YASKAWA SERVOPACK Sigma 7S Series Supplementary Manual Download Page 5

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Tuning

Overview and
Flow of Tuning

−

8.1

Monitoring
Methods

−

8.2

Precautions to
Ensure Safe
Tuning

−

8.3

Tuning-less
Function

−

8.4

Moment of
Inertia Estimation

−

8.5

Autotuning
without
Host Reference

−

8.6

Autotuning with
a Host Reference

−

8.7

Custom Tuning

−

8.8

Anti-resonance
Control
Adjustment

Outline

2.1.1

8.9.1

Preparations

2.1.2

8.9.2

Applicable Tools

2.1.3

8.9.3

Operating Procedure

2.1.4

8.9.4

Related Parameters

2.1.5

8.9.5

Suppressing Differ-
ent Vibration Fre-
quencies with Anti-
resonance Control

2.1.6

−

Vibration
Suppression

−

8.10

Speed Ripple
Compensation

Outline

2.2.1

−

Setting Up Speed
Ripple Compensa-
tion

2.2.2

−

Setting Parameters

2.2.3

−

Additional
Adjustment
Functions

−

8.11

Manual Tuning

−

8.12

Diagnostic Tools

−

8.13

Continued on next page.

Continued from previous page.

Item

This

Manual

-7S SERVOPACK Product Manual

-7W

SERVOPACK

Product

Manual

SERVOPACK

with Analog

Voltage/

Pulse Train

References

SERVOPACK

with MECHA-

TROLINK-II

Communica-

tions

References

SERVOPACK

with MECHA-

TROLINK-III

Communica-

tions

References

SERVOPACK

with MECHA-

TROLINK-III

Communica-

tions

References

Summary of Contents for SERVOPACK Sigma 7S Series

Page 1: ......

Page 2: ... liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is sub ject 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 li...

Page 3: ... of this manual are described in the following table Refer to these chapters as required Item This Manual Σ 7S SERVOPACK Product Manual Σ 7W SERVOPACK Product Manual SERVOPACK with Analog Voltage Pulse Train References SERVOPACK with MECHA TROLINK II Communica tions References SERVOPACK with MECHA TROLINK III Communica tions References SERVOPACK with MECHA TROLINK III Communica tions References Ap...

Page 4: ...t Detection Signal Offset Adjustment 6 16 6 12 6 12 6 11 Forcing the Motor to Stop FSTP Forced Stop Input Signal 1 2 1 Setting the FSTP Forced Stop Input Signal 1 2 2 Stopping Method Selection for Forced Stops 1 2 3 Resetting Method for Forced Stops 1 2 4 Continued on next page Continued from previous page Item This Manual Σ 7S SERVOPACK Product Manual Σ 7W SERVOPACK Product Manual SERVOPACK with ...

Page 6: ...12 2 4 10 2 4 Clearing the Alarm History 12 2 5 12 2 5 12 2 5 10 2 5 Resetting Alarms Detected in Option Module 12 2 6 12 2 6 12 2 6 10 2 6 Resetting Motor Type Alarms 4 1 3 Warning Displays List of Warnings 4 2 1 12 3 1 12 3 1 12 3 1 10 3 1 Troubleshooting Warnings 4 2 2 12 3 2 12 3 2 12 3 2 10 3 2 Monitoring Communica tions Data during Alarms or Warnings 12 4 12 4 12 4 10 4 Troubleshooting Based...

Page 7: ...ECHA TROLINK III Communications References Servo Drive The combination of a Servomotor and SERVOPACK Servo System A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices servo ON Supplying power to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current...

Page 8: ...ng 2 2 1 Anti Resonance Control Adjustment 2 2 2 1 1 Outline 2 2 2 1 2 Preparations 2 3 2 1 3 Applicable Tools 2 3 2 1 4 Operating Procedure 2 3 2 1 5 Related Parameters 2 5 2 1 6 Suppressing Different Vibration Frequencies with Anti resonance Control 2 5 2 2 Speed Ripple Compensation 2 7 2 2 1 Outline 2 7 2 2 2 Setting Up Speed Ripple Compensation 2 7 2 2 3 Setting Parameters 2 11 Monitoring 3 3 ...

Page 9: ...ix 4 2 Warning Displays 4 5 4 2 1 List of Warnings 4 5 4 2 2 Troubleshooting Warnings 4 5 Revision History ...

