YASKAWA S-V Seres User Manual Download

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CONTENTS

Chapter 1 Checking Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Nameplate and Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Nameplate Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Chapter 2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Specifications of the Universal Feedback Option Module . . . . . . . . . . . . . . . 2-2

2.2.1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Chapter 3 Hardware Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 Mounting the Universal Feedback module . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Chapter 4 Applicable Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 SERVOPACK for Rotary and Linear Motors. . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 SERVOPACK with Semi-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3 SERVOPACK with Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . 4-4

Chapter 5 Encoder Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 A quad B Pulse interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.2 Technical Data.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.3 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Chapter 6 Hall Sensor Signals Interface . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

Chapter 7 Set-up Procedure for Fully-closed Loop Control . . . . . . . . . . . .7-1

7.1 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Set-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2.1 Feedback Option Module Set-up for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . 7-3
7.2.2 Sigma-5 SERVOPACK Set-up for Fully-Closed Loop Control . . . . . . . . . . . . . . . . . . . . . . 7-8

7.3 SERVOPACK for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

7.3.1 Rotation/Movement Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
7.3.2 External Encoder Resolution to Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
7.3.3 Encoder Pulse Output (PAO, PBO, and PCO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10

Summary of Contents for S-V Seres

Page 1: ...ontrol Motor and Scale Parameter File SERVOPACK with Semi closed Loop Control for Rotary Motors SERVOPACK with Semi closed Loop Control for Linear Motors Error Lists 1 2 3 4 5 6 7 8 9 10 11 12 USER S MANUAL Model SGDV OFB03A Universal Feedback Module Type 3 To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives ...

Page 2: ...ability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly 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 liabili...

Page 3: ... before the signal name as shown in the following example Example The notation for BK is BK Term Meaning Feedback Module Universal Feedback Option Module for Σ V series SERVOPACKs Cursor A mark that indicates the input position of data displayed on the digital operator Servomotor Σ V Series SGMJV SGMAV SGMEV SGMGV SGMSV or SGMCS Direct Drive servomotor Linear Σ Series SGLGW SGLFW SGLTW or SGLC ser...

Page 4: ... 4 of the parameter Pn000 is x Pn000 0 x or n x Pn000 1 x or n x Pn000 2 x or n x Pn000 3 x or n x Name Selecting Models and Peripheral Devices Ratings and Specifications Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Maintenance and Inspection Σ V Series Product Catalog YEU KAEP S800000 42 Σ V Series User s Manual Setup Rotational Motor SIEP S800000 43 Σ V Series User s Ma...

Page 5: ...nce SIEP S800000 65 Σ V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Σ V Series Option Module Safety Precautions YEU TOEP C720829 00 Σ V Series Feedback Option Module Installation Guide YEU TOEP C720829 03 Σ V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 Σ Series Digital Operator Safety Precautions TOBP C730800 00 AC SERVOMO...

Page 6: ...s injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows Indicates compulsory acti...

Page 7: ...cial applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK to be sure that it is correct If Fn013 is executed when an incorrect parameter value is set an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect po...

Page 8: ...ackaged and meth ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigat...

Page 9: ... to wiring Insert only one main power line per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with i e short circuit adjacent wires Install a battery at either the host controller or the SERVOPACK but not both It is dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the sp...

Page 10: ... state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using turning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause machine vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF ...

Page 11: ...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 with the manual The drawings presented in this manual are typical examples and may not match the product you received If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices l...

Page 12: ...t confirm that the Yaskawa product is suitable for the systems machines and equipment used by the customer 3 Consult with Yaskawa to determine whether use in the following applications is acceptable If use in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to minimize hazards in the event of failure Outdoor use use involv...

Page 13: ...ct 2 Applicable when the Feedback Option Module is attached to SERVOPACKs for the command option attachable type Model UL Standards UL File No SERVOPACK SGDV UL508C E147823 Servomotor SGMJV SGMAV SGMEV SGMGV SGMSV UL1004 E165827 Model Low Voltage Directive EMC Directive Safety Standards EMI EMS SERVOPACK SGDV EN50178 EN61800 5 1 EN55011 A2 group 1 class A EN61800 3 EN61800 3 EN61000 6 2 EN954 1 IE...

