YASKAWA SGD7S-120A Technical Manual Download

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3.3 Block Diagrams

B1/

L1C

L2C

CN502

CN11

CN12

CN7

CN2

ENC

CN5

CHARGE

CN8

I/O

I/F

CN1

CN6A

CN6B

Processor

(PWM control, position/

speed calculations, etc.)

Control
power
supply

Digital Operator

Computer

Option Module

Current

sensor

Dynamic

brake circuit

Servomotor

Gate drive

Analog
voltage

converter

Encoder divided
pulse output

Analog monitor
output

I/O signals

Voltage

sensor

Voltage

sensor

Varistor

Relay

drive

Gate drive

overcurrent protection

Temperature

sensor

Safety function signals

Main
circuit
power
supply

Control
power
supply

Fieldbus
communications

Status display

Fig. 17: Block Diagram - SGD7S-R70A, -R90A, and -1R6A

B1/

L1C

L2C

CN502

CN11

CN12

CN7

CN2

ENC

CN5

CHARGE

CN8

I/O

I/F

CN1

CN6A

CN6B

Processor

(PWM control, position/

speed calculations, etc.)

Control
power
supply

Digital Operator

Computer

Option Module

Current

sensor

Dynamic

brake circuit

Servomotor

Gate drive

Analog
voltage

converter

Encoder divided
pulse output

Analog monitor
output

I/O signals

Voltage

sensor

Voltage

sensor

Varistor

Relay

drive

Gate drive

overcurrent protection

Temperature

sensor

Safety function signals

Main
circuit
power
supply

Control
power
supply

Fieldbus
communications

Status display

Fig. 18: Block Diagram - SGD7S-2R8A

SGD7S-R70A, -R90A, and

-1R6A

SGD7S-2R8A

Sigma-7 Series SERVOPACKs

Selecting a SERVOPACK

Block Diagrams

| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |

Summary of Contents for SGD7S-120A

Page 1: ......

Page 2: ......

Page 3: ...otors and SERVOPACKs 48 2 7 2 Combinations of Direct Drive Servomotors and SERVOPACKs 49 2 7 3 Combinations of Linear Servomotors and SERVOPACKs 51 2 8 Functions 54 3 Selecting a SERVOPACK 58 3 1 Over...

Page 4: ...O Signal Connector CN1 Names and Functions 116 5 6 2 I O Signal Connector CN1 Pin Arrangement 118 5 6 3 I O Signal Wiring Examples 120 5 6 4 I O Circuits 122 5 7 Connecting Safety Function Signals 124...

Page 5: ...arnings 163 6 11 6 Overtravel Release Method Selection 165 6 11 7 Overtravel Status 166 6 11 8 Overtravel Operation by Mode 167 6 12 Holding Brake 167 6 12 1 Overview 167 6 12 2 Brake Operating Sequen...

Page 6: ...ignals 213 7 6 3 Setting for the Encoder Divided Pulse Output 218 7 7 Software Limits 221 7 8 Selecting Torque Limits 221 7 8 1 Overview 221 7 8 2 Internal Torque Limits 222 7 8 3 External Torque Limi...

Page 7: ...7 15 2 Connecting the Overheat Protection Input TH Signal 261 7 15 3 Overheat Protection Selections 261 8 Trial Operation and Actual Operation 263 8 1 Overview 263 8 2 Flow of Trial Operation 263 8 2...

Page 8: ...mating the Moment of Inertia 308 9 6 1 Overview 308 9 6 2 Outline 309 9 6 3 Restrictions 309 9 6 4 Applicable Tools 310 9 6 5 Operating Procedure 310 9 7 Autotuning without Host Reference 321 9 7 1 Ov...

Page 9: ...rview 380 9 12 2 Outline 380 9 12 3 Setting Up Speed Ripple Compensation 380 9 12 4 Setting Parameters 387 9 13 Additional Adjustment Functions 388 9 13 1 Overview 388 9 13 2 Gain Switching 389 9 13 3...

Page 10: ...Machine Movement Direction 458 11 4 4 Setting the Number of External Encoder Scale Pitches 459 11 4 5 Setting the PAO PBO and PCO Encoder Divided Pulse Output Sig nals 460 11 4 6 External Absolute Enc...

Page 11: ...n 480 13 PROFINET Communication 484 13 1 General 484 13 2 PROFINET Slave Information 484 13 3 Application and Communication Relationship AR CR 485 13 4 Drive Units DU and Drive Objects DO 485 13 5 Ide...

Page 12: ...eplacement 579 16 2 4 Replacing the Battery 580 16 3 PROFINET Alarm Mechanism 582 16 3 1 General 582 16 3 2 PROFINET Alarm Structure 582 16 3 3 Fault Buffer Mechanism 584 16 4 Alarm Displays 585 16 4...

Page 13: ...4 Hard Wire Base Block Active Display 759 18 2 5 Overtravel Display 760 18 2 6 Forced Stop Display 760 18 2 7 PROFINET Communications Indicators 760 18 3 Corresponding SERVOPACK and SigmaWin Function...