Page 10: ...l 1 2 1 1 1 Basic Settings for Speed Control 1 2 1 1 2 Operation Examples for Changing the Motor Direction 1 8 1 2 Forcing the Motor to Stop 1 10 1 2 1 FSTP Forced Stop Input Signal 1 10 1 2 2 Setting the FSTP Forced Stop Input Signal 1 11 1 2 3 Stopping Method Selection for Forced Stops 1 14 1 2 4 Resetting Method for Forced Stops 1 15 Application Functions 1 ...

Page 11: ...ol 1 1 1 Basic Settings for Speed Control This section describes the use of the V REF Speed Reference Input Signal SPD D Motor Direction Input Signal speed reference input gain and speed reference offset adjustment in speed control with analog voltages V REF Speed Reference Input Signal Input the V REF Speed Reference Input signal to the SERVOPACK to operate the Servomotor at a speed that is propo...

Page 12: ...2 Motor speed min 1 Speed reference voltage V 0 12 12 Motor speed min 1 Speed reference voltage V Example For Rotary Servomotors Speed Ref erence Input SPD D Signal Rotation Direction Motor Speed For SGM7A Servomotor 6 V ON Reverse Rated motor speed 3000 min 1 OFF Forward 3000 min 1 3 V ON Forward 1 2 of rated motor speed 1500 min 1 OFF Reverse 1500 min 1 1 V ON Reverse 1 6 of rated motor speed 50...

Page 13: ...ing the Speed Reference Offset To automatically adjust the speed reference offset the amount of offset is measured and the speed reference voltage is adjusted automatically The measured offset is saved in the SERVOPACK Pn300 Speed Reference Input Gain Setting Range Setting Unit Default Setting When Enabled Classification 150 to 3 000 0 01 V 600 rated speed for 6 00 V Immediately Setup The offset d...

Page 14: ...ffset 1 Confirm that the servo is OFF in the SERVOPACK 2 Input a 0 V reference voltage from the host controller or an external circuit 3 Select Setup Adjust Offset Adjust the Speed and Torque Reference Offset from the menu bar of the Main Window of the SigmaWin 4 Click the Automatic Adjustment Tab 5 Click the Adjust Button Tool Function Operating Procedure Reference Panel Operator Fn009 Σ 7 Series...

Page 15: ...e Speed Reference Offset The following conditions must be met to manually adjust the reference offset The parameters must not be write prohibited The servo must be in ready status Applicable Tools The following table lists the tools that you can use to manually adjust the speed reference offset and the applicable tool functions The offset does not use a parameter so it will not change even if the ...

Page 16: ...age from the host controller or an external circuit 2 Select Setup Adjust Offset Adjust the Speed and Torque Reference Offset from the menu bar of the Main Window of the SigmaWin 3 Click the Speed Reference Tab 4 Use the 1 and 1 Buttons to adjust the value in the Speed Reference Box to 0 Slight rotation when servo is ON Servomotor SERVOPACK Servo OFF 0 V speed reference or 0 V torque reference Hos...

Page 17: ...e SPD D Motor Direction Input signal Pn501 Zero Clamping Level Used with a Rotary Servomotor Pn580 Zero Clamping Level Used with a Linear Servomotor Note The soft start function is used for the acceleration deceleration time of the speed reference ZCLAMP SPD D Polarity of Analog Speed Reference Voltage Positive Zero Clamping Level or Lower Pn501 Pn580 Negative Rotation Direction Operating Status R...

Page 18: ...between internal set speed control and speed control Set Pn305 Soft Start Acceleration Time to the required acceleration time Set Pn306 Soft Start Deceleration Time to the required deceleration time Set Pn50A n X Input Signal Allocation Mode to 1 Change the sequence input signal allocations Set Pn50C n X SPD D Motor Direction Signal Allocation to any setting other than 7 the signal is always activ...

Page 19: ...References Σ 7S SERVOPACKs with MECHATROLINK III Communications References Σ 7W SERVOPACKs with MECHATROLINK III Communications References 1 2 1 FSTP Forced Stop Input Signal Note Refer to the following section for details on allocations 1 2 2 Setting the FSTP Forced Stop Input Signal on page 1 11 Panel Operator and Digital Operator Displays For a SERVOPACK with Analog Voltage Pulse Train Referenc...

Page 20: ...Enable drive when CN1 40 input signal is OFF open n A Enable drive when CN1 41 input signal is OFF open n B Enable drive when CN1 42 input signal is OFF open n C Enable drive when CN1 43 input signal is OFF open n D Enable drive when CN1 44 input signal is OFF open n E Enable drive when CN1 45 input signal is OFF open n F Enable drive when CN1 46 input signal is OFF open Parameter Description When...