Page 14: ... 3 SERVOPACK with Fully closed Loop Control 4 4 Chapter 5 Encoder Interfaces 5 1 5 1 A quad B Pulse interface 5 2 5 1 1 Overview 5 2 5 1 2 Technical Data 5 2 5 1 3 Connection 5 2 Chapter 6 Hall Sensor Signals Interface 6 1 6 1 Overview 6 2 6 1 1 Technical Data 6 2 Chapter 7 Set up Procedure for Fully closed Loop Control 7 1 7 1 Safety Precautions 7 2 7 2 Set up Procedure 7 2 7 2 1 Feedback Option ...

Page 15: ...otation Direction 10 3 10 3 Pole Detection Functionality 10 4 10 4 SERVOPACK for Rotary Motors 10 6 10 4 1 Encoder Pulse Output 10 6 Chapter 11 SERVOPACK Semi closed Loop Control for Linear Motors 11 1 11 1 Magnetic Pole 11 2 11 2 Motor Rotation Direction 11 3 11 3 Pole Detection Functionality 11 4 11 4 SERVOPACK for Linear Motors 11 6 11 4 1 Encoder Pulse Output 11 6 Chapter 12 Error Lists 12 1 1...

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Page 17: ... 1 Checking Products 1 Checking Products This chapter describes how to check products upon delivery 1 1 Checking Products on Delivery 1 2 1 2 Nameplate and Model Designation 1 2 1 3 Nameplate Location 1 4 ...

Page 18: ...ameplate to confirm that the product is the one that was ordered For the nameplate refer to Nameplate and Model Designation 2 When the Universal Feedback Module is Connected to the SERVOPACK Check the nameplate to confirm that the Module that is mounted is the Universal Feedback Module The nameplate is located in the following position 1 2 Nameplate and Model Designation Nameplate Example Nameplat...

Page 19: ...e Type Code OF 3rd 4th 5th digits Interface Specifications Code B03 Σ V Series SGDV OZ A01 A Series Option case Module General purpose Option case specification 6th digit Design Revision Order SGDV 1st 2nd digits Module Type Code OZ 3rd 4th 5th digits Case Specifications Code A01 Σ V Series SGDV A Series 6th digit Design Revision Order SGDV Current Refer to SERVPACK Specification Voltage specifica...

Page 20: ...1 Checking Products 1 4 1 3 Nameplate Location OFB03A Nameplate Ratings Nameplate Model no OFB03A 1 ...

Page 21: ...cifications This chapter gives an overview and describes the specifications of the Universal Feedback Option Module 2 1 Overview 2 2 2 2 Specifications of the Universal Feedback Option Module 2 2 2 2 1 General Specifications 2 2 ...

Page 22: ...e Protection class IP10 Pollution degree 2 An environment that satisfies the following conditions Free of corrosive or explosive gases Free of exposure to water oil or chemicals Free of dust salts or iron dust Altitude 1000 m or less Others Free of static electricity strong electromagnetic fields magnetic fields or exposure to radioactivity Supported motors Permanent magnet Synchronous AC rotary o...

Page 23: ...3 1 3 Hardware Installation 3 Hardware Installation This chapter describes the hardware installation of the Universal Feedback Option Module 3 1 Mounting the Universal Feedback module 3 2 ...

Page 24: ...mounting plate F into the recess on the SERVOPACK and fix the plate with the mounting screws G Tightening torque 0 14 Nm 2 Remove the connector cover from the SERVOPACK 3 Check DIP switch setting of S1 Caption 1 Position of Sub D connector 2 Position of DIP switch S1 For A quad B encoders both switches of S1 have to be off white colored parts in the upper position F Mounting plate G Mounting screw...