Page 14: ...red locations 4 Wiring and Connecting SERVOPACKs Provides information on wiring and connecting SERVOPACKs to power supplies and periph eral devices 5 Basic Functions That Require Setting before Operat...

Page 15: ...ails on the object dictionary 15 Maintenance Provides information on the meaning of causes of and corrections for alarms and warnings 16 Parameter and Object Lists Provides information on parameters a...

Page 16: ...Product Manuals such as this manual S 7 Series S 7S S 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals S 7 Series S 7S S 7W SERVOPACK FT EX Product Manuals Option Module User...

Page 17: ...s 5 Option Module User s Manuals Machine Controller MP2000 Series Communication Module User s Manual SIEP C880700 04 Provide detailed information on the specifications and communica tions methods for...

Page 18: ...al operation and tuning Servo Drives writing monitoring and maintaining pro grams and other information 8 7 Series 7C SERVOPACK Trou bleshooting Manual 7 Series AC Servo Drive 7C SERVOPACK Troubleshoo...

Page 19: ...2 09 7 Series AC Servo Drive 7S SERVOPACK with FT EX Specifi cation for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 12 Option Module User s Manual AC Servo Drives V Series V Se...

Page 20: ...rogramming specifica tions and instructions for MP3000 Series Machine Controllers and 7 Series 7C SERVOPACKs Machine Controller MP3000 Series Motion Programming Manual SIEP C880725 14 Provides detaile...

Page 21: ...to the motor when bit 3 of controlword 6040h is changed to 1 ON while the control power supply and main circuit power supply are ON Servo OFF command Disable Operation com mand A command that is used...

Page 22: ...PROFINET IO terminology IO Devices are also called passive stations or nodes Name Symbolic name of a parameter Parameter Value that can be accessed as an object eg variable con stant signal Parameter...

Page 23: ...arameters The notation depends on whether the parameter requires a numeric setting parameter for numeric setting or requires the selection of a function parameter for selecting func tions Parameters f...

Page 24: ...the right in Pn002 is set to 1 Pn002 n ooXo Indicates the second digit from the right in Pn002 Pn002 n oo1o Indicates that the second digit from the right in Pn002 is set to 1 Pn002 n oXoo Indicates t...

Page 25: ...or fire CAUTION Indicates precautions that if not heeded could result in relatively serious or minor injury or in fire NOTICE Indicates precautions that if not heeded could result in property damage...

Page 26: ...ures such as installing covers so that hands and parts such as cables do not come into contact with hot components There is a risk of burn injury For a 24 VDC power supply use a power supply device wi...

Page 27: ...nstructions on the packages There is a risk of injury or damage NOTICE Do not install or store the product in any of the following locations Locations that are subject to direct sunlight Locations tha...

Page 28: ...be used to treat packing materials such as wooden frames plywood or pallets the packing materials must be treated before the product is pack aged and methods other than fumigation must be used Exampl...

Page 29: ...sation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Locations that are near flammable materials Locations that are subject to dust salts o...

Page 30: ...e AC and DC power supplies to the specified SERVO PACK terminals Connect an AC power supply to the L1 L2 and L3 terminals and the L1C and L2C terminals on the SERVOPACK Connect a DC power supply to th...

Page 31: ...ect wires to power supply terminals and motor connection terminals securely with the specified methods and tightening torque Insufficient tightening may cause wires and terminal blocks to gen erate he...

Page 32: ...rameters to match the machine Unexpected machine operation failure or personal injury may occur if operation is started before appropriate settings are made Do not radically change the settings of the...

Page 33: ...wer supply during operation without turning OFF the servo the Servomotor will stop abruptly with the dynamic brake If you turn OFF the control power supply without turning OFF the servo the stopping m...

Page 34: ...CK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspection...

Page 35: ...e you reset an alarm There is a risk of injury or machine damage Always insert a Magnetic Contactor in the line between the main circuit power supply and the main circuit power supply terminals on the...

Page 36: ...ranty period for a product that was purchased hereinafter called the deliv ered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of sh...

Page 37: ...volving potential chemical contamination or electrical inter ference or use in conditions or environments not described in product catalogs or manuals Nuclear energy control systems combustion systems...

Page 38: ...Ks n SGD7S UL 61800 5 1 E147823 CSA C22 2 No 274 Rotary Servomotors n SGMMV n SGM7A n SGM7J n SGM7P n SGM7G UL 1004 1 UL 1004 6 E165827 Direct Drive Servomotors n SGM7E 1 n SGM7F 2 n SGMCV UL 1004 1 U...

Page 39: ...ge Direc tive 2006 95 EC EN 60034 1 EN 60034 5 n SGM7J n SGM7A n SGM7P n SGM7G EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Cate gory C2 Second environment Lo...

Page 40: ...ending SGMCS No application has been made for certifica tion We declared the CE Marking based on the harmonized standards in the above table These products are for industrial use In home environments...

Page 41: ...4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dan gerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg Medium Stop Cat...