Page 21: ...osed Axis B Enable drive when CN1 13 input signal is ON closed n 5 Axis A Enable drive when CN1 8 input signal is ON closed Axis B Enable drive when CN1 14 input signal is ON closed n 6 Reserved setting Do not use n 7 Set the signal to always prohibit drive always force the motor to stop n 8 default set ting Set the signal to always enable drive always disable forc ing the motor to stop n 9 Axis A...

Page 22: ...n 009 Allocate the signal to CN1 9 n 010 Allocate the signal to CN1 10 n 011 Allocate the signal to CN1 11 n 012 Allocate the signal to CN1 12 n 013 Allocate the signal to CN1 13 n 014 Allocate the signal to CN1 14 n 0 default set ting Set the signal to always enable drive always disable forc ing the motor to stop n 1 Enable drive when the input signal is ON closed n 2 Enable drive when the input ...

Page 23: ...cify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Stops If you set Pn30A to 0 the Servomotor will be stopped with a zero speed The deceleration time that you set in Pn30A is the time to decelerate the motor from the maxi mum motor speed Parameter Description When Enabled Classifi cation Pn00A n 0 Apply the dynamic brake or ...

Page 24: ...erences or Σ 7W SERVOPACK with MECHATROLINK III Communications References If the FSTP Forced Stop Input signal is OFF and the SV_ON Servo ON command is sent the forced stop state will be maintained even after the FSTP signal is turned ON Send the SV_OFF Servo OFF command to place the SERVOPACK in the base block BB state and then send the SV_ON Servo ON command Pn30A Maximum speed Operating speed A...

Page 25: ...ent 2 2 2 1 1 Outline 2 2 2 1 2 Preparations 2 3 2 1 3 Applicable Tools 2 3 2 1 4 Operating Procedure 2 3 2 1 5 Related Parameters 2 5 2 1 6 Suppressing Different Vibration Frequencies with Anti resonance Control 2 5 2 2 Speed Ripple Compensation 2 7 2 2 1 Outline 2 7 2 2 2 Setting Up Speed Ripple Compensation 2 7 2 2 3 Setting Parameters 2 11 Tuning 2 ...

Page 26: ...stment is required as a result of a failure to detect vibration Perform custom tuning if required to increase the response after performing anti resonance control adjustment If the control gain is increased e g when custom tuning is performed vibration may occur again If that occurs perform anti resonance control adjustment again to fine tune the parameters CAUTION Related parameters will be set a...

Page 27: ...ning 2 1 4 Operating Procedure on page 2 3 CAUTION Before you execute anti resonance control adjustment check the information provided in the SigmaWin operating manual Observe the following precautions Make sure that you can perform an emergency stop at any time Parameters will be set automatically when anti resonance control adjustment is executed This may greatly affect the response before and a...

Page 28: ...ustment Button 5 Use the and Buttons in the Adjustment Area to change the settings Click the Reset Button during tuning to restore the setting to its original value The tuning level will return to the value from before when custom tuning was started To Automatically Detect the Vibration Frequency The frequency will be set To Manually Set the Vibration Frequency To Automatically Detect the Vibratio...

Page 29: ...ti resonance Control When you use anti resonance control and increase the control gain for some mechanism vibration can occur at a higher frequency than the frequency for which vibration was sup pressed If this occurs you can suppress vibration for more than one frequency by adjusting Pn166 Anti Resonance Damping Gain 2 Parameter Name Automatic Changes Pn160 Anti Resonance Control Related Selectio...

Page 30: ...tting Range Setting Unit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn165 Anti Resonance Filter Time Constant 2 Correction Setting Range Setting Unit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn166 Anti Resonance Damping Gain 2 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000...

Page 31: ...or Which Execution Cannot Be Performed There are no restrictions Systems for Which Adjustments Cannot Be Made Accurately Systems for which there is not a suitable range of motion Preparations Check the following settings before you execute speed ripple compensation The main circuit power supply must be ON The servo must be OFF There must be no alarms or warnings There must be no hard wire base blo...

Page 32: ...ck the OK Button Tool Function Reference Panel Operator You cannot execute speed ripple compensation from the Panel Operator Digital Operator You cannot execute speed ripple compensation from the Digital Operator SigmaWin Solutions Ripple Compensation Operating Procedure on page 2 8 1 Click the Cancel Button to cancel ripple compensation The Main Window will return 2 If write protection is set the...

Page 33: ...ipple Compensation 2 9 2 Tuning 3 Click the Edit Button First measurement operation is started The speed for measurement operation is set to the jogging speed 4 Enter the jogging speed for the input value and click the OK Button 5 Click the Servo ON Button ...