Page 25: ...front cover is removed on the module cover 6 Fix the module cover to the SERVOPACK by pushing in the retention clips on the left and right side of the module cover while directing their angled end protrusions to enter the SERVOPACK B Mounting Screws B B Tighten this pre attached screw as well YA SK AW A EU RO PE GM BH MA DE IN UK OFB 01A Bottom Front panel I H H Module cover I SERVOPACK OFB01A Ret...

Page 26: ...3 Hardware Installation 3 4 7 Now snap on the cover for the network module to the servo amplifier the completed unit will look like the following picture OFB01A 1 ...

Page 27: ... Scope This chapter describes the application fields of the Universal Feedback Option Module 4 1 SERVOPACK for Rotary and Linear Motors 4 2 4 2 SERVOPACK with Semi closed Loop Control 4 3 4 3 SERVOPACK with Fully closed Loop Control 4 4 ...

Page 28: ...needs to be pre pared by YASKAWA Feature SERVOPACK for Rotary and Linear Motors This system is for driving the Sigma 1 servo motors or third party servo motors Parameter Setting Pn002 3 0 Pn00B 3 1 Description M Third party servo motor Sensor Motor feedback sensor UVW Current command for motor drive CN2 Sigma 5 encoder connector FB OPTION SGDV OFB03A Sigma 5 FB Option Current Command Motor seedbac...

Page 29: ... file needs to be pre pared by YASKAWA Feature SERVOPACK with Semi closed Loop Control This system is for driving YASKAWA linear motors or third party linear motors Parameter Setting Pn002 3 0 Pn00B 3 1 Description M YASKAWA linear motor Third party linear motor Sensor Motor feedback sensor UVW Current command for motor drive CN2 Sigma 5 encoder connector FB OPTION SGDV OFB03A Sigma 5 FB Option Cu...

Page 30: ...OPACK with Fully closed Loop Control This system is for driving the Sigma 5 servo motors with external encoder for fully closed loop control Parameter Setting Pn002 3 1 3 Pn00B 3 0 Description M Sigma 5 servo motor PG Motor encoder Sensor External feedback sensor UVW Current command for motor drive CN2 Sigma 5 encoder connector FB OPTION SGDV OFB03A Sigma 5 SERVOPACK FB OPTION U V W C N 2 Current ...

Page 31: ...Interfaces 5 Encoder Interfaces This chapter describes the encoder interfaces of the Universal Feedback Option Module 5 1 A quad B Pulse interface 5 2 5 1 1 Overview 5 2 5 1 2 Technical Data 5 2 5 1 3 Connection 5 2 ...

Page 32: ...tput voltage Typically 5 V Incremental Encoder Input Signal form Square wave pulse Evaluation 4x Max input frequency 1 MHz Max counter frequency 4 MHz Max reference frequency 1 MHz Distance between edges 0 2 µsec or more Differential voltage 0 2 V or more No Signal Pin Function Dir No Signal Pin Function Dir 1 N C 2 OUT 14 N C 2 I O 2 N C 2 OUT 15 N C 2 I O 3 V Hall Signal V 1 IN 16 W Hall Signal ...

Page 33: ...1 6 Hall Sensor Signals Interface 6 Hall Sensor Signals Interface This chapter describes the hall sensor signals interface of the Universal Feedback Option Module 6 1 Overview 6 2 6 1 1 Technical Data 6 2 ...

Page 34: ...nsor signals the detecting function implemented on Sigma 5 is not required Used sensor devices must output each U V W hall sensor signals The Interface block diagram is shown below 6 1 1 Technical Data Hall sensor Encoder Master FPGA W Servo Serial I F V U 5V GND Items Description Hall sensor interface Isolation Yes Signal form Square wave pulse Signal transfer C MOS signals Code Absolute ...

Page 35: ...dback Option Module 7 1 Safety Precautions 7 2 7 2 Set up Procedure 7 2 7 2 1 Feedback Option Module Set up for Fully closed Loop Control 7 3 7 2 2 Sigma 5 SERVOPACK Set up for Fully Closed Loop Control 7 8 7 3 SERVOPACK for Fully closed Loop Control 7 9 7 3 1 Rotation Movement Direction 7 9 7 3 2 External Encoder Resolution to Motor Feedback 7 10 7 3 3 Encoder Pulse Output PAO PBO and PCO 7 10 ...