Page 42: ...ACKs implement the PROFIdrive drive profile for communications Basic position and speed control are supported along with synchronized position and speed You can select the type of control to match you...

Page 43: ...e unit that is set in velocity user unit 2302h 1 Vel unit 2302h 00 2302h 01 inc ms Acc unit The user defined acceleration reference unit that is set in acceleration user unit 2303h 1 Acc unit 2303h 00...

Page 44: ...rged Do not touch the main circuit or motor terminals while this indicator is lit Doing so may result in electric shock 7 Main Circuit Terminals The terminals depend on the main circuit power supply i...

Page 45: ...a safety function device Chap 5 7 2 Pin Arrangement of Safety Function Signals CN8 page 124 18 Encoder Connector CN2 n Rotary Servomotor Connects to the encoder in the Servomotor n Linear Servomotor...

Page 46: ...ies Servomotors Refer to the relevant manual in the following list for details 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 7 Series Linear Servomotor Product Manual Manual No S...

Page 47: ...7th digit 3rd digit 4th digit 5th digit 7th digit 6th digit 1st 2nd digits Series Fig 12 SGM Direct Drive Servomotor Model Numbers Code Specification S 7 Series Servomotors Servomotor Type 1st digit 3...

Page 48: ...F SGM7A 01A 100 W R90A or R90F SGM7A C2A 150 W 1R6A or 2R1F SGM7A 02A 200 W SGM7A 04A 400 W 2R8A or 2R8F SGM7A 06A 600 W 5R5A SGM7A 08A 750 W SGM7A 10A 1 0 kW 120A SGM7A 15A 1 5 kW SGM7A 20A 2 0 kW 18...

Page 49: ...g a SGM7M Servomotor 2 7 2 Combinations of Direct Drive Servomotors and SERVOPACKs Direct Drive Servomotor Model Rated Torque Nm Instanta neous Maximum Torque Nm SERVO PACK Model SGD7S SGM7E Small Cap...

Page 50: ...SGM7F 2ZN 200 600 SGMCV Small Capacity With Core Inner Rotor SGMCV 04B 4 12 2R8A or 2R8F SGMCV 10B 10 30 SGMCV 14B 14 42 5R5A SGMCV 08C 8 24 2R8A or 2R8F SGMCV 17C 17 51 5R5A SGMCV 25C 25 75 7R6A SGM...

Page 51: ...tor Model Rated Force N Instanta neous Maximum Force N SERVO PACK Model SGD7S SGLG Coreless Models Used with Standard Force Mag netic Way SGLGW 30A050C 12 5 40 R70A R70F SGLGW 30A080C 25 80 R90A R90F...

Page 52: ...30A120A 90 270 SGLFW2 30A230A 180 540 3R8A 170 500 2R8A SGLFW2 45A200A 280 840 5R5A SGLFW2 45A380A 560 1680 180A 1500 120A SGLFW2 90A200A 560 1680 SGLFW2 90A380A 1120 3360 200A SGLFW2 1DA380A 1680 504...

Page 53: ...120A SGLTW 80A400B 1300 5000 330A SGLTW 80A600B 2000 7500 550A The force depends on the SERVOPACK that is used with the Servomotor Sigma 7 Series SERVOPACKs Basic Information on SERVOPACKs Combinatio...

Page 54: ...etting Chap 6 9 Polarity Sensor Set ting page 156 Polarity Detection Chap 6 10 Polarity Detection page 157 Overtravel Function and Settings Chap 6 11 Overtravel and Related Settings page 160 Holding B...

Page 55: ...page 399 Fully Closed Loop Control Chap 11 Fully Closed Loop Control page 454 Safety Functions Chap 12 Safety Functions page 466 Touch Probe Chap 14 9 Touch Probe Func tion page 517 Functions Related...

Page 56: ...ition Deviation Overflow Alarm Level Chap 9 4 4 Setting the Posi tion Deviation Overflow Alarm Level page 300 Functions to Achieve Optimum Motions Function Reference Tuning less Function Chap 9 5 Tuni...

Page 57: ...age 288 Monitoring Machine Operation Status and Signal Waveforms Chap 10 4 Monitoring Machine Operation Status and Signal Waveforms page 438 Functions for Inspection and Maintenance Function Reference...

Page 58: ...10 50 Hz 60 Hz Input Current Arms 0 4 0 8 1 3 2 5 4 1 Control Power Supply 200 VAC to 240 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 0 2 0 2 0 2 0 2 0 2 Power Supply Capacity kVA 0 2 0 3 0 5 1 0 1 6...

Page 59: ...lue at the rated load 3 2 2 SERVOPACK Overload Protection Characteristics The overload detection level is set for hot start conditions with a SERVOPACK sur rounding air temperature of 55 C An overload...

Page 60: ...or 100 200 10000 1000 100 10 1 Detection time s SERVOPACK output current continuous output current ratio Instantaneous maximum output current Instantaneous maximum output current Continuous output cur...

