 3 4 300 30 Receptacle 43025 0400 Molex Japan Co Ltd Pin No 2 Pin No 1 Pin No 6 Pin No 5 Plug 55102 0600 Molex Japan Co Ltd Encoder Cable 4 Dia UL20276 Protective Tube 5 Dia Black Motor Lead AWG24 UL10095 or UL3266 30 300 28 Dia 25 16 4 5 2 5 16 26 5 12 L2 L L1 2 M3 Tapped 0 04 Dia A A 0 02 0 04 A 4 5 dia 0 0 008 20 Dia 0 0 021 A 0 02 10 0 5 5 Dia 0 0 00...

Page 42: ...7 A3 2A C 118 5 102 5 47 5 0 31 1 2 3 4 5 6 300 30 Pin No 2 Pin No 1 Pin No 6 Pin No 5 Plug 55102 0600 Molex Japan Co Ltd Receptacle 43025 0400 Molex Japan Co Ltd 30 300 28 Dia 25 16 4 4 5 2 5 16 12 26 5 L1 L L2 2 M3 Tapped Holes Depth 7 A 0 02 0 04 A 0 04 Dia A Encoder Cable 4 Dia UL20276 UL20276 Protective Tube 5 Dia Black Motor Lead AWG24 UL10095 or UL3266 5 dia 0 0 008 20 Dia 0 0 021 A 0 02 10...

Page 43: ...0 02 0 04 A 0 04 Dia Perpendicularity between the flange face and output shaft Run out at the end of the shaft Mating concentricity of the flange O D Positive rotation of the servomotor without a gear is counterclockwise when viewed from the load Refer to Ratings and Specifications for each series regard ing rotation direction of the servomotor with a gear The direction of rotation can be reversed...

Page 44: ... varies depending on when the brake is open and when the brake is oper ating The following table shows the brake delay time of each servomotor Example switching the holding brakes on the DC side The actual temperature rise depends on how the heat sink servomotor mounting sec tion is fixed on the installation surface what material is used for the motor mounting section and motor speed Always check ...

Page 45: ... I Item Specification Continuous Output Current Arms 23 2 2 9 per axis Instantaneous Max Output Current Arms 50 0 8 6 max per axis Main Circuit Power Supply 24 VDC 10 to 15 48 VDC 15 to 10 Control Power Supply 24 VDC 15 Overvoltage Category I Basic Specification Common Specification SGDV MD A01E4M3A SGDV MD A01E8M3A SGDV MD A01ECM3A Number of Axes 4 axes 8 axes 12 axes Drive Method Sine wave curre...

Page 46: ...equence Inputs Number of points 8 Functions Assigned by user external latch overtravel homing signal etc Sequence Outputs Number of points 8 Function Brake BK interlock output Communications MECHATROLINK III Communications References MECHATROLINK III standard servo profile Ethernet Communications Connection to SigmaWin Engineering Tool LED Indicators POWER indicator communications indicators ALM i...

Page 47: ... 1 class A EN 61800 3 EN 61000 6 2 RoHS Directive Compliant Performance Speed Control Range 1 5000 At the rated torque the lower limit of the speed control range must not cause the servomotor to stop Speed Regu lation 1 Coefficient of Load Fluctuation 0 to 100 load 0 01 max at rated speed Coefficient of Voltage Fluctuation Main circuit rated voltage 10 0 at rated speed Frequency Characteristic 1 6...

Page 48: ... defined as follows 2 The SGDV MDA02E8M3A01 provides I O signals but the SGDV MDA02E8M3A does not Dimensions mm 238 120 29 Approximate Mass g 326 335 cont d Basic Specification Common Specification SGDV MD A02E8M3A SGDV MD A02E8M3A01 Speed regulation No load motor speed Total load motor speed Rated motor speed 100 ...

Page 49: ... Axis Address 00H to 0BH Set in parameters Pn010 to Pn01B Baud Rate 100 Mbps Transmission Cycle 250 μs 500 μs and 1 0 ms to 4 0 ms increments of 0 5 ms Number of Transmission Bytes 32 bytes per axis or 48 bytes per axis Selected with parameter Pn881 Communications Methods Cyclic communications event driven communications and message communications Reference Method Control Method Position speed or ...

Page 50: ...ases the holding brake 23 SENS_ON Turn sensor ON Turns the encoder power supply ON and gets the position data 24 SENS_OFF Turn sensor OFF Turns the encoder power supply OFF 25 HOLD Stop motion Decelerates an axis to a stop at the deceleration rate set in a parameter 30 SMON Servo status monitor Monitors the SERVOPACK status 31 SV_ON Servo ON Turns the servo of the motor ON 32 SV_OFF Servo OFF Turn...

Page 51: ...mmands 00 NOP No operation Nothing is performed 05 ALM_RD Read alarm warning Reads the current alarm or warning status and the alarm history 06 ALM_CLR Clear alarm warning state Clears the current alarm or warning status and the alarm history 1D MEM_RD Read virtual memory Reads data from virtual memory 1E MEM_WR Write virtual memory Writes data to virtual memory 30 SMON Monitor servo status Monito...

Page 52: ...nsional drawings Dimensions in the dimensional drawings are in millimeters 1 Type A01 SERVOPACK Board with Four Axes Without Mounting Option With Mounting Option 170 5 100 60 5 68 92 113 5 103 9 16 6 30 5 Six studs M3 female threads effective screw depth 4 mm Four n5 M4 mounting holes 210 200 50 10 35 5 20 170 20 1 5 123 186 12 ...

Page 53: ... Drawings Board with Eight Axes Without Mounting Option With Mounting Option 170 5 100 60 5 68 92 113 5 103 9 16 6 16 6 47 1 Six studs M3 female threads effective screw depth 4 mm Four n5 M4 mounting holes 59 1 210 20 170 20 35 10 50 200 5 123 1 5 186 12 ...

Page 54: ...rawings 3 20 Board with Twelve Axes Without Mounting Option With Mounting Option 170 5 100 60 5 68 92 113 5 103 9 16 6 16 6 16 6 63 7 Six studs M3 female threads effective screw depth 4 mm Four n5 M4 mounting holes 5 200 10 35 50 20 170 20 75 7 123 210 1 5 186 12 ...

Page 55: ...3 2 SERVOPACKs 3 21 3 Specifications and Dimensional Drawings 2 Type A02 SERVOPACK 1 6 1 6 4 115 115 4 5 55 55 5 120 5 65 45 5 4 131 99 4 238 10 9 9 6 29 1 8 3 6 dia ...

Page 56: ...4 2 4 1 3 Installation Standards 4 2 4 1 4 Connecting Servomotor to Machine 4 3 4 1 5 Protective Structure 4 3 4 1 6 Other Precautions 4 4 4 2 SERVOPACK Installation 4 6 4 2 1 SERVOPACK Installation Environment 4 6 4 2 2 Mounting the SERVOPACK 4 7 4 2 3 Mounting Orientation 4 8 4 3 EMC Installation Conditions 4 9 4 3 1 SGDV MDA01E M3A 4 9 4 3 2 SGDV MDA02E8M3A 4 10 4 3 3 Other Precautions 4 10 ...

Page 57: ... surrounding air temperature of 40 C when servomotors are installed with heat sinks When a motor is mounted on a small surface the motor temperature may rise considerably because of the lim ited heat radiating abilities of the surface To restrict the temperature rise you should either mount a heat sink or limit the electrical thermal and mechanical stress on the motor derating Refer to 3 1 4 Heat ...

Page 58: ...perly aligned Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged 4 1 5 Protective Structure The servomotor protective structure is described below Except through shaft section Measure this distance at four different positions on the circumference The difference between the maximum and minimum me...

Page 59: ...test Note 1 The life of flexible cable differs largely depending on the amount of mechanical shocks mounting to the cable and fixing methods 2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused Disconnecting the shield wire is not taken into acc...

Page 60: ...first If you connect the encoder connector first the encoder may be damaged due to the difference in electrical potential from the FG Make sure of the pin arrangement Do not apply shock to resin connectors Otherwise they may be damaged When handling a servomotor with its cables connected hold the servomotor or the connectors and cables will be damaged Be sure not to apply stress on the connector T...

Page 61: ...ze of the control panel the layout of the SERVOPACK and the cooling method Mounting Near a Heating Unit To prevent the temperature around the SERVOPACK from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive gas Corrosive gases will not immediately affect th...

Page 62: ...3 screws according to the mounting positions of the six studs on the bottom of the SERVOPACK Note If you replace the studs on the bottom of the SERVOPACK use metal studs with a length of at least 9 mm SERVOPACK with the Mounting Option Mount the SERVOPACK to the system with M4 screws according to the four mounting holes in the SERVOPACK Studs on the bottom of the SERVOPACK length 9 mm min effectiv...

Page 63: ... control board Tighten the screws to connect the board 4 Place the power board on the control board Tighten the M3 screws to connect the board This concludes the mounting of the SERVOPACK Note Use metal studs 4 2 3 Mounting Orientation You can install the SERVOPACK either horizontally or vertically Note Secure the cable within the system so that the weight of the cable is not placed on the SERVOPA...

Page 64: ...s are EN 55011 group 1 class A EN 61800 3 EN 61000 6 2 and EN61000 6 4 4 3 1 SGDV MDA01E M3A Symbol Cable Name Specification Remarks 100 VAC power supply cable Not shielded 24 VDC or 48 VDC power supply cable Not shielded 24 VDC power supply cable Not shielded MECHATROLINK III communications cable Shielded Ferrite core 4 turns Servomotor encoder relay cable Shielded SGDV MDA01E M3A CN31 Noise filt...

Page 65: ...ecification Remarks 100 VAC power supply cable Not shielded 24 VDC or 48 VDC power supply cable Shielded 24 VDC power supply cable Not shielded MECHATROLINK III communications cable Shielded Ferrite core 2 turns Servomotor encoder relay cable Shielded SGDV MDA02E8M3A M O T O R 1 M O T O R 2 PG PG M O T O R 3 M O T O R 4 PG PG M O T O R 5 M O T O R 6 PG PG M O T O R 7 M O T O R 8 PG PG CN11 CN12 CN...

Page 66: ...2 I O Signal Connector Specifications 5 12 5 2 3 Example of I O Signal Connections 5 13 5 2 4 Sequence Input Circuit 5 14 5 2 5 Sequence Output Circuit 5 15 5 3 I O Signal Assignments 5 16 5 3 1 I O Signal Setting Parameters 5 16 5 3 2 Parameter Settings 5 16 5 4 Wiring MECHATROLINK III Communications 5 18 5 5 Connecting the Servomotor and Encoder 5 19 5 5 1 Names and Functions of Servomotor and E...

Page 67: ...or application under special envi ronments 5 1 1 Main Circuit Power Supply Terminals CN32 and Control Power Supply Terminals CN31 This section gives the names and specifications of the main circuit power supply terminals and control power supply terminals 1 Type A01 SERVOPACK Connector No Signal Pin No Name Specification CN32 L1 1 2 Main circuit power supply input pin 24 VDC 10 to 15 or 48 VDC 15 ...

Page 68: ...and control power supply terminals are circled in the figure Connector No Signal Pin No Name Specification CN32 L1 1 to 4 Main circuit power supply input pin 24 VDC 10 to 15 or 48 VDC 15 to 10 L2 5 to 8 Main circuit power supply input pin 9 10 Ground pin CN31 L1C 1 Control power supply input pin 24 VDC 15 L2C 2 Control power supply input pin 3 Ground pin ...

Page 69: ...er Supply Cable L1 L2 Control Power Supply Cable L1C L2C Select a cable that can carry the rated current on three bundled lead wire pairs at a surrounding air temperature of 40 C Use wires with a withstand voltage of 100 V or higher Use wires with an insulator outer diameter of 1 85 mm or less You will not be able to connect the cable to the connector if the outer diameter exceeds 1 85 mm If wires...

Page 70: ...s the given value if you control servomotors for eight axes Select the wire size according to the number of axes that you will use Connector Housing Contacts Manufacturer Main circuit power supply connector Cable side VHR 10N SERVOPACK side B10P VH SVH 41T P1 1 J S T Mfg Co Ltd Pin No Signal Name Specification 1 2 3 4 L1 Main circuit power supply input terminal 24 VDC 10 to 15 or 48 VDC 15 to 10 5...