Page 36: ... s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference SIEP S800000 48 Sigma 5 series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 64 Sigma 5 series User s Manual Design and Maintenance Linear Motor MECHATROLINK III Communications Reference SIEP S800000 65 Sigma 5 series User s Manual Design and Mainten...

Page 37: ...p Procedure for Encoder File 1 Install a motor scale and SERVOPACK 2 In SigmaWin select Parameters Parameter edit Set parameter Pn002 3 1 or 3 3 Start Setup Motor parameter scale write in SigmaWin 4 Write the parameters of the motor parameter file to the scale Note Refer to SigmaWin Operation Manual for information on how to write parameters using SigmaWin USB cable Linear Scale Personal Computer ...

Page 38: ... follows Pn002 3 1 or 3 Pn00B 3 0 2 Write Parameters using SigmaWin 1 In SigmaWin select Setup Motor parameter scale write 2 If you are sure the settings suit the connected motor confirm the warning with OK Clicking Cancel to return to the main window without writing motor parameters to the scale After clicking OK the SERVOPACK starts reading the parameter information from the scale ...

Page 39: ...o open the motor parameter file 4 Select the parameter file provided by YASKAWA and click Open The scale parameter file information is displayed 5 Make sure that the scale parameter file information of the installed encoder is displayed 6 Click Next to prepare writing the scale parameters ...

Page 40: ... in turned ON Monitor the scale data using the monitoring function to see if the scale parame ters are saved in the module If they are not saved write the scale parameters and then turn the power OFF and then ON again to monitor the scale data If the proper scale parameters have not been written the following alarms will occur when the power is turned ON A 8A0 External Encoder Error A 8A1 External...

Page 41: ...he option card contains no motor data or encoder data When using SigmaWin Start SigmaWin Click Monitor in the main menu and then click Product Information Note The linear scale pitch can be checked by using the monitor mode parameters Un084 Linear Scale Pitch and Un085 Linear Scale Pitch Index Example When Un084 800 and Un085 6 Linear scale pitch Un084 10Un085 pm 800 106 pm 800 µm B B FBOpMotID No...

Page 42: ... Application Function Select Switch 2 2 Absolute Encoder Usage 0 1 O After restart 0 Uses absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder 3 External Encoder Usage 0 1 or 3 M After restart 0 Do not use external encoder 1 Uses external encoder in forward rotation movement direction 2 Reserved Do not change 3 Uses external encoder in reversed rotation movemen...

Page 43: ... 0 0 Direction Selection 0 After restart 0 Forward command for forward direction 1 Forward command for reverse direction Pn002 Application Function Select Switch 2 3 External Encoder Usage 0 After restart 0 Do not use external encoder 1 Uses external encoder in forward rotation direction 2 Reserved Do not change 3 Uses external encoder in reversed rotation direction 4 Reserved Do not change Comman...

Page 44: ...ncy multiplied by 4 is 6 4 Mpps Do not set a value that would cause the output to exceed 6 4 Mpps If the output exceeds the upper limit the overspeed of encoder output pulse rate alarm A 511 will be output Example The frequency is as follows if the set value is 20 and the speed is 1600 mm s 1600000 1 6 Mpps Because 1 6 Mpps is less than 6 4 Mpps this value can be used These parameters are used for...

Page 45: ... chapter describes the setup procedure for semi closed loop control of the Universal Feedback Option Module 8 1 Safety Precautions 8 2 8 2 Setup Procedure 8 2 8 2 1 Feedback Option Module Set up 8 3 8 2 2 Sigma 5 SERVOPACK Set up with Rotary Motor 8 9 8 2 3 Sigma 5 SERVOPACK Set up with Linear Motor 8 10 ...

Page 46: ... Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 64 Sigma 5 series User s Manual Design and Maintenance Linear Motor MECHATROLINK III Communications Reference SIEP S800000 65 Sigma 5 series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Sigma 5 series User s Manual Design and Maintenance Lin...