Page 61: ...5R5A 7R6A 120A R70F R90F 2R1F 2R8F IP10 120AA0A008 180A 200A 330A 470A 550A 590A 780A Pollution Degree 2 n Must be no corrosive or flammable gases n Must be no exposure to water oil or chemicals n Mu...

Page 62: ...20 Number of input points 7 Input method Sink inputs or source inputs Input Signals n P OT Forward Drive Prohibit and N OT Reverse Drive Pro hibit signals n EXT1 Probe 1 Latch Input signal n EXT2 Pro...

Page 63: ...HARGE PWR RUN ERR and L A A and B indicators and one digit seven segment display PROFINET Communica tions Communication profile PROFINET IO RT IRT Top High Performance Ver 2 3 IRT is not supported App...

Page 64: ...chanism Fault buffer mechanism Application Classes 1 3 Drive Profile n PROFIdrive Profile Velocity mode Motion Profile type Linear n PROFIdrive Profile Position mode Absolute and relative positioning...

Page 65: ...2 Base block signals for Power Modules Output EDM1 Monitors the status of built in safety circuit fixed output Applicable Standards 3 ISO13849 1 PLe category 3 IEC61508 SIL3 Applicable Option Modules...

Page 66: ...lock Diagram SGD7S R70A R90A and 1R6A L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W CN502 CN11 CN12 CN7 CN2 ENC CN5 M CHARGE CN8 I O I F CN1 CN6A CN6B Processor PWM control position speed calculations etc Contr...

Page 67: ...B2 B3 L2 L3 1 2 L1C L2C U V W CN502 CN2 ENC CN1 CN5 M CHARGE CN7 CN8 CN11 CN12 I O I F CN6A CN6B Processor PWM control position speed calculations etc Control power supply Digital Operator Computer O...

Page 68: ...coder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Temperature sensor Safety function signals Main circuit power supply Control power supply F...

Page 69: ...s Manufacturer CN1 10226 59A3MB 26 3M Japan Limited CN2 3E106 0220KV 6 3M Japan Limited CN502 S8B ZR SM4ATF LF SN 8 J S T Mfg Co Ltd CN6A B 1903815 1 8 Tyco Electronics Japan G K CN7 2172034 1 5 Tyco...

Page 70: ...se mounted SERVOPACKs Three phase 200 VAC SGD7S 2R8A Single Phase 100 VAC SGD7S R70F R90F and 2R1F 160 168 8 45 170 18 4 75 Ground terminals 2 M4 160 0 5 mounting pitch Exterior 20 0 5 mounting pitch...

Page 71: ...25 168 160 45 18 75 140 195 17 5 2 36 24 5 2 Unit mm Approx mass 0 8 kg Exterior Mounting Hole Diagram Ground terminals 2 M4 180 0 5 mounting pitch Two sets of terminals 2 M4 7 5 7 195 166 min 20 45 F...

Page 72: ...rminals Fig 29 External Dimensions Rack mounted SERVOPACKs Three phase 200 VAC SGD7S 3R8A 5R5A and 7R6A 17 5 12 5 65 10 160 168 195 90 70 75 180 18 25 24 5 2 195 7 7 5 20 90 4 M4 Exterior 180 0 5 moun...

Page 73: ...ce Cable SERVOPACK main circuit wires Engineering Tool Servomotor Main Circuit Cable Encoder Cable Fig 31 Examples of Standard Connections between SERVOPACKs and Peripheral Devices SGD7S 200V Rotary S...

Page 74: ...al Operator Host controller Analog Monitor Cable Safety Function Device Cable SERVOPACK main circuit wires Engineering Tool Communications Unit Digital Operator cable Fig 32 Examples of Standard Conne...

Page 75: ...the SERVOPACK in a location subject to high temperatures high humidity water drops cutting oil excessive dust excessive dirt excessive iron powder corrosive gasses or radioactivity 4 3 Mounting Types...

Page 76: ...ACK Airflow Fig 34 Rack Mounting of the SERVOPACK Rack mounted SERVO PACK Sigma 7 Series SERVOPACKs SERVOPACK Installation Mounting Types and Orientation PROFINET Communications SIEP YEUOC7P 02A Revis...

Page 77: ...sions SERVOPACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S R70A R90A 1R6A 168 5 160 0 5 45 35 25 M4 2 2R8A R70F R90F 2R1F 168 5 160 0 5 45 5 25 M4 2 3R8A 5R5A 7R6A 2R8F 168...

Page 78: ...table SERVOPACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S R70A R90A 1R6A 168 5 150 0 5 45 35 35 M4 2 2R8A R70F R90F 2R1F 168 5 150 0 5 45 5 35 M4 2 3R8A 5R5A 7R6A 2R8F 168...

Page 79: ...r around the SERVOPACKs Provide sufficient intervals and spaces as shown in the following figure to enable cooling by the fans and natural convection Fan 30 mm min This distance depends on the model 3...

Page 80: ...e Monitor Installation Environment Monitor SERVO PACK n Panel Operator or Digital Operator Un025 Installation Environment Monitor Implement one or more of the following actions if the monitor value ex...