Page 71: ...r Housing Contacts Manufacturer Control power supply connector Cable side VHR 3N Type A01 SERVOPACK side B3PS VH Type A02 SERVOPACK side B3P VH SVH 41T P1 1 J S T Mfg Co Ltd Terminals Signal Name Specification 1 L1C Control power supply input terminal 24 VDC 15 2 L2C Control power supply input terminal 3 FG Ground terminal SERVOPACK Model Power Supply Capacity Power Supply Cable Wires SGDV MDA01E4...

Page 72: ...have large load fluctuations such as motors or solenoids or devices that have surge voltages such as switches Otherwise internal elements may deteriorate and fuses may blow Design a sequence to turn OFF the power supplies to the SERVOPACK if you detect a SERVOPACK error at the host controller Always use molded case circuit breakers or fuses to protect the servo system The SERVOPACK does not have a...

Page 73: ...n alarm occurs SERVOPACK 1KM Isolated AC DC converter for main circuit power supply 1QF R T 2φ 100 VAC 1KM 1KM 1Ry 2 1PL CN32 CN31 CN11 to CN1 1 Isolated AC DC converter for control circuit power supply Main circuit power supply ON Main circuit power supply OFF 1SA 1 2 3 4 5 6 7 8 9 10 1 2 3 5 9 10 4 2 7 8 3 6 1 U V W FG PS PS 5V GND FG FG open 1FLT ENC M 1Ry 2 1QF Molded case circuit breaker 1FLT...

Page 74: ...by the number of controlled motor axes Molded case Circuit Breaker and Fuse Capacities Select the molded case circuit breaker and fuse for the AC side of the input power supply according to the power supply specifications that you will use SERVOPACK Model Main Circuit Power Loss W Control Circuit Power Loss W Total Power Loss W Remarks e g Conditions SGDV MDA01E4M3A 12 14 26 Rated operation for fo...

Page 75: ...omotor directly if the servomotor is insulated from the machine The signal cable conductors are as thin as 0 2 mm2 or 0 3 mm2 Do not impose excessive bending force or ten sion Always use a molded case circuit breaker 1QF or a fuse to protect the servo system from intersystem faults Install a ground fault detector The SERVOPACK does not have a built in protective circuit for grounding To configure ...

Page 76: ... Homing deceleration switch signal Connects the deceleration limit switch for homing 5 3 1 P OT N OT Can be allo cated Forward run prohibited Reverse run prohibited With overtravel prevention Stops servomotor when movable part travels beyond the allow able range of motion 5 3 1 EXT1 to EXT3 Can be allo cated External latch signals 1 to 3 Connects the external signals that latch the current feedbac...

Page 77: ... signal 0 2 SO 0 O Brake output signal 0 3 SO 1 O Brake output signal 1 4 SO 1 O Brake output signal 1 5 SI 0 I Sequence input signal 0 6 24VIN I Control power supply input for sequence signals Operating range 21 6 V to 26 4 V 7 SI 1 I Sequence input signal 1 8 SI 2 I Sequence input signal 2 9 SI 3 I Sequence input signal 3 10 SI 4 I Sequence input signal 4 11 SI 5 I Sequence input signal 5 12 SI ...

Page 78: ...e released when ON Photocoupler output Max operating voltage 30 VDC Max output current 50 mA DC SERVOPACK 2 BK 2 3 24 VIN 24 V 4 7 kΩ 6 SI 1 7 BK 2 Sequence input signal 1 4 BK 3 14 24 VIN 24 V 4 7 kΩ 6 SI 2 8 BK 3 Sequence input signal 2 15 BK 4 17 24 VIN 24 V 4 7 kΩ 6 SI 3 9 BK 4 Sequence input signal 3 18 BK 5 19 24 VIN 24 V 4 7 kΩ 6 SI 4 10 BK 5 Sequence input signal 4 20 BK 6 21 24 VIN 24 V 4...

Page 79: ... circuit or the source circuit according to the specifications required for each machine Note 1 The connection examples in 5 2 3 Example of I O Signal Connections use sinking circuits 2 The ON OFF polarity differs between when a sink circuit is connected and when a source circuit is connected Relay Circuit Example Open collector Circuit Example Sink Circuit Source Circuit Input Signal Polarities I...

Page 80: ...t Note The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits are as follows Voltage 30 VDC Current 5 to 50 mA DC Incorrect wiring or incorrect voltage application to the output circuit may cause short cir cuit If a short circuit occurs as a result of any of these causes the holding brake will not work This could damage the machine or cause an ac...

Page 81: ... Classification Pn590 n 0 factory setting P OT signal assignment disabled After restart Setup n 1 P OT signal assigned Positive drive is enabled when the signal is low n 2 P OT signal assigned Positive drive is enabled when the signal is high Pn591 n 0 factory setting N OT signal assignment disabled After restart Setup n 1 N OT signal assigned Reverse drive is enabled when the signal is low n 2 N ...

Page 82: ...signal SI 3 9 After restart Setup n 4 Selects sequence input signal SI 4 10 After restart Setup n 5 Selects sequence input signal SI 5 11 After restart Setup n 6 Selects sequence input signal SI 6 12 After restart Setup n 7 Selects sequence input signal SI 7 13 After restart Setup Parameter Meaning When Enabled Classification Pn596 n 0 factory setting BK signal assignment disabled After restart Se...

Page 83: ...o the following procedure Slide the lock injector of the connector to the SERVOPACK side to unlock and remove the MECHA TROLINK III communications cable connectors Note The MECHATROLINK III communications cable connector may be damaged if it is removed without being unlocking Ln L1 L2 DC24V DC 0V MP2300 YASKAWA TEST Option Option RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU ...

Page 84: ...ons of servomotor and encoder connection signals CN11 to CN1 1 Type A01 SERVOPACK Connector No Symbol Pin No Name Specification CN11 to CN14 PS 2 Differential serial signal Encoder differential serial signal input 7 Differential serial signal PG 5V 8 Encoder power supply Encoder power supply 5 V GND 3 Encoder power supply U 5 Servomotor connection pin for phase U Connect these pins to the servomot...

Page 85: ...CN14 Connector No Symbol Pin No Name Specification CN11 to CN18 PS 2 Differential serial signal Encoder differential serial signal input 7 Differential serial signal PG 5V 8 Encoder power supply Encoder power supply 5 V GND 3 Encoder power supply U 5 Servomotor connection pin for phase U Connect these pins to the servo motor V 9 Servomotor connection pin for phase V W 10 Servomotor connection pin ...

Page 86: ...coder 1 The box is replaced by a number For a type A01 SERVOPACK the number is 4 For a type A02 SERVOPACK the number is 8 2 represents shielded twisted pair wires 3 When using an absolute encoder provide power by installing an encoder cable with a JUSP BA01 E Battery Case CN11 to CN1 1 M Incremental encoder Shielded wire Shielded wire Shell Connector shell SERVOPACK 2 2 U V W FG PS PS PG5V PG0V 2 ...

Page 87: ...e displayed even if the battery voltage drops below the specified value after these 4 seconds If Pn008 0 is set to 1 The battery voltage is monitored for continuously after the control power supply has been ON for approx 5 seconds If you use the encoder as an absolute encoder use one of the encoder cables with a battery case specified by Yaskawa Refer to 2 4 2 Servomotor Encoder Relay Cables for t...

Page 88: ...ery 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 SERVOPACK operates normally A Open the cover To the SERVOPACK B Mount the JZSP BA01 battery To the SERVOPACK Encoder Cable C Close the cover To the SERVOPACK If the SERVOPACK control power supply is turne...

Page 89: ...he SERVOPACK has a built in microprocessor CPU so protect it from external noise as much as possible by installing a noise filter in the appropriate place The following is an example of wiring for noise control 1 For ground wires connected to the ground plate use a thick wire preferably plain stitch copper wire 2 should be twisted pair wires 3 When using a noise filter follow the precautions in 5 ...

Page 90: ...ly 5 6 2 Precautions on Connecting Noise Filter This section describes the precautions on installing a noise filter 1 Noise Filter Brake Power Supply If using a servomotor with a holding brake use the following noise filter on the brake power supply input Model FN2070 6 07 Manufactured by SCHAFFNER Electronic 2 Precautions on Using Noise Filters Always observe the following installation and wiring...

Page 91: ...o other ground wires 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 The ground wire can be close to input lines Noise Filter Noise Filter Correct Incorrect Ground plate Ground plate Correct Incorrect Shielded ground wire N...

Page 92: ...e IP Address in the Computer 6 2 6 3 2 Setting the IP Address in the SERVOPACK 6 3 6 3 3 Initializing the Communications Settings 6 4 6 4 Starting and Operating the SigmaWin 6 5 6 5 Parameters Pn 6 7 6 5 1 Parameter Classification 6 7 6 5 2 Notation for Parameters 6 7 6 5 3 Setting Parameters 6 8 6 6 Monitor Operations 6 12 ...

Page 93: ...et to connect the computer where the SigmaWin is installed to the SERVOPACK Before you make the Ethernet connection you must set the IP address in the computer The setting procedures for the IP addresses in the computer and SERVOPACK are given in the following sections Note Use either a straight or cross cable to connect the computer 6 3 1 Setting the IP Address in the Computer Use the following p...

Page 94: ...any IP address in the IP address box and enter 255 255 255 0 in the Subnet mask box Click OK to close the dialog box 6 3 2 Setting the IP Address in the SERVOPACK Use the parameter to set the IP address Parameter Factory Remarks Pn030 Ethernet IP Address Setting 192 168 1 1 Setting Method 192 168 1 2 Pn030 byte 1 Pn030 byte 2 Pn030 byte 3 Pn030 byte 4 Example for 192 168 1 2 Pn030 C0A80102H ...

Page 95: ...e communications initialization pin the SERVOPACK will start with the following commu nications settings Note Pn880 Pn881 and Pn030 are not initialized CN32 CN31 1 2 ON OFF Communications setting switch S1 1 2 OFF ON Pin on S1 Function Setting 1 Initializing the commu nications settings OFF Normal mode factory setting ON Initializes the communications settings 2 Reserved Do not use OFF Do not chan...

Page 96: ...ervo System Configurations 2 Turn on the SERVOPACK 3 Turn on the computer 4 Double click the YE_Applications icon 5 Double click the SigmaWin English Edition icon The SigmaWin startup window will appear When the startup of SigmaWin has been completed the Connect window will appear 6 Click Search The Search Condition Setting box will appear Note Use the offline mode when running SigmaWin without co...

Page 97: ...A message will appear first to indicate that a search is being carried out and then the search results will be shown in the Connect window 9 Select the SERVOPACK to be connected 10 Click Connect The SigmaWin main window will appear ...

Page 98: ...dividually Tuning Parameters Parameters for tuning control gain and other parameters There is no need to set each parameter individually Pn406 Emergency Stop Torque Setting Range 0 to 800 1 800 After change Setting Unit Factory Setting When Enabled Classification Setup Parameter number Position Torque The control methods for which the parameters applies Speed Speed control Position control Torque ...

Page 99: ...er Editing dialog box Using the Online Parameter Editing dialog box These methods are described below 1 Using the Parameter Editing Dialog Box 1 In the SigmaWin main window click Parameters Edit Parameters 2 Select a parameter to edit If the parameter cannot be seen in the Parameter Editing dialog box click the arrows to view the param eter ...

Page 100: ...lue to be set For parameters for selecting functions Click the arrow to open the setting list for each digit and select one item in each list 5 Click OK 6 Click Write The new parameter settings will be saved in the SERVOPACK This completes the editing of the parameter If the following window appears go to step 7 7 Click OK 8 To enable the change in the setting restart the SERVOPACK ...

Page 101: ...Editing dialog box will appears 2 Click Setup The Set Parameters box will appear Values edited in the Online Parameter Editing dialog box are immediately changed in the SERVOPACK If the power to the SERVOPACK is turned OFF or the communication between the SERVOPACK and the SigmaWin is interrupted while editing parameters online the edited values will not be saved in the SERVOPACK ...

Page 102: ...arameter to edit and then click OK The Set Parameters box will appear again 5 Click OK The Online Parameter Editing dialog box will appear again 6 Click the setting arrows to change the value of the setting If an allowable range is specified set the value within that range The value of the parameter in the SERVOPACK will immediately change to the new value ...

Page 103: ...tor values 1 Select Monitor Monitor from the menu bar of the SigmaWin main window The following window appears The items that you can monitor are displayed 2 Select the check boxes on the left side of the items to monitor The current values are displayed in the value columns ...