Page 47: ...KAWA Europe GmbH 3 In SigmaWin select Parameters Parameter edit Set parameter Pn00B 3 1 4 Start Setup Motor parameter scale write in SigmaWin 5 Write the parameters of the motor parameter file to the scale Note Refer to SigmaWin Operation Manual for information on how to write parameters using SigmaWin USB cable Personal Computer SigmaWin Scale parameter file Write scale parameters into the feedba...

Page 48: ... 3 1 Pn00B 3 1 2 Write Parameters using SigmaWin 1 In SigmaWin select Setup Motor parameter scale write 2 If you are sure the settings suit the connected motor confirm the warning with OK Clicking Cancel to return to the main window without writing motor parameters to the scale After clicking OK the SERVOPACK starts reading the parameter information from the scale ...

Page 49: ...o open the motor parameter file 4 Select the parameter file provided by YASKAWA and click Open The motor parameter file information is displayed 5 Make sure that the motor parameter file information of the installed motor is displayed 6 Click Next to prepare writing the motor parameters ...

Page 50: ...arameter file or click Cancel to return to the main window without writing motor parameters to the scale 8 Confirm the message with Yes to start the writing process Click No to cancel writing 9 If the motor parameters were transferred successfully click Complete If a data transmission error occurred a message is displayed asking to select the next step Click OK to execute the selected step 10 Conf...

Page 51: ...Module A 8A2 External Encoder Error of Sensor A 8A3 Extern Encoder Error of Position 4 How to Monitor the Scale Data Using the Digital Operator Note If a feedback option card is not connected the following message will appear Step Display Example Description 1 Press the Key to open the Utility Function Mode main menu and select Fn01F using or key 3 Press the key and the encoder ID will be shown Us...

Page 52: ...ins no motor data or encoder data When using SigmaWin Start SigmaWin Click Monitor in the main menu and then click Product Information Note The linear scale pitch can be checked by using the monitor mode parameters Un084 Linear Scale Pitch and Un085 Linear Scale Pitch Index Example When Un084 800 and Un085 6 Linear scale pitch Un084 10Un085 pm 800 106 pm 800 µm B B FBOpMotID Not available ...

Page 53: ...rection 4 Reserved Do not change Pn00B Application Function Select Switch B 3 Feedback Option Module Usage 0 1 M After restart 0 Used for external encoder feedback 1 Used for motor encoder feedback Pn080 Application Function Select Switch B 0 Hall Sensor Selection 0 1 O After restart 0 Enables hall sensor 1 Disables hall sensor 1 Motor Phase Selection 0 1 O After restart 0 Sets positive position f...

Page 54: ... min 1 50 1 O Immediately Pn494 Polarity Detection Range 0 001 rev 0 250 1 O Immediately Pn495 Polarity Detection Confirmation Torque Com mand 100 1 O Immediately Pn498 Polarity Detection Allowable Error Range deg 10 1 O Immediately Pn587 Polarity Detection for Absolute Scale Selection Immediately 0 0 Does not detect polarity 0 1 O Immediately 1 Detects polarity Parameter Function Default Value Re...

Page 55: ...tput pulses Pulse edge Period 20 1 O After restart Pn481 Polarity Detection Speed Loop Gain 0 1 Hz 40 0 1 O Immediately Pn482 Polarity Detection Speed Loop Integral Time 0 01 msec 30 00 1 O Immediately Pn485 Polarity Detection Command Speed mm sec 20 1 O Immediately Pn486 Polarity Detection Command Accel Decel Time msec 25 1 O Immediately Pn487 Polarity Detection Constant Speed Time msec 0 1 O Imm...

Page 56: ...8 Set up Procedure for Semi closed Loop Control 8 2 3 Sigma 5 SERVOPACK Set up with Linear Motor 8 12 ...