Page 81: ...A 7R6A 120A 180A 200A 330A 470A 550A 590A and 780A 4 8 EMC Installation Conditions This section gives the installation conditions that were used for EMC certification testing The EMC installation cond...

Page 82: ...ig 40 EMC Installation Conditions Three Phase 200 VAC Symbol Cable Name Specification 1 I O Signal Cable Shielded cable 2 Safety Function Device Cable Shielded cable 3 Servomotor Main Circuit Cable Sh...

Page 83: ...41 EMC Installation Conditions Single Phase 200 VAC Symbol Cable Name Specification 1 I O Signal Cable Shielded cable 2 Safety Function Device Cable Shielded cable 3 Servomotor Main Circuit Cable Shi...

Page 84: ...not work This could damage the machine or cause an accident that may result in death or injury Connect the AC and DC power supplies to the specified SERVO PACK terminals Connect an AC power supply to...

Page 85: ...res to power supply terminals and motor connection terminals securely with the specified methods and tightening torque Insufficient tightening may cause wires and terminal blocks to gen erate heat due...

Page 86: ...device Always use a molded case circuit breaker or fuse to protect the Servo System from accidents involving different power system voltages or other acci dents Install an earth leakage breaker The S...

Page 87: ...r Also separate the cables from each other by at least 30 cm Main Circuit Cables and I O Signal Cables Main Circuit Cables and Host Controller Cables Main Circuit Cables and Encoder Cables n Do not sh...

Page 88: ...using Noise Filters Noise Filter Wiring and Connection Precautions page 88 Always observe the following precautions when wiring or connecting Noise Filters n Separate input lines from output lines Do...

Page 89: ...Noise Filter ground wire to other ground wires Shielded ground wire Noise Filter Noise Filter Grounding plate Grounding plate SERVOPACK SERVOPACK SERVOPACK SERVOPACK Correct Incorrect Fig 45 Noise Fi...

Page 90: ...Servomotor To prevent this always connect the FG terminal of the Servomotor Main Circuit Cable con nected to the Servomotor to the ground terminal on the SERVOPACK Also be sure to ground the ground t...

Page 91: ...ell Ground to a resistance of 100 W or less Switch Fuse Safety 4 Analog Monitors For servo alarm display Servo power ON Servo power OFF Main circuit terminals Motor terminals Servo Alarm Output OFF fo...

Page 92: ...4 2 Terminal Symbols and Terminal Names Use the main circuit connector on the SERVOPACK to wire the main circuit power supply and control circuit power supply to the SERVOPACK CAUTION Wire all connect...

Page 93: ...For SGD7S 3R8A 5R5A 7R6A 120A 180A 200A and 330A If the internal regenerative resistor is insufficient remove the lead or short bar between B2 and B3 and connect an External Regenerative Resistor bet...

Page 94: ...included Obtain it separately 1 2 DC Reactor terminals for power supply harmonic suppression Chap 5 4 7 Wiring Reactors for Har monic Suppression page 106 These terminals are used to connect a DC Rea...

Page 95: ...Supply Input Setting page 143 Single Phase 100 VAC Power Supply Input Terminal Sym bols Terminal Name Specifications and Reference L1 and L2 Main circuit power supply input terminals for AC power supp...

Page 96: ...ctor and motor connector from the SERVOPACK 2 Remove the sheath from the wire to connect 8 mm to 9 mm Fig 49 Removing the sheath from the wire 3 Open the wire insertion hole on the terminal connector...

Page 97: ...ation Enable Operation Fig 50 Power ON Sequence If the servo ON state cannot be achieved by inputting the Servo ON com mand Enable Operation command the S_RDY signal is not ON Check the status of the...

Page 98: ...spection work 5 4 5 Power Supply Wiring Diagrams 5 4 5 1 Using Only One SERVOPACK 2KM L1 0 V 1Ry 3 4 1D B2 B3 L2 CN1 1KM L1C L3 L2C 1QF R S T 1FLT 24 V 1 2 3SA B1 1PL 1KM 2KM 1SA 2SA 1KM 1Ry 1KM ALM A...

Page 99: ...M ALM ALM 1Ry SERVOPACK For servo alarm display Servo power ON Servo power OFF 1QF Molded case circuit breaker 1FLT Noise Filter 1KM Magnetic Contactor for control power supply 2KM Magnetic Contactor...

Page 100: ...1 2 1FU 2KM 0 V 1Ry 1D 24 V 1KM AC DC 1QF R S T 3SA 3 4 CN1 1Ry 1KM 1Ry 1KM ALM ALM 1FLT B2 B3 1 L1 L2 L3 AC DC 2FU Fig 55 Wiring Example for DC Power Supply Input 1 You do not have to connect B2 and...

Page 101: ...se circuit breaker 1FLT Noise Filter 1KM Magnetic Contactor for control power supply 2KM Magnetic Contactor for main circuit power supply auxiliary contact 1FU Fuse positive side 2FU Fuse negative sid...