Page 104: ...ettings 7 9 7 3 4 Holding Brakes 7 10 7 3 5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence 7 14 7 3 6 Setting Motor Overload Detection Level 7 15 7 4 Trial Operation 7 17 7 4 1 Inspection and Checking before Trial Operation 7 17 7 4 2 Trial Operation via MECHATROLINK III 7 18 7 4 3 Electronic Gear 7 19 7 5 Limiting Torque 7 22 7 5 1 Internal Torque Limit 7 22 7 5 2 Checking the Torq...

Page 105: ...u changed 2 Set the axis address of any axis that you will not use to a value that is higher than the maximum number of SERVOPACKs that can be connected e g 8 or higher If you enter a value that is higher than the maximum number of SERVOPACKs that can be connected the SERVOPACK detects that the axis is not used 3 Set Pn010 to Pn01B in order starting from 0 Do not set the same value more than once ...

Page 106: ... than once alarm A E42 will occur and the factory settings will be restored 7 1 3 Setting the Number of Transmission Bytes for MECHATROLINK III Set the number of transmission bytes in Pn881 SGDV MDA02E8M3A CN11 CN12 CN13 CN14 CN15 CN16 CN17 CN18 M PG M PG M PG M PG M PG M PG Pn010 Pn011 Pn012 Pn013 Pn014 Pn015 Pn016 Pn017 Factory set axis address settings 0 1 2 3 4 5 6 7 Not used Not used Axis 1 A...

Page 107: ...ng the polarity of the speed position reference The standard setting for forward rotation is counterclockwise CCW as viewed from the load end of the ser vomotor Note SigmaWin trace waveforms are shown in the above table Parameter Forward Reverse Reference Direction of Motor Rotation Pn000 n 0 Sets CCW as forward direction Factory setting Forward Reference Reverse Reference n 1 Sets CW as forward d...

Page 108: ...applied in overtravel Vertical axes Occurrence of overtravel may cause a workpiece to fall because the BK signal is on that is when the brake is released Set the parameter Pn001 n 1 to bring the servomotor to zero clamp state after stopping to prevent a workpiece from falling Other axes to which external force is applied Overtravel will bring about a baseblock state after the servomotor stops whic...

Page 109: ...or stopping method when an overtravel P OT N OT signal is input while the servomotor is operating can be set with parameter Pn001 A servomotor under torque control cannot be decelerated to a stop Coast status is maintained after the ser vomotor coasts to a stop For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs refer to 7 3 5 Stopping Servomotors aft...

Page 110: ...irection from the reference Example A warning will not be output for a forward reference even if the N OT signal reverse run prohibited turns ON A warning can be detected in either the forward or reverse direction when there is no reference A warning will not be detected when the servomotor power is OFF even if overtravel occurs A warning will not be detected when the servomotor power changes from...

Page 111: ...ration may be affected when an overtravel warning occurs e g motion may stop or not stop Confirm the specifications and programming in the host control ler When an overtravel occurs the SERVOPACK will perform stop processing for overtravel Therefore when an overtravel warning occurs the servomotor may not reach the target position specified by the host con troller Check the feedback position to ma...

Page 112: ...e enabled even if a software limit is exceeded The ZRET command has been executed REFE 1 using the POS_SET command Enable or disable the software limits using one of the following settings 2 Software Limit Setting Set software limits value in the forward and reverse directions Because the limit zone is set according to the forward or reverse direction the reverse limit must be less than the forwar...

Page 113: ...ce from the host controller to the SERVOPACK 3 Use Pn506 Pn507 and Pn508 to set the timing of when the brake will be activated and when the servomotor power will be turned OFF The brake built into the servomotor with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped servomotor Model Voltage Brake Release Time ms...

Page 114: ...rake power supply 1 ࠉBK RY Brake control relay Brake power supply for 24 VDC is not included 2 ࠉThe box is replaced by a number For a type A01 SERVOPACK the number is 4 For a type A02 SERVOPACK the number is 8 Always connect a surge absorber After the surge absorber is connected check the total time the brake is applied for the system Depending on the surge absorber the total time the brake is app...

Page 115: ...l ON during overtravel and the brake is still released Pn506 Brake Reference Servo OFF Delay Time 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 on the brake ON timing due to gravity or an external force To eliminate this slight shift ...

Page 116: ...ctory Setting When Enabled 0 to 10000 1 min 1 100 Immediately Setup Waiting Time for Brake Signal When Motor Running Classification Pn508 Setting Range Setting Unit Factory Setting When Enabled 10 to 100 10 ms 50 Immediately Setup Speed Position Torque Speed Position Torque BK Signal Output Conditions When Servomotor Rotating The BK signal goes to high level brake ON when either of the fol lowing ...

Page 117: ...RVOPACK will deteriorate if turning the power supply ON and OFF or starting and stopping the servomotor during the servo ON status while there is a reference input Use a speed reference or position reference to start and stop the servomotor If turning OFF the main circuit power supply or the control power supply during opera tion without turning OFF the servo the servomotor will coast to a stop In...

Page 118: ...g 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 Pn52B is changed from 20 to 50 An overload warning is detected in half of the time require...

Page 119: ... of base current at detecting overload of motor Pn52C Derating of motor base current A graph of the relation between the size of the heat sink and derating is provided in 3 1 4 Heat Dissipation Conditions Use this graph as a guild for the heat dissipation conditions of the motor Changing the setting of Pn52C will change the detection timing of the overload alarm so the time required to detect the ...

Page 120: ...rforming trial operation if any problem exists Are all wiring and connections correct Are all nuts and bolts securely tightened Note When performing trial operation on a servomotor that has been stored for a long period of time perform the inspec tion according to the procedures described in AC Servomotor Safety Precautions Manual No TOBP C230200 00 2 SERVOPACKs Inspect and check the following ite...

Page 121: ...tational direction of servomotor Overtravel 7 4 3 Electronic Gear 7 3 1 Servomotor Rotation Direction 7 3 2 Overtravel 6 Save these settings step 5 If saving the settings in the host controller use the SVPRM_WR com mand set the mode to RAM area If saving the settings in the SERVOPACK use the SVPRM_WR com mand set the mode to the non volatile memory area Σ V MD Series User s Manual MECHATROLINK III...

Page 122: ...ot using an electronic gear when a workpiece is moved 10 mm in the following configuration A Calculate the revolutions 1 revolution is 6 mm Therefore 10 6 revolutions B Calculate the required reference units 131072 reference units is 1 revolution Therefore 10 6 131072 218453 33 reference units C Input 218453 references as reference units Reference units must be calculated per reference complicated...

Page 123: ... Range Setting Unit Factory Setting When Enabled 1 to 1073741824 1 1 After restart Setup PnA44 Electronic Gear Ratio Denominator Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 1 1 After restart Setup Position Position Electronic gear ratio A B A44 A42 n m Encoder resolution Travel distance per load shaft revolution reference units Electronic gear ratio setti...

Page 124: ...17 bit 131072 17 bit 3 Determine the reference unit used Reference unit 0 001 mm 1 μm Reference unit 0 01 Reference unit 0 005 mm 5 μm 4 Calculate the travel dis tance per load shaft revo lution Reference unit 6 mm 0 001 mm 6000 360 0 01 36000 314 mm 0 005 mm 62800 5 Calculate the electronic gear ratio 6 Set parameters PnA42 131072 PnA42 13107200 PnA42 6553600 PnA44 6000 PnA44 36000 PnA44 62800 Ba...

Page 125: ...V MD Series User s Manual MECHATROLINK III Standard Servo Profile Commands Manual No SIEP S800001 03 for details on the servo profile commands Limiting Method Description Reference Section Internal torque limit Always limits torque by setting the parameter 7 5 1 Internal Torque Limit Torque limit with the com mand data TLIM Limits torque by using the command data TLIM for torque lim iting function...

Page 126: ...lute encoder setup They cannot be canceled with the SERVOPACK Clear Warning or Alarm command ALM_CLR Encoder backup error alarm A 810 Encoder checksum error alarm A 820 Any other alarms A 8 that monitor the inside of the encoder should be canceled by turning OFF the power 2 Preparation Always confirm that the servo is OFF before you set up initialize the absolute encoder or reset encoder alarms 3 ...

Page 127: ...to adjust before you continue A warning message will appear confirming if you want to continue the processing Click Cancel to return to the main window without resetting the absolute encoder 3 Click Continue The Absolute encoder Setup box will appear The Alarm Name box displays the code and name of the alarm that is occurring now 4 Click Execute setting A verification message will appear confirmin...

Page 128: ...eset conditions error occurs and the processing is aborted Click OK to return to the main window If Setup Completes Normally If the encoder is set up successfully a warning message will appear reminding you that the coordinate system has changed and must also be reset 6 Click OK to return to the main window 7 To perform an origin search restart the SERVOPACK ...

Page 129: ...setting Pn48 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 Pn48 is set to 99 Pn48 100 1 99 Note This parameter is valid when the absolute encoder is used The range of the data will vary when this parameter is set to anything other than the factory setting 1 When the motor rotates in the reverse direct...

Page 130: ... 27 7 Operation Set the vale the desired rotrational amount 1 to Pn205 Factory Setting Other Setting 32767 32768 Motor rotations 0 Rotational data Reverse Forward 0 Motor rotations PnA48 setting value Reverse Forward Rotational data ...

Page 131: ...an be performed with the write memory command MEM_WR Refer to the Σ V MD Series User s Manual MECHATROLINK III Standard Servo Profile Commands Manual No SIEP S800001 03 for details on the Write Memory MEM_WR command 1 In the SigmaWin main window click Setup Set Absolute Encoder Multi Turn Limit Setting Supplemental Information If you are using more than one axis the Axis Selection Dialog Box is di...

Page 132: ...tings are changed to the new ones 6 Restart the SERVOPACK Because only the settings for the SERVOPACK were made the settings for the servomotor are still incomplete and an alarm occurs 7 Return to the SigmaWin main window To make the settings for the servomotor click Setup Multi Turn Limit Setting again A verification message will appear confirming if you want to continue although the position dat...

Page 133: ...the machine coordinate system APOS can be set Use PnA46 to make the setting After the SENS_ON command is received by MECHA TROLINK communications this parameter will be enabled Example If the encoder position X is set at the origin of the machine coordinate system 0 PnA46 X PnA46 Absolute Encoder Origin Offset Classification Setting Range Setting Unit Factory Setting When Enabled 1073741823 to 107...

Page 134: ...6 8 4 Advanced Autotuning by Reference 8 37 8 4 1 Advanced Autotuning by Reference 8 37 8 4 2 Advanced Autotuning by Reference Procedure 8 39 8 4 3 Related Parameters 8 45 8 5 One parameter Tuning 8 46 8 5 1 One parameter Tuning 8 46 8 5 2 One parameter Tuning Procedure 8 46 8 5 3 One parameter Tuning Example 8 59 8 5 4 Related Parameters 8 60 8 6 Anti Resonance Control Adjustment Function 8 61 8 ...

Page 135: ...s 8 77 8 8 2 Manual Adjustment of Friction Compensation 8 81 8 8 3 Current Gain Level Setting 8 83 8 8 4 Speed Detection Method Selection 8 83 8 9 Compatible Adjustment Function 8 84 8 9 1 Feedforward Reference 8 84 8 9 2 Mode Switch P PI Switching 8 85 8 9 3 Torque Reference Filter 8 87 ...

Page 136: ...ribes the following utility adjustment functions Utility Function for Adjustment Outline Applicable Control Method Tuning less Levels Setting This function is enabled when the factory settings are used This function can be used to obtain a stable response regardless of the type of machine or changes in the load Speed and Position Advanced Autotuning You can automatically adjust the following from ...

Page 137: ... host reference from the SigmaWin Refer to 8 4 Advanced Autotuning by Reference Results OK Yes Results OK Yes Completed No No Results OK No Completed Yes Completed 1 Adjust using Tuning less Function Runs the servomotor without any adjustments Refer to 8 2 Tuning less Function Results OK Yes No 4 Adjust using One parameter Tuning Execute custom tuning from the SigmaWin Refer to 8 5 One parameter T...

Page 138: ...g status of the machine and the signal waveform Use data tracing from the SigmaWin to monitor signal waveforms from the SERVOPACK This section describes data tracing from the SigmaWin Refer to the SigmaWin Online Manual for details 1 Trace Main Window Select Trace Trace from the menu bar of the SigmaWin Component main window The following dialog box appears Trace Main Window ...