Page 57: ...ry and linear motors of the Universal Feedback Option Module 9 1 Motor and Scale Parameter File Requirements for SERVOPACKs for Rotary Motors 9 2 9 1 1 Motor Parameters 9 2 9 1 2 Scale Parameters 9 3 9 2 Motor and Scale Parameter File Requirements for SERVOPACKs for Linear Motors 9 4 9 2 1 Motor Parameters 9 4 9 2 2 Scale Parameters 9 5 ...

Page 58: ...arameters M Mandatory O Optional Description Unit Category Remarks Characteristics Motor voltage V M Rated capacity W M Rated torque Nm M Maximum torque Nm M Rated current Arms M Maximum current Arms M Rated speed min 1 M Maximum speed min 1 M Moment of inertia kgm M Winding resistance per phase M Winding inductance per phase mH M Electromotive force per phase Vrms min 1 M Motor pole number M Reso...

Page 59: ...ptional 1 10 1000 100 120 140 160 180 200 220 240 260 280 300 320 Overload Detection Time 1 Overload Detection Time 2 Overload Detection Torque 1 Overload Protection Torque Time sec Overload Detection Torque 2 Base Torque for Overload Detection A720 A710 10 100 100 Description Unit Category Remarks Characteristics Periods in 1 turn per revolution Periods M ...

Page 60: ...cription Unit Category Remarks Characteristics Motor voltage V M Rated capacity W M Rated force N M Maximum force N M Rated current Arms M Maximum current Arms M Rated velocity m s M Maximum velocity m s M Mass kg M Winding resistance per phase M Winding inductance per phase mH M Electromotive force per phase Vrms m s M Pole pitch per 180 degree mm 1 M Resonance frequency Hz O Cancel resonance fre...

Page 61: ... 1 10 1000 100 120 140 160 180 200 220 240 260 280 300 320 Overload Detection Time 1 Overload Detection Time 2 Overload Detection Torque 1 Overload Protection Torque Time sec Overload Detection Torque 2 Base Torque for Overload Detection A720 A710 10 100 100 Description Unit Category Remarks Characteristics Scale type incremental M Scale pitch Period length nm M ...

Page 62: ...9 Motor and Scale Parameter File 9 2 2 Scale Parameters 9 6 ...

Page 63: ...th Semi closed Loop Control for Rotary Motors This chapter describes the rotary drives common in semi closed loop 10 1 Magnetic Pole 10 2 10 2 Motor Rotation Direction 10 3 10 3 Pole Detection Functionality 10 4 10 4 SERVOPACK for Rotary Motors 10 6 10 4 1 Encoder Pulse Output 10 6 ...

Page 64: ... Select Switch 80 0 Hall Sensor Selection 0 After restart 0 Enables hall sensor 1 Disables hall sensor Pn081 Application Function Select Switch 81 2 Coordination Setting between Origin and U phase position 0 After restart 0 Both positions are same 1 The positions are different 3 Hall Sensor Signal Inversion 0 After restart 0 Does not inverse the signals Pos Logic 1 Inverses the signals Neg Logic P...

Page 65: ...ion Function Select Switch 80 1 Motor Phase Selection 0 After restart 0 Sets positive position feedback as phase sequence of U V W 1 Sets negative position feedback as phase sequence of U V W U V W U W V Pn000 0 0 Pn080 1 0 Pn000 0 0 Pn080 1 1 Pn000 0 1 Pn080 1 1 Pn000 0 1 Pn080 1 0 U W V U V W U V W U W V Un00D increase Un00D decrease Available Pn080 0 0 Forward Reverse Un00D decrease Un00D incre...

Page 66: ...meter Pole Sensor Selection Pn080 0 is set to disable pole sensor Pn080 0 1 2 The main power is supplied 3 No alarms occur 4 Hard wire base block is not active 5 The parameter Writing Prohibited Setting Fn010 is not set to prohibit writing 6 The SEN signal is turned ON in case of an absolute encoder 2 Execution of the Function with Analog Voltage and Pulse Train Model Input Signal Through CN1 conn...