Page 102: ...for these SERVOPACKs in series to operate the alarm detection relay 1RY When a SERVOPACK alarm is activated the ALM output signal transistor turns OFF The following diagram shows the wiring to stop a...

Page 103: ...pply 1Ry Relay 1PL Indicator lamp 1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode 1KM 1FLT Fig 58 Stopping all of the Servomotors when there is an alarm for any one SERVOPAC...

Page 104: ...Pn603 Regenerative Resist ance Refer to the following section for details on the settings Chap 6 18 Setting the Regenerative Resistor Capacity page 194 1 Remove the lead from between the B2 and B3 ter...

Page 105: ...Pn600 Regenerative Resistor Capacity and Pn603 Regenerative Resist ance Refer to the following section for details on the settings Chap 6 18 Setting the Regenerative Resistor Capacity page 194 Sigma...

Page 106: ...g to the specifications of the regenerative resistor Refer to the following section for details on the settings Chap 6 18 Setting the Regenerative Resistor Capacity page 194 5 4 7 Wiring Reactors for...

Page 107: ...The SERVOPACK terminals or connectors that are required to connect the SERVOPACK to a Servomotor are given below Terminal Connector Symbols Terminal Connector Name Remarks U V and W Servomotor termin...

Page 108: ...der power supply 5 V 2 PG0V Linear encoder power supply 0 V 3 Do not use 4 Do not use 5 PS Serial data 6 PS Serial data Shell Shield 5 5 3 Wiring the SERVOPACK to the Encoder 5 5 3 1 When Using an Abs...

Page 109: ...ctor depend on the Servo motor that you use 2 represents a shielded twisted pair cable When Installing a Battery on the Encoder Cable Use the Encoder Cable with a Battery Case that is specified by Yas...

Page 110: ...ervomotor that you use 2 represents a shielded twisted pair cable 5 5 3 3 When Using an Absolute Linear Encoder The wiring depends on the manufacturer of the linear encoder Shield Connector shell Conn...

Page 111: ...represents a shielded twisted pair cable PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Absolute linear encoder from Magnescale Co Ltd Shield Connector shell Connector shell SERVOPACK Fig 70 Absolute Linear Enc...

Page 112: ...GmbH 1 9 3 7 4 2 11 14 1 PG5V PG0V 2 6 1 5 5 6 1 2 CN2 9 3 7 4 2 11 14 Shield Shield Connector shell Connector shell Connector shell Connector shell SERVOPACK CN2 CN1 COS SIN REF REF 5V 0V SIN COS PS...

Page 113: ...tor shell SERVOPACK Fig 74 Incremental Linear Encoder from Magnescale Co Ltd SR75 and SR85 represents a shielded twisted pair cable n PL101 RY MQ10 FLA or MQ10 GLA Interpolator The following table giv...

Page 114: ...0 and SL730 represents a shielded twisted pair cable 5 5 4 Wiring the SERVOPACK to the Holding Brake If you use a Rotary Servomotor select a Surge Absorber according to the brake current and brake pow...

Page 115: ...ector If the power supply is shared the I O signals may malfunction Servomotor with Holding Brake SERVOPACK Surge Absorber Power supply BK RY Brake control relay 1D Flywheel diode M BK ENC U V W CN2 A...

Page 116: ...eneral purpose Sequence Input 4 Probe 1 Latch Input You can allocate the input signals to use with parameters Connect the external signals that latch the cur rent feedback pulse counter SI5 EXT2 11 Ge...

Page 117: ...Alarm Output Turns OFF opens when an error is detected Chap 7 2 4 ALM Servo Alarm Signal page 199 ALM 4 SO1 BK 1 General purpose Sequence Output 1 Brake Output You can allocate the output signal to u...

Page 118: ...nector CN1 for the default settings The top view is from the direction of the arrow without the connector shell attached No Signal Specification No Signal Specification 1 SO1 BK General purpose Sequen...

Page 119: ...22 PCO Encoder Divided Pulse Output Phase C 10 SI4 EXT1 General purpose Sequence Input 4 23 SO2 General purpose Sequence Output 2 11 SI5 EXT2 General purpose Sequence Input 5 24 SO2 General purpose Se...

Page 120: ...n ON Home Switch Input homing when ON Probe 2 Latch Input latch when ON General purpose sequence input 6 TH 5 Overheat protection input Fig 81 I O Signal Wiring Example Rotary Servomotor 1 represents...

Page 121: ...XT2 SI6 Probe 1 Latch Input latch when ON Home Switch Input homing when ON Probe 2 Latch Input latch when ON General purpose sequence input 6 Fig 82 I O Signal Wiring Example Linear Servomotor 1 repre...

Page 122: ...examples in Chap 5 6 3 I O Signal Wiring Examples page 120 are for sink circuit connections Sink Circuits Source Circuits SERVOPACK input side Switch Photocoupler Internal signal level Internal signal...