Page 139: ...ce time is the sampling time multiplied by the number of data items Trace Object Setting Data 1 Data 2 Data3 Select content such as Torque Reference Feedback Speed etc identical to the analog monitor as trace objects from the data boxes The line color for Data1 Data2 Data3 can be set here The settings are as follows I O 1 I O 2 I O 3 You can select input signals such as EXT1 P OT or N OT and outpu...

Page 140: ...1 2 and 3 or No Trigger If No Trigger is selected the trigger will be applied at the time the START button is clicked Also the set tings for Trigger Level Trigger trigger type and Pre Trigger will be unavailable Box Selection List for Triggers Trigger Level Designate the standard for determining when the trigger starts The units for the setting are the same as those of the trigger object selected ...

Page 141: ...en the change is from HI to LO in I O Change Edge The trigger is detected if the trigger object crosses the Trigger Level in any way When the signal level changes in I O Above the Trigger The trigger is detected when the trigger object data is above the trigger level Cannot be selected for I O Below the Trigger The trigger is detected when the trigger object data is below the trigger level Cannot ...

Page 142: ... Adjustment Procedure 8 9 8 Adjustments Starting on a Trigger Click Start in the Trace main window and the SigmaWin will wait for the trigger The window below appears while waiting for the trigger Dialog Box While Waiting for a Trigger ...

Page 143: ...e SERVOPACK starts transferring data to the SigmaWin When the data transfer is completed the Trace main window appears Note 1 The trigger sometimes cannot be detected in less than 2ms due to the relationship of the detection period 2 If the sampling time is lengthened SigmaWin may continue to wait for the trigger even after the trigger has been applied SigmaWin waits because data for the sampling ...

Page 144: ...8 1 Type of Adjustments and Basic Adjustment Procedure 8 11 8 Adjustments 4 Displaying Trace Results This Trace main window displays a graph based on the trace settings Dialog Box Showing Trace Results ...

Page 145: ...e reference The position error indicates the difference between the position reference value and the actual motor position The position error can be calculated from the position loop gain PnAC6 and the motor speed with the follow ing equation Excessive Position Error Alarm Level Pn520 1 reference unit Refer to 7 4 3 Electronic Gear At the end of the equation a coefficient is shown as 1 2 to 2 This...

Page 146: ...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 Related Alarm 3 Vibration Detection Function Set the vibration detection function to an appropriate value with the vibration detection level initialization For details on how to set the vibration detection fu...

Page 147: ...e SV_ON command is received For details on the automatic notch filter refer to 3 Automatically Setting the Notch Filter on the next page If vibration occurs set the load level to tuning less load level 2 in parameter Pn170 or lower the rigidity level Parameter Meaning When Enabled Classification Pn170 n 0 Disables tuning less function After restart Setup n 1 Factory setting Enables tuning less fun...

Page 148: ...vailable the rigidity level and load level Both levels can be set in the Pn170 parameter Rigidity Level Load Level Parameter Meaning Meaning Classification Pn460 n 0 Does not set the 2nd notch filter automatically with utility function Immediately Tuning n 1 Factory setting Set the 2nd notch filter automatically with utility function Parameter Meaning When Enabled Classification Pn170 n 0 Tuning l...

Page 149: ...function 1 Preparation Confirm that the tuning less function is enabled Pn170 0 1 before you set the tuning less levels 2 Operating Procedure Use the following procedure 1 In the SigmaWin main window click Parameters Edit Parameters The Parameter Editing dialog box will appear CAUTION To ensure safety perform the tuning less function in a state where the SERVOPACK can come to an emergency stop at ...

Page 150: ...tion 8 17 8 Adjustments 2 Select Pn170 in the Parameter Editing dialog box If Pn170 cannot be seen in the Parameter Editing dialog box click the arrows to view the parameter 3 Click Edit The Edit box for Pn170 will appear ...

Page 151: ...ing less levels in the Tuning less Level list The higher the value of the level is the higher the gain will be A higher gain means better response Note 1 If the tuning less level is too high vibration might occur Lower the level if vibration occurs 2 If the tuning less level is changed the automatically set notch filter will be canceled disabled If any vibration occurs the notch filter will automa...

Page 152: ...3 Related Parameters The following parameters are automatically adjusted when the tuning less function is executed After you enable the tuning less function do not change the following parameters e g from the SigmaWin Parameters Disabled by Tuning less Function Related Functions and Parameters Item Pn Number Pn Number Mechani cal Analysis Vertical Axis Mode Easy FFT Mechanical Analysis Vertical Ax...

Page 153: ... with the influence of the moment of inertia ratio Pn103 machine friction and external disturbance Travel distance The travel distance can be set freely The distance is factory set to a value equivalent to 3 motor rotations Advanced autotuning starts adjustments based on the set speed loop gain PnAC2 Therefore precise adjustments cannot be made if there is vibration when starting adjustments In th...

Page 154: ... details on advanced autotuning with a reference input Refer to 8 5 One parameter Tuning for details on one parameter tuning 3 When Advanced Autotuning Cannot Be Performed Successfully Advanced autotuning cannot be performed successfully under the following conditions Refer to 8 4 Advanced Autotuning by Reference and 8 5 One parameter Tuning for details The operating range is not applicable The mo...

Page 155: ...rm advanced autotuning Pn561 Overshoot Detection Level Classification Setting Range Setting Unit When Enabled When Enabled 0 to 100 1 100 Setup Setup Speed Position Torque CAUTION When using the SERVOPACK without calculating the load moment of inertia 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 ...

Page 156: ...isplayed Follow the instructions in the Axis Selection Dialog Box to select the axis to adjust before you continue The following window will appear Click Cancel to return to the SigmaWin main window without executing tuning 2 Click Execute The following window will appear Supplemental Information If the moment of inertia ratio is already decided click Edit and enter the moment of inertia ...

Page 157: ... execute identification again Edit Click Edit to view the Speed Loop Related Setting Change box or the Identification Start Level Setting Change box Help Click Help to open the window for guidelines on the reference condition settings Run the motor to measure the load s inertial moment mass of the machine to compare it with the rotor s inertial moment of the motor in the moment of inertia mass rat...

Page 158: ...s limited the moment of inertia mass ratio identification cannot be made correctly Adjust the setting of the limit or decrease the acceleration in Reference Selection so that the torque force will not be limited CAUTION The amount of movement is the value for each operation a forward run or a reverse run After several opera tions the operation starting position may have moved in either direction C...

Page 159: ...t is unavailable and cannot be selected Back Click Back to return to the Condition Setting box The Back button is unavailable during a data trans fer Next The Next button is available if the data is transferred successfully If an error occurs or if the transmis sion is interrupted it is unavailable and cannot be selected Click Next to view the Operation Measurement box Cancel Click Cancel to stop ...

Page 160: ...nts and the data transmission are finished the following window will appear 10 Repeat steps 7 through 9 until all the measurements have been taken Measurements will be made from two to seven times and then verification will be performed 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...

Page 161: ...ACK parameter Pn103 Pn103 Moment of Inertia Mass Ratio Displays the value assigned to the parameter Click Writing 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 Supplement When Next is clicked without turning to the servo OFF status the following message appears Click OK to t...

Page 162: ... in the Pn103 Moment of Inertia Ratio are the same click Finish The following window will appear 15 Click OK The following window will appear 16 Click Execute to save the change of Pn103 Moment of Inertia Mass Ratio to SERVOPACK After the saving is finished the tuning main window will appear This completes the moment of inertia mass identification procedure ...

Page 163: ...t a host reference 1 Select the No reference input option under Reference input from host controller in the Tuning main window and then click Autotuning The following window will appear Supplemental Information To execute moment of inertia mass identification set the Load Moment of Inertia Load Mass Identifi cation Switch parameter to 0 identify moment of inertia ...

Page 164: ...from the Mode selection box the mechanism from the Mechanism selection box and enter the moving distance Then click Next When the Start tuning using the default settings check box is selected in the Autotuning Setting Con ditions box tuning will be executed using the tuning parameters set to the default values 3 Click Servo ON The following window will appear 4 Click Start tuning The following box...

Page 165: ... light up 6 When tuning is completed click Finish to return to the main window The results of tuning will be written in the parameters 3 Troubleshooting Problems with Advanced Autotuning Use the following tables to troubleshoot problems with advanced autotuning Inability to Execute Advanced Autotuning Probable Cause Corrective Actions The main circuit power supply was OFF Turn ON the main circuit ...

Page 166: ...m mended to set the number of motor rota tions to around 3 The positioning was not completed within approximately 10 seconds after positioning adjustment was completed The positioning completed width is too nar row or proportional control P control is being used Increase the set value for PnACC Set 0 to V_PPI in the servo command output signals SVCMD_IO Probable Cause Corrective Actions The SERVOP...

Page 167: ... you set this function to Auto Setting vibration will be automatically detected during execution of auto tuning without a host reference and vibration suppression control will be automatically adjusted and set Set this function to Not Auto Setting if you do not change the setting for vibration suppression before executing autotuning without a host reference Note This function uses model following ...

Page 168: ...ogether with the speed feedforward VFF input and torque feedforward TFF input from the host controller Refer to the Σ V MD Series User s Manual MECHATROLINK III Standard Servo Profile Commands Manual No SIEP S800001 03 for information on the speed feedforward VFF input and torque feedforward TFF input Mode Selection Setting Set to 1 Set to 2 1 Set to 3 1 Friction Compensation According to Pn408 3 ...

Page 169: ...unction Switch Yes Pn409 1st Notch Filter Frequency Yes Pn40A 1st Notch Filter Q Value Yes Pn40C 2nd Notch Filter Frequency Yes Pn40D 2nd Notch Filter Q Value Yes Pn140 Model Following Control Related Switch Yes Pn141 Model Following Control Gain Yes Pn142 Model Following Control Gain Compensation Yes Pn143 Model Following Control Bias Forward Direction Yes Pn144 Model Following Control Bias Rever...

Page 170: ...erally to fine tune the SERVOPACK after advanced auto tuning of the SERVOPACK has been performed For advanced autotuning with a reference input set the moment of inertia ratio Pn103 and then use the Sig maWin to execute autotuning with a host reference Advanced autotuning by reference starts adjustments based on the set speed loop gain PnAC2 Therefore precise adjustments cannot be made if there is...

Page 171: ...n detection level PnB1C The stopping time was 10 ms or shorter 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 PnACC is too small Refer to 8 5 One parameter Tuning for details on one parameter tuning Change onl...

Page 172: ...h a Host Reference Use the following procedure 1 Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning 2 In the SigmaWin main window click Tuning Tuning Click Cancel to return to the SigmaWin main window without executing tuning 3 Click Execute The following window will appear CAUTION If you use phase control with an MP2000 series Controller set the mode...

Page 173: ...y Reference Procedure 8 40 4 Click OK The following window will appear 5 Select the Position reference input option under Reference input from host controller in the Tuning main window and then click Autotuning The following window will appear ...

Page 174: ...ombo box and then click Next When the Start tuning using the default settings check box is selected in the Autotuning Setting Con ditions box tuning will be executed using tuning parameters set to the default value 7 Click Yes The following box will appear 8 Enter the correct moment of inertia ratio and then click Next The following window will appear ...

Page 175: ...unctions used for the setting will light up 11 When tuning is completed click Finish to return to the main window The results of tuning will be written in the parameters 2 Troubleshooting Problems with Advanced Autotuning by Reference Use the following tables to troubleshoot problems with advanced autotuning by reference Inability to Execute Advanced Autotuning by Reference Probable Cause Correcti...

Page 176: ...tion is occurring or position ing completion is not stable when the servo motor is stopped Increase the set value for PnACC Change the setting of the mode selection from 2 to 3 If machine vibration occurs suppress the vibration with the anti resonance control adjustment function and the vibration sup pression function The positioning was not completed within approximately 10 seconds after position...

Page 177: ...n140 is set to the factory setting and the mode selection is set to 2 or 3 when autotuning is executed the feedforward gain PnAC8 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 host controller Refer to the Σ V MD Series User s Ma...

Page 178: ...on No Pn125 Friction Compensation Gain Correction Yes Pn401 Torque Reference Filter Time Constant Yes Pn408 Torque Related Function Switch Yes Pn409 1st Notch Filter Frequency Yes Pn40A 1st Notch Filter Q Value Yes Pn40C 2nd Notch Filter Frequency Yes Pn40D 2nd Notch Filter Q Value Yes Pn140 Model Following Control Related Switch Yes Pn141 Model Following Control Gain Yes Pn142 Model Following Con...