Page 67: ...l turns ON for the first time OFF Type Name Description Servo ON Incremental Encoder The function is executed only once when the command is sent Then motor will be ready for operation Absolute Encoder In the Pn587 0 1 setting the function is executed only once when the command is sent Then motor will be ready for operation Servo OFF Motor power is OFF Parameter Function Default Value When enabled ...

Page 68: ...cation the functionality can be disabled by the parameter Pn081 1 1 Note This specification is applied to the usage with the encoder feedback In case that the pulse resolution is not 2n C pulse origin pulse does not synchronize to A pulse C pulse synchronizes to the edge of A B pulse Parameter Function Default Value When enabled No Dig Pn081 Application Function Select Switch 81 1 Encoder Pulse Ou...

Page 69: ...th Semi closed Loop Control for Linear Motors This chapter describes the linear drives common in semi closed loop 11 1 Magnetic Pole 11 2 11 2 Motor Rotation Direction 11 3 11 3 Pole Detection Functionality 11 4 11 4 SERVOPACK for Linear Motors 11 6 11 4 1 Encoder Pulse Output 11 6 ...

Page 70: ...er Function Default Value When enabled No Dig Pn080 Application Function Select Switch 80 0 Hall Sensor Selection 0 After restart 0 Enables hall sensor 1 Disables hall sensor Pn081 Application Function Select Switch 81 3 Hall Sensor Signal Inversion 0 After restart 0 Does not inverse the signals Pos Logic 1 Inverses the signals Neg Logic Positive logic Pn080 0 0 Pn081 3 0 Pn080 0 0 Pn081 3 1 Pn080...

Page 71: ...0 Application Function Select Switch 80 1 Motor Phase Selection 0 After restart 0 Sets phase A lead as phase sequence of U V W 1 Sets phase B lead as phase sequence of U V W U V W U W V Pn000 0 0 Pn080 1 0 Pn000 0 0 Pn080 1 1 Pn000 0 1 Pn080 1 1 Pn000 0 1 Pn080 1 0 U W V U V W U V W U W V Un00D increase Un00D decrease Available Pn080 0 0 Forward Reverse Un00D decrease Un00D increase U W V U V W Ha...

Page 72: ... 1 Requirements that Enable the Function The function is enabled by the following settings 1 The parameter Pole Sensor Selection Pn080 0 is set to disable pole sensor Pn080 0 1 2 The main power is supplied 3 No alarms occur 4 Hard wire base block is not active 5 The parameter Writing Prohibited Setting Fn010 is not set to prohibit writing 6 The SEN signal is turned ON in case of an absolute encode...

Page 73: ...e then the signal turns ON for the first time OFF Type Name Description Servo ON Incremental Encoder The function is executed only once when the command is sent Then motor will be ready for operation Absolute Encoder In the Pn587 0 1 setting the function is executed only once when the command is sent Then motor will be ready for operation Servo OFF Motor power is OFF Parameter Function Default Val...

Page 74: ...ings If the application does not use this encoder pulse output e g network application the functionality can be disabled by the parameter Pn081 1 1 Note C pulse synchronizes to the edge of A B pulse Parameter Function Default Value When enabled No Dig Pn081 Application Function Select Switch 81 1 Encoder Pulse Output Usage 0 After restart 0 Enables the pulse output function Pn281 1 Disables the pu...

Page 75: ...elow For error handling refer to Sigma 5 SERVOPACK user s manual 12 1 Errors related to Feedback Option Module Identification 12 2 12 2 Errors in Fully closed Loop Control 12 3 12 3 Errors in Semi closed Loop Control with Rotary Motors 12 4 12 4 Errors in Semi closed Loop Control with Linear Motors 12 6 12 5 Errors with Pole Sensor Signals Interface 12 8 12 6 Errors during Pole Detection Functiona...

Page 76: ...gure Pn002 3 Check the product specifi cations Configure Pn00B 3 Select the correct combi nation of units A E72 Feedback Option Mod ule Detection Failure The connection between the SERVOPACK and the feedback option module is faulty Check the connection between the SERVO PACK and the feedback option module Correctly connect the feedback option module The feedback option module was disconnected Exec...