Page 123: ...as follows Maximum allowable voltage 30 VDC Current range 5 mA to 50 mA DC n Line Driver Output Circuits This section describes CN1 connector terminals 17 18 Phase A Signal 19 20 Phase B Signal and 21...

Page 124: ...ut and the SERVOPACK enters a base block state 8 EDM1 5 7 3 I O Circuits For safety function signal connections the input signal is the 0 V common and the output signal is a source output This is oppo...

Page 125: ...e HWBB motor current shut OFF request The input HWBB signals have the following electrical characteristics Item Characteristics Remarks Internal Impedance 4 7 k Operating Voltage Range 24 V 20 Maximum...

Page 126: ...e EDM1 signal are as follows Item Characteristics Remarks Maximum Allowable Voltage 30 VDC Maximum Allowable Cur rent 50 mA DC Maximum ON Voltage Drop 1 0 V Voltage between EDM1 and EDM1 when current...

Page 127: ...ble between stations L1 L2 Ln must be 50 m or less 5 8 2 PROFINET Connectors RJ45 Connector Description CN6A PROFINET input signals CN6B PROFINET output signals Connector Pin Assignments Pin Signal Re...

Page 128: ...an RS 422 cable to connect a Digital Operator connect a JUSP JC001 1 Commu nications Unit to CN502 on the SERVOPACK and connect the RS 422 cable to the Com munications Unit Connect to CN502 on the SE...

Page 129: ...aWin AC Servo Drive Engineering Tool SigmaWin Operation Manual Manual No SIET S800001 34 Use the YASKAWA specified cables Operation will not be dependable due to low noise resistance with any other ca...

Page 130: ...n the monitoring methods for an analog monitor Chap 10 4 Monitoring Machine Operation Status and Signal Waveforms page 438 Sigma 7 Series SERVOPACKs Wiring and Connecting SERVOPACKs Connecting the Oth...

Page 131: ...parameters are displayed When you edit parameters with a Digital Operator only setup parameters are displayed by default To edit tuning parameters set Pn00B to n 1 Display all parameters Parameter Me...

Page 132: ...can also set the tuning parameters individually to make adjustments Refer to the fol lowing section for details Chap 9 14 Manual Tuning page 405 6 2 3 Notation for SERVOPACK Parameters There are two...

Page 133: ...ject index number used to access the parameter with PROFINET communications Parameter number Parameter Meaning When Enabled Classification n o0oo After restart Setup n o1oo n o2oo default setting Use...

Page 134: ...edited parameter cell will change to green 6 Select Edited Parameters in the Write to Servo Group The edited parameters are written to the SERVOPACK and the backgrounds of the cells change to white F...

Page 135: ...ue Refer to the following section for further information on this functionality Chap 14 11 Get Set SERVOPACK Parameter Functionality page 520 6 2 5 Write Prohibition Setting for SERVOPACK Parameters Y...

Page 136: ...te Prohibition Setting Dialog Box will be displayed 3 Press the or for the rightmost digit and set one of the following 0000 Writing is permitted default setting 0001 Writing is prohibited Fig 93 Writ...

Page 137: ...3 Origin Search page 284 Absolute Encoder Reset Fn008 Reset Abso lute Encoder Cannot be executed Chap 6 16 5 Oper ating Proce dure page 188 Adjusting the Analog Mon itor Output Fn00C Adjust Analog Mon...

Page 138: ...ze Vibration Detection Level Cannot be executed Chap 7 12 Initial izing the Vibration Detection Level page 246 Set Origin Fn020 Set Absolute Linear Encoder Origin Cannot be executed Chap 6 17 Setting...

Page 139: ...ference page 339 Custom Tuning Fn203 One Param eter Tuning Cannot be executed Chap 9 9 Custom Tuning page 350 Anti Reso nance Con trol Adjust ment Fn204 Adjust Anti resonance Control Cannot be execute...

Page 140: ...ry Cannot be executed Chap 16 4 6 Clearing the Alarm His tory page 632 Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Cannot be executed Chap 6 4 Automatic Detection of Connected Motor page 144 1...

Page 141: ...e 141 Use the following procedure to initialize the parameter settings 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Edit Parameters in the Menu Dialog B...

Page 142: ...w A SERVOPACK with a 200 VAC power supply input can be operated on either an AC power supply input or DC power supply input to the main and control circuits If you select an AC power supply input you...

Page 143: ...power supply If you input DC power without specifying a DC power supply input i e without setting Pn001 to n 1 the SERVOPACK s internal elements may burn and may cause fire or damage to the equipment...

Page 144: ...Power Supply Line Open Phase will occur Not all SERVOPACKs can be run on a single phase AC power supply input If you connect a single phase AC power supply input to a SER VOPACK that does not support...

Page 145: ...o not change Set the appropriate direction for your system Refer to the following section for details on the encoder divided pulse output Chap 7 6 Encoder Divided Pulse Output page 213 The default set...

Page 146: ...down direction Force reference Motor speed Time Encoder Divided Pulse Outputs Phase A lead PAO PBO N OT Reverse Drive Prohibit signal n 1 Use the direction in which the linear encoder counts down as...