Page 179: ... tuning The tuning less function must be disabled Pn170 0 0 The tuning mode must be set to 0 or 1 when performing speed control The write prohibited setting parameter must be set to Write permitted 8 5 2 One parameter Tuning Procedure The following procedure is used for one parameter tuning There are the following two operation procedures depending on the tuning mode that you use When the tuning m...

Page 180: ...cel to return to the SigmaWin main window without executing tuning WARNING Be sure to carefully read the SigmaWin Operation Manual before executing this function Special care must be taken for the following Before executing this function make sure that the emergency stop power off can be activated when needed When tuning is initiated by this function some parameters will be overwritten with the re...

Page 181: ...ute The following window will appear Supplement If the following window will appear click OK and confirm that the correct moment of inertia ratio in Pn103 is set by using the Moment of Inertia Mass Setting window 4 Click Advanced adjustment The following box will appear ...

Page 182: ...g The following box will appear The tuning modes that can be selected will vary according to the SERVOPACK setting 6 Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box and then click Next The following box will appear ...

Page 183: ...e parameter Tuning Procedure 8 50 7 Enter the correct moment of inertia ratio and then click Next The following window will appear 8 Turn the servo on and then input the reference from the host controller Click Start tuning ...

Page 184: ...sitioning Completion signal is output The notch filter anti resonance control auto setting function the anti resonance control adjustment func tion or autotuning by reference can be used as required See Functions To Suppress Vibration for details To reset to the original settings and status click Back 10 When tuning is complete click Completed to return to the main window The settings will be writ...

Page 185: ...ning in the Tuning box that will appear The Custom Tuning Mode selection box will appear The tuning modes that can be selected will vary according to the SERVOPACK setting 2 Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box and then click Next The Friction compensation option is available only when the tuning mode is set to 0 or 1 The Custom Tuning ...

Page 186: ...5 One parameter Tuning 8 53 8 Adjustments 3 Click Next The Custom Tuning Adjust box will appear 4 Turn the servo on and input the reference from the host controller Then click Start tuning to begin tuning ...

Page 187: ... Supplemental Information 1 The feed forward level is not applied until the positioning completed signal is output 2 When the tuning mode is set to 0 or 1 change the tuning level by clicking the setting arrows After you change the tuning level proceed to step 7 6 Change the feedback level by clicking the setting arrows Continue to raise the level until no overshoot occurs ...

Page 188: ...ter anti resonance control auto setting function the anti resonance control adjustment function the vibration suppression function or autotuning by reference can be used as required 2 To reset to the original settings and status click Back 8 When tuning is complete click Completed The settings will be written in the SERVOPACK ...

Page 189: ...et notch filter frequency or anti resonance control frequency does not effectively suppress vibration click Cancel to reset to the preceding frequency When the frequency is reset vibration detection will restart Vib Detect vibration detection While the notch filter anti resonance control adjustment auto setting function is enabled click Vib Detect vibration detection to manually detect vibration T...

Page 190: ...lubricant such as the grease on the sliding parts of the machine Changes in the friction resistance resulting from variations in the machine assembly Changes in the friction resistance due to aging Conditions to which friction compensation is applicable depend on the tuning mode 1 The friction compensation function is always enabled regardless of the friction compensation setting in Pn408 3 2 For ...

Page 191: ... feedforward VFF input and torque feedforward TFF input Parameter Function When Enabled Classification Pn140 n 0 Factory setting Model following control is not used together with the speed torque feedforward input Immediately Tuning n 1 Model following control is used together with the speed torque feedforward input Model following control is used to make optimum feedforward settings in the SERVO ...

Page 192: ...saved in the SERVOPACK If overshooting 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 th...

Page 193: ...ion Compensation Gain Correction Yes Pn401 Torque Reference Filter Time Constant Yes Pn408 Torque Related Function Switch Yes Pn409 1st Notch Filter Frequency Yes Pn40A 1st Notch Filter Q Value Yes Pn40C 2nd Notch Filter Frequency Yes Pn40D 2nd Notch Filter Q Value Yes Pn140 Model Following Control Related Switch Yes Pn141 Model Following Control Gain Yes Pn142 Model Following Control Gain Compens...

Page 194: ...not be set to torque control The write prohibited setting parameter must be set to Write permitted CAUTION If this function is executed related parameters will be set automatically Therefore there will be a large response change after this function is executed Enable the function in a state where the machine can come to an emergency stop at any time to ensure the safety operation of the machine Be...

Page 195: ...taken for the following Before executing this function make sure that the emergency stop power off can be activated when needed This function will automatically set parameters when used As a result the response speeds may change considerably after execution Before executing this function make sure that the emergency stop power off can be activated when needed The moment of inertia mass must be cor...

Page 196: ...g Tuning Supplemental Information If you are using more than one axis the Axis Selection Dialog Box is displayed Follow the instructions in the Axis Selection Dialog Box to select the axis to adjust before you continue The following window will appear In the SigmaWin main window click Tuning Tuning 2 Click Execute The following window will appear ...

Page 197: ...Procedure 8 64 3 Click Advanced adjustment The following box will appear 4 Click Custom tuning The following box will appear 5 Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box and then click Next The following box will appear ...

Page 198: ...ments 6 Enter the correct moment of inertia ratio and then click Next The following window will appear 7 Click Anti res Ctrl Adj The following window will appear 8 Click Auto Detect to set the frequency and click Start adjustment The following window will appear ...

Page 199: ...urn to the main window The set values will be written in the SERVOPACK 2 With Determined Vibration Frequency 1 In the SigmaWin main window click Tuning Tuning Supplemental Information If you are using more than one axis the Axis Selection Dialog Box is displayed Follow the instructions in the Axis Selection Dialog Box to select the axis to adjust before you continue The following window will appea...

Page 200: ...sonance Control Adjustment Function 8 67 8 Adjustments 2 Click Execute The following window will appear 3 Click Advanced adjustment The following box will appear 4 Click Custom tuning The following box will appear ...

Page 201: ... the tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box and then click Next The following box will appear 6 Enter the correct moment of inertia ratio and then click Next The following window will appear 7 Click Anti res Ctrl Adj The following window will appear ...

Page 202: ... to their original values during adjustment 11 When the adjustment is complete click Finish to return to the main window The set values will be written in the SERVOPACK 8 6 3 Related Parameters The following parameters are either referenced or automatically changed during execution of the anti reso nance control adjustment function Do not change the settings of these parameters from the SigmaWin d...

Page 203: ...s the vibration effectively If the result is not satisfactory perform anti resonance control adjustment function or one parameter tuning CAUTION If this function is executed related parameters will be set automatically Therefore there will be a large response change after this function is enabled or disabled Enable the function in a state where the machine can come to an emergency stop at any time...

Page 204: ...be detected accurately Supplemental Information The vibration frequencies that are automatically detected may vary somewhat with each positioning operation Perform positioning several times and make adjustments while checking the effect of vibration suppression 8 7 2 Vibration Suppression Function Operating Procedure The following procedure is used for vibration suppression function 1 Operating Pr...

Page 205: ...7 2 Vibration Suppression Function Operating Procedure 8 72 2 Click Execute The following window will appear 3 Click Advanced adjustment The following box will appear 4 Click Custom tuning The following box will appear ...

Page 206: ...Adjustments 5 Select the 2 or 3 of tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box and then click Next The following box will appear 6 Click Vib Suppress The Vibration suppression Function box will appear ...

Page 207: ...imported to the Set frequency box This function however is effective only when the residual vibration frequency is between 1 0 and 100 0 The Set frequency can be manually selected by clicking the setting arrows 8 Click Set If any vibration still occurs manually make fine adjustments to the Set frequency and click Set If you need to undo the change you made while making adjustments click Reset The ...

Page 208: ... opera tion If the servomotor does not stop approximately 10 seconds after the setting changes a timeout error will result and the previous setting will be automatically enabled again The vibration suppression function will be enabled in step 9 The motor response how ever will change when the servomotor comes to a stop with no reference input Parameter Function When Enabled Classification Pn140 n ...

Page 209: ...omatic changes Pn140 Model Following Control Related Switch Yes Pn141 Model Following Control Gain Yes Pn142 Model Following Control Gain Compensation No Pn143 Model Following Control Bias Forward Direction No Pn144 Model Following Control Bias Reverse Direction No Pn145 Vibration Suppression 1 Frequency A Yes Pn146 Vibration Suppression 1 Frequency A Yes Pn147 Model Following Control Speed Feedfo...

Page 210: ... these parameters a gain switching input signal must be sent and the following conditions must be met No command being executed Motor having been completely stopped If these conditions are not satisfied the applicable parameters will not be switched although the other parameters shown in this table will be switched 2 Manual Gain Switching Manual gain switching uses G SEL of the servo command outpu...

Page 211: ...n setting 1 to gain setting 2 Pn135 Gain Switching Wait ing Time 1 Condition A not satisfied Gain setting 2 to gain setting 1 Pn136 Gain Switching Wait ing Time 2 Parameter Switching Condition A for Position Control For Other than Position Control No Switching When Enabled Classificatio n Pn139 n 0 Factory setting Positioning completed signal ON Fixed in gain setting 1 Tuning Tuning n 1 Positionin...

Page 212: ...mmediately Tuning Pn104 2nd Speed Loop Gain Classification Factory Setting Factory Setting Factory Setting When Enabled 10 to 20000 0 1 Hz 400 Immediately Tuning Pn105 2nd Speed Loop Integral Time Constant Classification Factory Setting Factory Setting Factory Setting When Enabled 15 to 51200 0 01 ms 2000 Immediately Tuning Pn106 2nd Position Loop Gain Classification Factory Setting Factory Settin...

Page 213: ...Gain Switching Waiting Time 1 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately Tuning Pn136 Gain Switching Waiting Time 2 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately Tuning Position Position ...

Page 214: ... Immediately Tuning Pn123 Friction Compensation Coefficient Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 0 Immediately Tuning Pn124 Friction Compensation Frequency Correction Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 Hz 0 Immediately Tuning Pn125 Friction Compensation Gain Correction Classification Setting Range S...

Page 215: ...nce frequency however vibration may result if the set value is excessively high Pn123 Friction Compensation Coefficient This parameter sets the effect of friction compensation The higher the set value is the more effective friction compensation will be If the set value is excessively high however the vibration will occur easily Usually set the value to 95 or less 3 Effect of Adjustment The followi...

Page 216: ...n This function can ensure smooth movement of the servomotor while the servomotor is running Set the value of Pn009 2 to 1 and select speed detection 2 to smooth the movement of the servomotor while the servomotor is running Pn13D Current Gain Level Classification Setting Range Setting Unit Factory Setting When Enabled 100 to 2000 1 2000 Immediately Tuning Speed Position If the parameter setting o...

Page 217: ...on applies feedforward compensation to position control and shortens positioning time Note Too high value may cause the machine to vibrate For ordinary machines set 80 or less in this parameter PnAC8 Feedforward Gain Classification Setting Unit Setting Unit Factory Setting When Enabled 0 to 100 1 0 Immediately Tuning Pn10A Feedforward Filter Time Constant Classification Setting Unit Setting Unit F...

Page 218: ...bled Classification Pn10B n 0 Factory setting Uses an internal torque reference level for the switching conditions Pn10C Immedi ately Setup n 1 Uses a speed reference level for the switching conditions Pn10D n 2 Uses an acceleration level for the switching conditions Pn10E n 3 Uses a position error level for the switching conditions Pn10F n 4 Does not use mode switch function Pn10C Mode Switch Tor...

Page 219: ...th this setting the speed loop is switched to P control when the speed reference exceeds the acceleration set in Pn10E Using the Position Error With this setting the speed loop is switched to P control when the position error exceeds the value set in Pn10F This setting is effective with position control only Pn10C 0 Pn10C PI P P Motor speed Speed reference Speed Torque Reference Torque reference P...

Page 220: ...C2 Hz 1 The filter is disabled if 5000 is set Torque reference before filtering Torque Related Function Switch Pn408 Notch filter Notch filter First order lag filter Torque reference after filtering Second order lag filter 2nd Notch Filter Pn40C Pn40D and Pn40E 1st Notch Filter Pn409 Pn40A and Pn40B The 2nd torque reference filter is enabled when Pn40F is set to a value less than 5000 and disabled...