Page 77: ...l encoder fault occurred The absolute external encoder may be faulty Refer to the encoder man ufacture s instruction manual for corrective actions A 8A5 External Encoder Over speed The overspeed from the external encoder occurred Replace the external encoder A 8A6 External Encoder Over heated The overheat from the external encoder occurred Replace the external encoder A CF1 External Encoder Com mu...

Page 78: ... servo motor Malfunction of encoder because of noise interference etc Correct the wiring around the encoder by separating the encoder cable from the servomotor main circuit cable or by checking the grounding and other wir ing Note If the scale file is configured for Hall sensor connectivity a Hall sensor must be con nected Disabling Hall sensor connectivity Pn080 0 1 and trying to work without the...

Page 79: ...A0 Encoder Parameter Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servo motor A CB0 Encoder Echo back Error The encoder wiring and contact are incorrect Check the encoder wiring Correct the encoder wir ing Noise interference occurred due to incorrect encoder cable specifica tions Check the encoder wir...

Page 80: ...scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear scale may be faulty Replace the servo motor Malfunction of linear scale because of noise interference etc Correct the wiring around the linear scale by separat ing the cable for linear scale from the main cir cuit cable or by checking the grounding and other wiring Note If the scale file is config...

Page 81: ...iring around the linear scale to avoid noise interference Sepa rate the linear scale con nection cables from the linear servomotor main circuit cable improve grounding etc A SERVOPACK fault occurred Connect the linear servo motor to another SERVO PACK and turn ON the control power If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Communica tions Position Data Error...

Page 82: ...ervo motor Malfunction of encoder because of noise interference etc Correct the wiring around the encoder by separating the encoder cable from the servomotor main circuit cable or by checking the grounding and other wir ing Note If the scale file is configured for Hall sensor connectivity a Hall sensor must be con nected Disabling Hall sensor connectivity Pn080 0 1 and trying to work without the s...

Page 83: ...lded Check to see if the detec tion reference is repeat edly output in one direction Take measures to avoid noise interference by cor rectly connecting FG lines shielding the linear scale connection cables etc An external force was applied to the motor moving coil The polarity cannot be properly detected if the detection reference is 0 zero but the speed feed back is not 0 zero because of an exter...

Page 84: ...ected When using an absolute linear scale set the parameter Pn587 0 to 1 to execute polarity detection A C53 Out of Range for Pole Detection The movement distance exceeded the set value of Pn48E in the middle of detection Increase the value of the polarity detection range Pn48E Or increase the polarity detection speed loop gain Pn481 A C54 Pole Detection Error 2 External force was applied to the l...

Page 85: ...cannot detect correct speed feedback Use the recommended resolution Alternatively increase the value of command speed Pn493 However the movement range will increase Overtravel detection A C51 The OT signal was detected This alarm occurs when the OT signal is detected during the function Before executing the function place the motor to the position where the OT signal is not detected Detection unco...

Page 86: ...ERVOPACK cannot detect correct speed feedback Use the recommended resolution Alternatively increase the value of command speed Pn493 However the movement range will increase Overtravel detection A C51 The OT signal was detected This alarm occurs when the OT signal is detected during the function Before executing the function place the motor to the position where the OT signal is not detected Detec...

Page 87: ...vised manuals are given on the bottom of the back cover Date of Publication Rev No Section Revised Content September 2013 Initial Edition MANUAL NO YEU SIEP C720829 24A Published in Germany September 2013 09 13 Date of publication Date of original publication ...

Page 88: ...ect to change without notice for ongoing product modifications and improvements 2013 YASKAWA EUROPE GmbH All rights reserved Published in Germany September 2013 09 13 MANUAL NO YEU SIEP C720829 24A Σ V Series AC Servo Drives USER S MANUAL Universal Feedback Module Type 3 YASKAWA EUROPE GmbH Hauptstraße 185 65760 Eschborn Germany Phone 49 0 6196 569 300 Fax 49 0 6196 569 398 YASKAWA AMERICA INC 212...

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