Page 34: ...isplayed in the Tracing Dialog Box during jogging 7 After speed ripple measurement has been completed click the Write Button The ripple compensation value will be written to the SERVOPACK 8 After writing has been completed click the OK Button If the measurement time i e the jogging time for the speed ripple is too short speed ripple measurement will not be completed The following dialog box will b...

Page 35: ...0 speed reference In speed control mode this may result in the motor moving slightly To prevent this set Pn423 Speed Ripple Compensation Selections and Pn427 or Pn49F Speed Ripple Compensation Enable Speed For Rotary Servomotors For Linear Servomotors To discard the setup results click the Reset Button Information Parameter Description When Enabled Classifi cation Pn423 n 0 default setting Disable...

Page 36: ...reement will occur to warn you If an A 942 warning occurs either reset or disable speed ripple compensation from the Sig maWin You can also disable detection of this warning with the following parameter Parameter Description When Enabled Classifi cation Pn423 n 0 default setting Detect A 942 alarms After restart Setup n 1 Do not detect A 942 alarms Setting of Pn424 Ripple Compensation Enable Speed...

Page 37: ...information on monitoring SERVO PACK product information and SERVOPACK status 3 1 Monitoring Product Life 3 2 3 1 1 Items That You Can Monitor 3 2 3 1 2 Operating Procedure 3 2 3 1 3 Preventative Maintenance 3 3 Monitoring 3 ...

Page 38: ...ce life prediction monitor dialog box Select Life Monitor Installation Environment Monitor or Life Monitor Service Life Prediction Monitor from the menu bar of the Main Window of the SigmaWin A monitor value of 100 indicates that the SERVOPACK has not yet been used The percent age decreases as the SERVOPACK is used and reaches 0 when it is time to replace the SER VOPACK Monitor Items SERVOPACK Ins...

Page 39: ...d Pn00F n 0 the PM signal will still be output as long as it is allocated Related Parameters Σ 7S SERVOPACKs with Analog Voltage Pulse Train References Parameter Description When Enabled Classifi cation Pn00F n 0 default setting Do not detect preventative maintenance warnings After restart Setup n 1 Detect preventative maintenance warnings Classifi cation Signal Connector Pin No Signal Status Desc...

Page 40: ... output terminal Parameter Description When Enabled Classifi cation Pn514 n 0 default setting Disabled the above signal output is not used After restart Setup n 1 Axis A Output the signal from the CN1 23 or CN1 24 output terminal Axis B Output the signal from the CN1 25 or CN1 26 output terminal n 2 Axis A Output the signal from the CN1 27 or CN1 28 output terminal Axis B Output the signal from th...

Page 41: ...f and corrections for alarms and warnings 4 1 Alarm Displays 4 2 4 1 1 List of Alarms 4 2 4 1 2 Troubleshooting Alarms 4 3 4 1 3 Resetting Motor Type Alarms 4 3 4 2 Warning Displays 4 5 4 2 1 List of Warnings 4 5 4 2 2 Troubleshooting Warnings 4 5 Maintenance 4 ...

Page 42: ...m reset possibility and alarm code output in order of the alarm numbers Servomotor Stopping Method for Alarms Refer to the following section for information on the stopping method for alarms Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear the alarm Alarms for Both Axes If All Axes is giv...

Page 43: ...e Alarm utility function The parameters must not be write prohibited Applicable Tools Alarm Number Alarm Name Possible Cause Confirmation Correction Refer ence for Correction A 070 Motor Type Change Detected The connected motor is a differ ent type of motor from the previ ously connected motor A Rotary Servomotor was removed and a Linear Servomotor was connected Set the parameters for a Linear Ser...

Page 44: ... to display the Utility Mode Main Menu and then use the Key or Key to select Fn021 2 Press the Key The Fn021 Reset Motor Type Alarm execution display will appear 3 Press the Key The motor type alarm alarm will be reset When processing has been completed the status display will flash DONE for approximately one second and then return to 1 A 070 4 Press the Key The display will return to the Utility ...

Page 45: ...ing Number Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 A 942 Speed Ripple Com pensation Information Disagreement The speed ripple compensation information stored in the encoder does not agree with the speed ripple compensation information stored in the SERVOPACK H H L A 9b0 Preventative Mainte nance Warning One of the consumable parts has reached the end of its service life H L H Warni...

Page 46: ...mbers of the revised manuals are given on the bottom of the back cover Date of Publication Rev No Section Revised Contents May 2014 First edition MANUAL NO SIEP S800001 50A Published in Japan May 2014 14 5 Date of publication Date of original publication S_Analog ...

Page 47: ...oad HuangPu District Shanghai 200003 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 ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 8...

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