Page 221: ...y Hz Phase deg Parameter Meaning When Enabled Classification Pn408 n 0 Factory setting Disables 1st notch filter Immediately Setup n 1 Enables 1st notch filter n 0 Factory setting Disables 2nd notch filter n 1 Enables 2nd notch filter Pn409 1st Notch Filter Frequency Classification Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tuning Pn40A 1st Notch Filte...

Page 222: ...ter frequencies Pn409 or Pn40C that is close to the speed loop s response frequency Set the frequencies at least four times higher than the speed loop s response frequency Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine Change the notch filter frequencies Pn409 or Pn40C only when the servomotor is stopped Vibration may occur if the ...

Page 223: ... 6 Initializing Parameter Settings 9 16 9 7 Clearing Alarm History 9 19 9 8 Automatic Offset Signal Adjustment of the Motor Current Detection Signal 9 20 9 9 Write Prohibited Setting 9 22 9 10 Vibration Detection Level Initialization 9 24 9 11 Confirmation of SERVOPACK and Servomotor Model Information 9 27 9 12 Software Reset 9 28 9 13 EasyFFT 9 30 9 14 Online Vibration Monitor 9 34 ...

Page 224: ...parameter settings 9 6 Editing Parameters Clearing alarm history 9 7 Alarm Display Absolute encoder multiturn reset and encoder alarm reset 7 6 1 Setting the Absolute Encoder Automatic offset signal adjustment of the motor current detection signal 9 8 Adjusting Motor Current Detection Offset Write prohibited setting 9 9 Write Prohibited Setting Multiturn limit value setting change when a multiturn...

Page 225: ... Alarm Display dialog box will appear 2 Select the axis for which to display the alarm history The alarm history for the specified axis is displayed on the Alarm traceback tab page Note If the same alarm occurs after more than one hour the alarm will be saved If it occurs in less than one hour it will not be saved Delete the alarm history by clicking Clear The alarm history is not cleared on alarm...

Page 226: ...r is set as Pn000 0 0 Forward rotation by forward reference 1 In the SigmaWin main window click Test Run JOG Operation A warning message about possible dangers will appear and ask if you want to continue If these conditions are not acceptable and you do not want to continue click Cancel to return to the main window without performing a JOG operation When the Write Prohibited Setting Parameter Fn01...

Page 227: ...n A JOG operation is performed at the speed set at step 2 only while one of the buttons is pressed 5 After the JOG operation has been successfully completed restart the SERVOPACK The speed set in Pn304 will be shown Click Edit if you want to change the speed On the left side of the Operation group the color of the button and the text in the box changes to indicate if the power to the servomotor is...

Page 228: ...t power supply must be ON All alarms must be cleared The servomotor power must be OFF 2 Operating Procedure Use the following procedure 1 In the SigmaWin main window click Setup Search Origin A warning message about possible dangers will appear and ask if you want to continue If these conditions are not acceptable and you do not want to continue click Cancel to return to the main window without pe...

Page 229: ...d The Forward or Reverse button was released during the origin search so the motor stopped Origin Search Completed The point of origin was found and the motor was stopped clamped at the point Operation On the left side of the Operation group the color of the button and the text in the box changes to indicate if the power to the servomotor is on or off The name of the square button will change to r...

Page 230: ...arch box will appear 4 Press the Forward or Reverse and hold it down until the servomotor stops The servomotor will stop after the origin search has been successfully completed 5 After the origin search has been successfully completed restart the SERVOPACK ...

Page 231: ...achine operation range and safe opera tion speed There must be no overtravel 2 Additional Information The functions that are applicable for position control such as position reference filter can be used The overtravel function is enabled in this function 3 Program JOG Operation Patterns The following describes an example of program JOG operation pattern The following example is given when the rota...

Page 232: ...iting time Pn535 Reverse movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Forward Stop Forward Stop Reverse Stop Reverse Movement speed Movement distance Pn533 Pn531 Waiting time Pn535 Accel Decel time Accel Decel time Waiting time Pn534 Pn535 Waiting time Waiting time Pn535 Movement speed Pn533 Pn534 Pn535 Number of movements Pn536 Number of movements Pn536 At zer...

Page 233: ...g time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Forward Stop Reverse Stop Pn530 0 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Forward movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Reverse Stop Forward Stop Movement speed Pn533 Accel Decel time Pn53...

Page 234: ... JOG Movement Speed Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 1 min 1 500 Immediately Setup Pn534 Program JOG Acceleration Deceleration Time Classification Setting Range Setting Unit Factory Setting When Enabled 2 to 10000 1 ms 100 Immediately Setup Pn535 Program JOG Waiting Time Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100...

Page 235: ... return to the main window without programming JOG operation CAUTION Two methods are available to interrupt a program JOG operation and stop the motor The motor will stop according to the method selected Make sure to select the best method for the situation When using the Servo OFF button to turn off the power to the servomotor and stop the motor the motor will coast to a stop When using the Cance...

Page 236: ...dition in the Program JOG Operation box enter or select the same value that have been used for the Running Condition group and then click Apply The running pattern for the condition will be shown as a graph 4 Click Run The contents of the Program JOG Operation box will change to the following display ...

Page 237: ...tility Functions 5 Click Servo ON and then click Execute After the amount of time set in Pn535 has passed the programmed JOG operation will start 6 After the programmed JOG operation has been successfully completed restart the SERVOPACK ...

Page 238: ... parameter values The write prohibited setting parameter must be set to Write permitted The servomotor power must be OFF 2 Operating Procedure Use the following procedure 1 In the SigmaWin main window click Parameters Edit Parameters The Parameter Editing dialog box will appear Be sure to initialize the parameter settings while the servomotor power is OFF After initialization restart the SERVOPACK...

Page 239: ... with other set tings and it will then ask if you want to continue If these conditions are not acceptable and you do not want to continue click Cancel to return to the Parameter Editing dialog box without initializing the parameter settings 4 Click OK The Initialize the Servopack settings box will appear and ask if you want to continue If you do not want to continue click Cancel to return to the P...

Page 240: ...ess indicator will show what percentage of the process has been completed After the settings are successfully initialized the following message will appear to prompt you to verify that all parameter settings are correct for the target machine 6 Click OK 7 Restart the SERVOPACK ...

Page 241: ...e alarm reset is executed or the main circuit power supply of the SERVO PACK is turned OFF 1 Preparation The Write Prohibited Setting parameter must be set to permit writing 2 Operating Procedure Use the following procedure 1 In the SigmaWin main window click Alarm Display Alarm The Alarm Display box will appear 2 Select the axis for which to delete the alarm history 3 Click Clear The alarm histor...

Page 242: ... write prohibited setting parameter must be set to Write permitted The SERVOPACK must be in Servo Ready status The servomotor power must be OFF 2 Operating Procedure Use the following procedure 1 In the SigmaWin main window click Setup Adjust Offset Adjust the Motor Current Detection Offset The following message will appear and ask if you want to continue The message informs you that the offset is...

Page 243: ...Functions 2 Click Continue to adjust the motor detection offset The Adjust the Motor Current Detection Offset box will appear Click the Automatic Adjustment tab The settings for Automatic Adjustment will appear 3 Click Adjust The offset value automatically adjusted will be shown in the New box ...

Page 244: ... Alarm history display Executable 9 2 JOG operation Cannot be executed 9 3 Origin search Cannot be executed 9 4 Program JOG operation Cannot be executed 9 5 Initializing parameter settings Cannot be executed 9 6 Clearing alarm history Cannot be executed 9 7 Absolute encoder multiturn reset and encoder alarm reset Cannot be executed 7 6 1 Automatic offset signal adjustment of the motor current dete...

Page 245: ...gmaWin main window click Setup Write Prohibited Setting The Write Prohibited Setting box will appear Set the parameter to enable or prohibit writing Click the setting arrows to increase or decrease the num ber on the far right Writing enabled factory setting 0000 Writing prohibited 0001 2 Click Setting The following message appears and informs you that the write prohibited setting has been changed...

Page 246: ...11 using the above detection level for mula as a guide 1 Preparation The Write Prohibited Setting parameter must be set to permit writing Parameter Meaning When Enabled Classification Pn310 n 0 Factory setting Does not detect vibration Immediately Setup n 1 Outputs the warning A 911 when vibration is detected n 2 Outputs the alarm A 520 when vibration is detected Pn311 Vibration Detection Sensitiv...

Page 247: ...p Initialize Vibration Detection Level The Initialize Vibration Detection Level box will appear 2 Select a percentage for Pn311 Vibration Detection Sensibility and one condition in Pn310 Vibration Detection Switch and then click Detection Start The name of the button will change from Detection Start to Execute to indicate that detection is ready to be executed ...

Page 248: ...9 Utility Functions 9 26 3 Click Execute The new settings for the vibration detection level will be shown in the boxes in lower section of the box The new settings will be saved in the SERVOPACK ...

Page 249: ...erating Procedure Use the following procedure 1 In the SigmaWin main window click Monitor Product Information The Product Information box will appear 2 Click OK The SigmaWin main window will appear ID Items to be Displayed SERVOPACK ID SERVOPACK model SERVOPACK serial number SERVOPACK manufacturing date Software version Servomotor ID Servomotor model Servomotor serial number Servomotor manufacturi...

Page 250: ...remind you to check the status of the SERVOPACK and the motor for safety reasons because the SERVOPACK will stop responding for about 5 seconds after the software reset has been executed Note If the moment of inertia is calculated as described in 8 3 Advanced Autotuning the Software Reset box shown in step 2 will appear If you do not want to continue click Cancel The SigmaWin main window will appe...

Page 251: ...ear 3 Click Execute After resetting of software has been completed the following message will appear 4 Click OK to close the Software Reset box All settings including parameters have been re calculated Disconnect the SigmaWin from the SERVO PACK and then reconnect to validate the new settings ...

Page 252: ...anced autotuning This built in EasyFFT function is used to maintain interchangeability with previous models There is normally no need to use it 1 Preparation The following conditions must be met to perform EasyFFT The write prohibited setting parameter must be set to Write permitted The main circuit power supply must be ON All alarms must be cleared The servomotor power must be OFF There must be n...

Page 253: ...Use the following procedure 1 In the SigmaWin main window click Setup EasyFFT A warning message will appear and remind you of possible dangers If you do not want to continue click Cancel The SigmaWin main window will appear 2 Click OK The EasyFFT box will appear ...

Page 254: ...age in the Instruction amplitude box and the rotational direction in the Rotation direction Click Start The motor will begin to rotate and the frequency will be measured After the frequency has been mea sured the results will be shown in the lower area of the box ...

Page 255: ...nced or automatically changed during execution of EasyFFT Do not change the settings of these parameters from the SigmaWin or any other means during execution of EasyFFT Parameter Name Automatic changes Pn408 Torque Related Function Switch Yes Pn409 1st Notch Filter Frequency Yes Pn40A 1st Notch Filter Q Value No Pn40C 2nd Notch Filter Frequency Yes Pn40D 2nd Notch Filter Q Value No Pn456 Sweep To...

Page 256: ...ne vibration and automatically make notch filter settings Use the following flowchart to determine how these functions should be used We recommend that you use advanced autotuning to adjust tune the SERVOPACK This built in function is used to maintain interchangeability with previous models There is normally no need to use it 1 Preparation The following conditions must be met to perform online vib...

Page 257: ...ocedure 1 In the SigmaWin main window click Monitor Online Vibration Monitor A message will appear as a warning to say that any changes to parameter settings might greatly affect the operation of the motor and then ask if you want to continue 2 Click OK The Online Vibration Monitor box will appear ...

Page 258: ...he vibration sensor The vibrations are detected and the peak frequencies of the vibrations will be shown in the Detection result table 4 Click Auto Setting The pre adjustment parameter settings will be shown in the Previous column in the Write result table ...

Page 259: ...Write result The parameter values those are most effective for the measured frequencies will be shown in the Current column in the Write result table and then saved in the SERVOPACK If you do not want to save the new parameter settings in the SERVOPACK click Reset ...

Page 260: ... the settings of these parameters from the SigmaWin or any other means during execution of online vibration monitoring Parameter Name Automatic changes Pn401 Torque Reference Filter Time Constant Yes Pn408 Torque Related Function Switch Yes Pn409 1st Notch Filter Frequency Yes Pn40A 1st Notch Filter Q Value No Pn40C 2nd Notch Filter Frequency No Pn40D 2nd Notch Filter Q Value No ...

Page 261: ...ntenance and Inspections 10 2 10 2 Alarm Displays 10 3 10 2 1 List of Alarms 10 3 10 2 2 Troubleshooting of Alarms 10 6 10 3 Warning Displays 10 15 10 3 1 List of Warnings 10 15 10 3 2 Troubleshooting of Warnings 10 16 10 4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 10 19 ...

Page 262: ...we will determine whether the parts should be replaced or not Note If the above operating conditions are not used replacement may be required sooner than the standard replacement period To extend the life of the parts reduce the surrounding air temperature Contact your Yaskawa representative if you require more detailed information Item Frequency Procedure Comments Exterior At least once a year Ch...

Page 263: ...ng the alarm reset cannot clear the alarm Alarm Number Alarm Name Meaning Servo motor Stopping Method Alarm Reset A 020 Parameter error 1 The parameter data in the SERVOPACK is incorrect Gr 1 N A A 021 Parameter error 2 The parameter data in the SERVOPACK is incorrect Gr 1 N A A 022 Parameter error 3 The parameter data in the SERVOPACK is incorrect Gr 1 N A A 023 Parameter error 4 The parameter da...

Page 264: ...on circuit for phase V is faulty Gr 1 N A A b33 Current Detection Error 3 The detection circuit for the current is faulty Gr 1 N A A b6A MECHATROLINK Communications ASIC Error 1 ASIC error occurred in the MECHATROLINK communications Gr 1 N A A b6b MECHATROLINK Communications ASIC Error 2 ASIC error occurred in the MECHATROLINK communications Gr 2 N A A bF0 System Alarm 0 Internal program error 0 o...

Page 265: ...is sion cycle is out of the allowable range Gr 2 Available A E41 MECHATROLINK Communications Data Size Setting Error The setting of the MECHATROLINK commu nications data size is incorrect Gr 2 Available A E42 MECHATROLINK Station Address Setting Error The setting of the MECHATROLINK station address is incorrect Gr 2 N A A E50 MECHATROLINK Synchronization Error A synchronization error occurs during...

Page 266: ...eplace the SERVOPACK A 021 Parameter error 2 The software version of SERVO PACK that caused the alarm is older than that of the written parameter Check if the set software version agrees with that of the SERVO PACK If not an alarm may occur Write the parameter of another SERVOPACK of the same model with the same software version Restart the SERVOPACK A SERVOPACK fault occurred The SERVOPACK may be...

Page 267: ...if they satisfy the following condition Select the proper combination of SERVOPACK and servomotor capacities An encoder fault occurred Replace the servomotor and see if the alarm occurs again Replace the servomotor encoder A 051 Unsupported Device Alarm An unsupported encoder is con nected to the SERVOPACK Check the product specifications and select the correct model Select the correct combination...

Page 268: ...ve the wiring or installation environment such as by reducing noise and check to see if the alarm recurs Take countermeasures for noise such as correct wiring of the FG Use an FG wire size equivalent to the SERVOPACK main circuit wire size A SERVOPACK fault occurred Restart the SERVOPACK If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK A 400 Overvoltage Detected in the ...

Page 269: ...operation refer ence and motor speed Remove the mechanical problems A 7A3 Control Board Overheat The surrounding air temperature of the SERVOPACK is too high Measure the surrounding air tem perature of the SERVOPACK Improve the installation conditions of the SERVOPACK to reduce the surrounding air temperature A 810 Encoder Backup Error Only when an absolute encoder is connected Detected on the enc...

Page 270: ...connected Check the servomotor encoder relay cable Correct the motor wiring The current detection circuit for phase U is faulty Restart the SERVOPACK If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK A b32 Current Detection Error 2 The servomotor encoder relay cable is disconnected Check the servomotor encoder relay cable Correct the motor wiring The current detection ci...

Page 271: ...faulty Replace the servo motor A C90 Encoder Communications Error Contact fault of connector or incorrect wiring for encoder cable Check the connector contact status for encoder cable Re insert the connectors and con firm that the encoder is correctly wired Cable disconnection for encoder cable or short circuit Or incorrect cable impedance Check the encoder cable Use the cables with the specified ...

Page 272: ...y install the servomotor An encoder fault occurred Restart the SERVOPACK If the alarm still occurs the servomotor may be faulty Replace the servo motor A CC0 Multiturn Limit Disagreement The multiturn limit value of the encoder is different from that of the SERVOPACK Or the multi turn limit value of the SERVO PACK has been changed Check the value of the PnA48 of the SERVOPACK Execute Fn013 at the ...

Page 273: ...Check the setting of the station address of the host controller and reset the setting of the station address Pn880 to a proper value between 03 and EF The axis address setting is wrong Check the axis address setting Pn010 to Pn01B Set the axis address setting Pn010 to Pn01B to proper value A E50 MECHATROLINK Synchronization Error WDT data of host controller was not updated correctly Check the WDT ...

Page 274: ...heck the MECHATROLINK wir ings Correct the MECHATROLINK wir ing MECHATROLINK data recep tion error occurred due to noise interference Take measures against noise Check the MECHATROLINK communi cations cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable A SERVOPACK fault occurred Restart the SERVOPACK If the alarm still occurs the SERVO PACK ma...

Page 275: ... 94A 1 Data Setting Warning 1 Parameter Number Error Incorrect command parameter number was set Automatic reset 2 A 94B 1 Data Setting Warning 2 Out of Range Command input data is out of range Automatic reset 2 A 94C 1 Data Setting Warning 3 Calculation Error Calculation error was detected Automatic reset 2 A 94D 1 Data Setting Warning 4 Parameter Size Data size does not match Automatic reset 2 A ...

Page 276: ...lue Set the Pn520 to proper value A 910 Overload Warning before alarm A 710 or A 720 occurs Incorrect wiring or con tact fault of servomotor and encoder Check the wiring Confirm that the servomotor and encoder are correctly wired Operation beyond the overload protection characteristics Check the motor overload characteris tics and executed run command Reconsider the load conditions and operating c...

Page 277: ...a for the LTMOD_ON command sent by the host controller to the proper value When using the MECHA TROLINKII compatible profile A 95A Command Warning 1 Unsatisfying Command Command sending con dition is not satisfied Check the command that caused the alarm Send a command after command sending condition is satisfied A 95B Command Warning 2 Non supported Command SERVOPACK received unsupported command C...

Page 278: ...ata Clamp Out Of Range The set command data was clamped to a mini mum or maximum value out of the allow able setting range Set the value of the command data within the allowable range A 9A0 Overtravel Overtravel status is detected When the servomotor power is ON over travel status is detected Check the input signal monitor to check the status of the overtravel sig nals Refer to 10 4 Troubleshootin...

Page 279: ...et parameter Pn002 2 to the encoder type being used SV_ON command is not sent Check the command sent from the host controller Send the SV_ON command SENS_ON command is not sent Check the command sent from the host controller Send the command in the correct SERVOPACK sequence The forward run prohibited P OT and reverse run prohibited N OT input signals are turned OFF Check P OT or N OT input signal...

Page 280: ... incorrect cable specifications of encoder cable The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm2 min Use the specified encoder cable Noise interference due to length of encoder cable Check the length of the encoder cable The encoder cable must be no more than 10 m Noise interference due to damaged encoder cabl...

Page 281: ...nstant PnAC4 Incorrect moment of inertia ratio Pn103 Check the moment of inertia ratio Pn103 Correct the moment of inertia ratio Pn103 High Motor Speed Overshoot on Starting and Stopping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value PnAC2 too high Check the speed loop gain PnAC2 Factory setting Kv 40 0 Hz R...

Page 282: ...ultiturn data read ing error Check the error detection section of the host controller Correct the error detection section of the host controller Check if the host controller is exe cuting data parity checks Execute a multiturn data parity check Check noise in the cable between the SERVOPACK and the host con troller Take measures against noise and again execute a multiturn data par ity check Overtr...

Page 283: ...essive vibration and shock to the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Reduce the machine vibration or mount the servomotor securely Unsecured coupling between machine and servomotor Check if a position error occurs at the coupling between machine and servomotor Secure the coupling between the m...

Page 284: ... 1 Parameter Configuration 11 2 11 1 1 Unit Parameters 11 2 11 1 2 Axis Parameters 11 2 11 2 List of Parameters 11 3 11 2 1 List of Parameters 11 3 11 2 2 MECHATROLINK III Common Parameters 11 20 11 3 Parameter Recording Table 11 28 ...

Page 285: ...nd Pn881 11 1 2 Axis Parameters These parameters are set for each individual axis They include all of the parameters that are not unit parame ters If you access parameters through MECHATROLINK III communications use the SVPRM_RD and SVPRM_WR commands to access the parameters for the desired axis addresses in the same way as for normal commands MECHATROLINK III Axis Address SGDV MD SERVOPACK 00H 01...

Page 286: ...2 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Direction Selection Reference Section 0 Sets CCW as forward direction 7 3 1 1 Sets CW as forward direction Reverse Rotation Mode 2 and 3 Reserved Do not use Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Overtravel OT Stop Mode Reference Section 0 Stops the motor by coasting 7 3 3 1 Sets th...

Page 287: ...it TLIM in position or speed control commands 1 1 Use torque limit TLIM in position or speed control commands Torque Control Speed Limit Option Reference Section 0 Do not use speed limit VLIM in torque control commands 1 1 V_LIM operates as the speed limit value Absolute Encoder Usage Reference Section 0 Uses absolute encoder as an absolute encoder 7 6 1 Uses absolute encoder as an incremental enc...

Page 288: ...n016 2 Slot 7 Axis Address 0 to 15 6 After restart Setup 7 1 2 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Profile Reference Section Reserved Do not change Reserved Do not change Speed Detection Method Selection Reference Section 0 Speed detection 1 8 8 4 1 Speed detection 2 Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Reserved ...

Page 289: ...10C 2 Mode Switch torque reference 0 to 800 1 200 Immediately Tuning 8 9 2 Pn10D 2 Mode Switch speed reference 0 to 10000 1 min 1 0 Immediately Tuning 8 9 2 Pn10E 2 Mode Switch acceleration 0 to 30000 1 min 1 s 0 Immediately Tuning 8 9 2 Pn10F 2 Mode Switch position error 0 to 10000 1 refer ence unit 0 Immediately Tuning 8 9 2 Pn121 2 Friction Compensation Gain 10 to 1000 1 100 Immediately Tuning ...

Page 290: ...100 to 2000 1 2000 Immediately Tuning 8 8 3 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Profile Reference Section Gain Switching Selection Switch 0 Manual gain switching Changes gain manually using G SEL of the servo command output signals SVCMD_IO 1 Reserved Do not use 2 Automatic gain switching pattern 1 Changes automatically 1st gain to 2nd gain...

Page 291: ...diately Tuning Pn14A 2 Vibration Suppression 2 Frequency 10 to 2000 0 1 Hz 800 Immediately Tuning Pn14B 2 Vibration Suppression 2 Compensation 10 to 1000 1 100 Immediately Tuning cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Profile Reference Section Model Following Control Selection 0 Does not use model following control 1 Uses model following contr...

Page 292: ... Control Selection 0 Does not use anti resonance control 1 Uses anti resonance control Anti Resonance Control Adjustment Selection 0 Does not adjust anti resonance control automatically using utility function 1 Adjusts anti resonance control automatically using utility function Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Tuning less Function Selection Wh...

Page 293: ...tant 0 to 65535 0 01 ms 100 Immediately Tuning 8 9 3 Pn402 2 Forward Torque Limit 0 to 800 1 800 Immediately Setup 7 5 1 Pn403 2 Reverse Torque Limit 0 to 800 1 800 Immediately Setup 7 5 1 Pn406 2 Emergency Stop Torque 0 to 800 1 800 Immediately Setup 7 3 3 Pn407 2 Speed Limit during Torque Control 0 to 10000 1 min 1 10000 Immediately Setup cont d Parameter No Size Name Setting Range Units Factory...

Page 294: ...d Do not change 50 Pn425 2 Reserved Do not change 100 Pn456 2 Sweep Torque Reference Amplitude 1 to 800 1 15 Immediately Tuning 9 13 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Profile Reference Section 1st Step Notch Filter Selection When Enabled Classification Reference Section 0 N A Immediately Setup 8 9 3 1 Uses 1st step notch filter for torque...

Page 295: ...refer ence unit 5242880 Immediately Setup 8 1 4 10 2 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 Immediately Setup 7 3 6 Pn52C 2 Derating of Base Current at Detecting Overload of Motor 10 to 100 1 100 After restart Setup 7 3 6 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Profile Reference Section Notch Filter Adjustment Selection 1 0 Does not adj...

Page 296: ...tup 8 3 1 8 4 1 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Profile Reference Section Program JOG Operation Switch 0 Waiting time Pn535 Forward movement Pn531 Number of movements Pn536 1 Waiting time Pn535 Reverse movement Pn531 Number of movements Pn536 2 Waiting time Pn535 Forward movement Pn531 Number of movements Pn536 Waiting time Pn535 Revers...

Page 297: ... Reserved Do not change P OT Signal Assignment Selection Reference Section 0 P OT signal assignment disabled factory setting 7 3 2 1 P OT signal assigned Positive drive is enabled when the signal is low 2 P OT signal assigned Positive drive is enabled when the signal is high 4th 3rd 2nd 1st digit digit digit digit n N OT Signal Pin Number Assignment Reference Section 0 Selects sequence input signa...

Page 298: ... 7 Reserved Do not change Reserved Do not change DEC Signal Assignment Selection 0 DEC signal assignment disabled factory setting 1 DEC signal assigned Signal is ON for low level 2 DEC signal assigned Signal is ON for high level 4th 3rd 2nd 1st digit digit digit digit n EXT1 Signal Pin Number Assignment 0 Selects sequence input signal SI 0 1 Selects sequence input signal SI 1 2 Selects sequence in...

Page 299: ... 7 Reserved Do not change Reserved Do not change EXT2 Signal Assignment Selection 0 EXT2 signal assignment disabled factory setting 1 EXT2 signal assigned Signal is ON for low level 2 EXT2 signal assigned Signal is ON for high level 4th 3rd 2nd 1st digit digit digit digit n EXT3 Signal Pin Number Assignment 0 Selects sequence input signal SI 0 1 Selects sequence input signal SI 1 2 Selects sequenc...

Page 300: ...elects sequence input signal SO 0 1 Selects sequence input signal SO 1 2 Selects sequence input signal SO 2 3 Selects sequence input signal SO 3 4 Selects sequence input signal SO 4 5 Selects sequence input signal SO 5 6 Selects sequence input signal SO 6 7 Selects sequence input signal SO 7 Reserved Do not change Reserved Do not change BK Signal Assignment Selection 0 BK signal assignment disable...

Page 301: ...95 4 Ignores communications warning A 96 5 Ignores both data setting warning A 94 and communications warning A 96 6 Ignores both command warning A 95 and communications warning A 96 7 Ignores data setting warning A 94 command warning A 95 and communications warning A 96 8 Ignores command warning 7 A 97A and data clamp A 97B 9 Ignores data setting warning A 94 command warning 7 A 97A and data clamp...

Page 302: ...me SVOFF at deceleration to stop 0 to 65535 10 ms 0 Immediately Setup 1 Pn840 4 Linear Deceleration Constant for Stopping 1 to 20971520 10000 reference unit s2 100 Immediately 4 Setup 1 Pn846 2 POSING Command S curve Acceleration Decel eration Rate 0 to 50 1 0 Immediately Setup 1 Pn880 2 Station Address Setting 3H to EFH 3 After restart Setup Pn881 2 Number of Transmission Bytes 32 or 48 48 After ...

Page 303: ...d read only 0 to FFFFFFFFH min 1 05 PnA0A 4 Maximum Output Speed read only 0 to FFFFFFFFH min 1 06 PnA0C 4 Speed Multiplier read only 07 PnA0E 4 Rated Torque read only 0 to FFFFFFFFH N m 08 PnA10 4 Maximum Output Torque read only 0 to FFFFFFFFH N m 09 PnA12 4 Torque Multiplier read only 0A PnA14 4 Resolution read only 0 to FFFFFFFFH pulse rev 0B PnA16 4 Scale Pitch 0C PnA18 4 Pulses per Scale Pitc...

Page 304: ...nit Set the value of n used as the exponent in 10n when calculating the Speed Unit 41 2 3 3 to 3 0 After restart 43 PnA86 4 Position Unit 0 0 After restart 0000H reference unit 44 PnA88 4 Position Base Unit Set the value of n used as the exponent in 10n when calculating the Position Unit 43 0 0 After restart 45 PnA8A 4 Acceleration Unit 0 After restart 0000H reference unit sec2 0001H Not supported...

Page 305: ...ard Compensation 0 to 100 1 0 Immedi ately 65 PnACA 4 Position Loop Integral Time Con stant 0 to 5000000 μs 0 1 ms 0 Immedi ately 66 PnACC 4 Positioning Completed Width 0 to 1073741824 1 reference unit 7 Immedi ately 67 PnACE 4 NEAR Signal Width 1 to 1073741824 1 reference unit 1073741824 Immedi ately Adjustment Related Parameters 4 When 0002H is selected for the Torque Unit parameter 47 set the T...

Page 306: ...ce unit 100 Immedi ately 87 PnB0E 4 Monitor Selection 1 0 to F 1 Immedi ately 0000H APOS 0001H CPOS 0002H PERR 0003H LPOS1 0004H LPOS2 0005H FSPD 0006H CSPD 0007H TRQ 0008H ALARM 0009H MPOS 000AH Reserved Undefined value 000BH Reserved Undefined value 000CH CMN1 Common monitor 1 000DH CMN2 Common monitor 2 000EH OMN1 Optional monitor 1 000FH OMN2 Optional monitor 2 88 PnB10 4 Monitor Selection 2 0...

Page 307: ... Speed control mode 02H Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor cont d Parameter No Size Name Setting Range Units Resolution Factory Setting When Enabled Classifica tion Bit Name Contents Value Setting Bit 0 LT_RDY1 Processing status for latch detection specified by SVC MD_CTRL LT_REQ1 0 Latch detection not processed 1 During latch detection processing Bit 1 LT_RDY1 Pro...

Page 308: ...1 10000 Immedi ately 90 PnB20 4 Servo Command Control Field Enabled Disabled read only 0FFF3F3FH Bit 0 CMD_PAUSE 1 Enabled Bit 1 CMD_CANCEL 1 Enabled Bit 2 3 STOP_MODE 1 Enabled Bit 4 5 ACCFIL 1 Enabled Bit 6 7 Reserved 0 Disabled Bit 8 LT_REQ1 1 Enabled Bit 9 LT_REQ2 1 Enabled Bit 10 11 LT_SEL1 1 Enabled Bit 12 13 LT_SEL2 1 Enabled Bit 14 15 Reserved 0 Disabled Bit 16 to 19 SEL_MON1 1 Enabled Bit...

Page 309: ...2 1 Enabled Bit 24 to 27 SEL_MON3 1 Enabled Bit 28 to 31 Reserved 0 Disabled 92 PnB24 4 I O Bit Enabled Disabled Output read only 000001F0H Bit 0 to 3 Reserved 0 Disabled Bit 4 V_PPI 1 Enabled Bit 5 P_PPI 1 Enabled Bit 6 P_CL 1 Enabled Bit 7 N_CL 1 Enabled Bit 8 G_SEL 1 Enabled Bit 9 to 11 G_SEL 0 Disabled Bit 12 to 15 Reserved 0 Disabled Bit 16 to 19 Reserved 0 Disabled Bit 20 to 22 Reserved 0 Di...

Page 310: ...led Bit 10 P SOT 1 Enabled Bit 11 N SOT 1 Enabled Bit 12 DEN 1 Enabled Bit 13 NEAR 1 Enabled Bit 14 PSET 1 Enabled Bit 15 ZPOINT 1 Enabled Bit 16 T_LIM 1 Enabled Bit 17 V_LIM 1 Enabled Bit 18 V_CMP 1 Enabled Bit 19 ZSPD 1 Enabled Bit 20 to 23 Reserved 0 Disabled Bits 20 to 31 Reserved 0 Disabled Note When using parameters that are enabled after restarting the SERVOPACK a CONFIG command must be inp...

Page 311: ...fter restart Pn015 5 Slot 6 Axis Address After restart Pn016 6 Slot 7 Axis Address After restart Pn017 7 Slot 8 Axis Address After restart Pn018 8 Slot 9 Axis Address After restart Pn019 9 Slot 10 Axis Address After restart Pn01A 10 Slot 11 Axis Address After restart Pn01B 11 Slot 12 Axis Address After restart Pn030 C0A80101h Ethernet IP address Immediately Pn103 100 Moment of Inertia Ratio Immedi...

Page 312: ...ession 2 Compensation Immediately Pn160 0010 Anti Resonance Control Related Switch Immediately Pn161 1000 Anti Resonance Frequency Immediately Pn162 100 Anti Resonance Gain Compensation Immediately Pn163 0 Anti Resonance Damping Gain Immediately Pn164 0 Anti Resonance Filter Time Constant 1 Compensation Immediately Pn165 0 Anti Resonance Filter Time Constant 2 Compensation Immediately Pn170 1401 T...

Page 313: ...nning Immediately Pn509 20 Reserved Pn51E 100 Excessive Position Error Warning Level Immediately Pn520 5242880 Excessive Position Error Alarm Level Immediately Pn52B 20 Overload Warning Level Immediately Pn52C 100 Derating of Base Current at Detecting Overload of Motor After restart Pn530 0000 Program JOG Operation Related Switch Immediately Pn531 32768 Program JOG Movement Distance Immediately Pn...

Page 314: ...on Constant 2 for Stopping Immediately 2 Pn846 0 POSING Command S curve Acceleration Deceleration Rate Immediately Pn880 3 Station Address Setting After restart Pn881 48 Number of Transmission Bytes After restart 01 PnA02 Encoder Type read only 02 PnA04 Motor Type read only 03 PnA06 Reserved Do not use 04 PnA08 Rated Speed read only 05 PnA0A Maximum Output Speed read only 06 PnA0C Speed Multiplier...

Page 315: ...sition Base Unit After restart 45 PnA8A 0 Acceleration Unit After restart 46 PnA8C 4 Acceleration Base Unit After restart 47 PnA8E 1 Torque Unit After restart 48 PnA90 0 Torque Base Unit After restart 49 PnA92 0601011FH Compliance Unit System read only 61 PnAC2 40000 Speed Loop Gain Immediately 62 PnAC4 20000 Speed Loop Integral Time Constant Immediately 63 PnAC6 40000 Position Loop Gain Immediate...

Page 316: ... Origin Detection Range Immediately 8C PnB18 100 Forward Torque Limit Immediately 8D PnB1A 100 Reverse Torque Limit Immediately 8E PnB1C 20000 Zero Speed Detection Range Immediately 8F PnB1E 10000 Speed Coincidence Signal Output Width read only Immediately 90 PnB20 0FFF3F3FH Servo Command Control Field Enabled Disabled read only 91 PnB22 0FFF3F33H Servo Command Status Field Enabled Disabled read o...

Page 317: ...7 communication protocol 3 15 compatible adjustment function 8 84 confirmation of SERVOPACK and servomotor model information 9 27 connection to host controller interface sequence input circuit 5 14 sequence output circuit 5 15 control power supply 5 6 capacity and wire size 5 6 parts and functions of connector CN31 5 6 control power supply connector 1 4 current gain level setting 8 83 CW 7 4 D dec...

Page 318: ... program JOG operation 9 9 protection class pollution degree 3 13 R reference unit 7 19 S safety precautions on adjustment of servo gains 8 12 selecting cables 2 8 selection calculations 2 5 servo gain 8 3 servomotor allowable radial load 3 5 allowable thrust load 3 5 cable stress 4 4 connecting to machine 4 3 dimensional drawings 3 6 direction of rotation 3 9 enclosure 3 2 flange size 3 2 handlin...

Page 319: ... 13 torque reference filter 8 88 transmission cycle 3 15 trial operation inspection and checking before trial operation 7 17 trial operation via MECHATROLINK III communications 7 18 troubleshooting malfunction based on operation and conditions of the servomotor 10 19 troubleshooting of alarms 10 6 troubleshooting of warnings 10 16 tuning parameters 6 7 tuning less functions 8 14 typical main circu...

Page 320: ... 2 1 Revision Sumitomo 3M Ltd 3M Japan Limited 5 5 3 2 Revision Information on battery for encoder 6 5 1 Deletion Display method for parameter types 10 2 2 Revision Information of A E42 alarm 11 2 Revision Information on reserved parameters Back cover Revision Address and format September 2014 0 All chapters Addition Information on type A01 SERVOPACKs February 2014 First edition MANUAL NO SIEP S80...

Page 321: ...x 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRI...

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