Page 147: ...DENHAIN GmbH LIDA48 JZDP H003 E 20 JZDP J003 E LIF48 JZDP H003 E 4 JZDP J003 E Renishaw PLC RGH22B JZDP H005 E 20 JZDP J005 E The first time you supply power to the SERVOPACK the panel display on the...

Page 148: ...included in the motor parameters You cannot use the monitor functions of the SERVOPACK to monitor the serial number If you attempt to monitor the serial number will be displayed n If the encoder para...

Page 149: ...Write in the Menu Dialog Box The Motor Parameter Scale Write Dialog Box will be displayed 4 Click the OK Button Fig 100 Motor parameter scale write Warning Click the Cancel Button to cancel writing t...

Page 150: ...repared and click the Open Button Fig 102 Open motor parameter file Sigma 7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters PROFINET Commun...

Page 151: ...Confirm the motor parameter file information Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Window will return Sigma 7 Series SERVOPACKs Basic Functions...

Page 152: ...le is written in the scale Click the No Button to cancel writing the motor parameters to the linear encoder If you click the Yes Button writing the motor parameter scale will start Sigma 7 Series SERV...

Page 153: ...g 106 Motor parameter scale write Scale write Complete Sigma 7 Series SERVOPACKs Basic Functions That Require Setting before Operation Writing Linear Servomotor Parameters PROFINET Communications SIEP...

Page 154: ...near Servomotor is the same as the encoder s count up direction Before you set the Linear Servomotor phase sequence Pn080 n X check the following items n Confirm that the signal from the linear encode...

Page 155: ...blems The linear encoder pitch is not correct If the scale pitch that is set in Pn282 does not agree with the actual scale pitch the expected number of feedback pulses will not be returned Check the s...

Page 156: ...error in the travel distance There is no problem as long as the above value is close to the calculated value Example 6 9 Polarity Sensor Setting The polarity sensor detects the polarity of the Servom...

Page 157: ...tor has been replaced The results of polarity detection is stored in the absolute encoder so the polarity position is not lost when the control power supply is turned OFF n Use the polarity detection...

Page 158: ...too large or the cable tension is too strong 6 10 3 Using the Servo ON Command Enable Operation Command to Perform Polarity Detection You can use the Servo ON command Enable Operation command to perfo...

Page 159: ...orkspace of the Main Window of the Sig maWin 2 Select Polarity Detection in the Menu Dialog Box The Polarity Detection Dialog Box will be displayed 3 Click the Continue Button Fig 111 Polarity Detecti...

Page 160: ...at the positions where you want to stop the machine that is operated by the Servomotor A SERVOPACK wiring example is provided below 8 CN1 7 P OT N OT Linear Servomotors Servomotor Forward direction S...

Page 161: ...state when it stops 6 11 2 Overtravel Signals The overtravel signals include the P OT Forward Drive Prohibit and the N OT Reverse Drive Prohibit signals Type Signal Connector Pin No Signal Status Mean...

Page 162: ...06 Zero clamp After restart Setup You cannot decelerate a Servomotor to a stop during torque control For torque control the Servomotor will be stopped with the dynamic braking or coast to a stop accor...

Page 163: ...te the motor from the maximum motor speed Pn30A Maximum speed Operating speed Actual deceleration time Actual deceleration time Operating speed Maximum speed Deceleration time Pn30A Fig 114 Stopping t...

Page 164: ...he host controller Check the feedback position to make sure that the axis is stopped at a safe position The following parameter is set for this function Parameter Meaning When Enabled Classification P...

Page 165: ...lection You can set Pn022 n X Overtravel Release Method Selection to release over travel Internal limit active ZSW1 bit 11 in PROFIdrive Position Mode ZSW1 bit 15 in all other cases changes to 1 durin...

Page 166: ...nly reverse operation Fig 117 Overtravel Release Method n 1 6 11 7 Overtravel Status If an overtravel signal is input Internal limit active in statusword 6041h will change to 1 and the Servomotor will...

Page 167: ...torque when the P OT signal is input 6 12 Holding Brake 6 12 1 Overview A holding brake is used to hold the position of the moving part of the machine when the SERVOPACK is turned OFF so that moving...

Page 168: ...ignal Brake contact section lining Position speed reference Motor speed Fig 119 Brake Operating Sequence 1 Rotary Servomotors The brake delay times for Servomotors with Holding Brakes are given in the...

Page 169: ...e Reference Output Speed Level Refer to the following section for information on brake wiring Chap 5 5 4 Wiring the SERVOPACK to the Holding Brake page 114 6 12 3 BK Brake Signal The following setting...

Page 170: ...ved Use the servo OFF delay time Pn506 to change the timing to turn OFF power supply to the motor after the Servo OFF command Disable Operation command is input Brake Reference Servo OFF Delay Time Se...

Page 171: ...ing When Ena bled Classifica tion Pn507 0 to 10 000 1 min 1 100 Immediately Setup applies to Speed Control Position Control and Torque Control Servo OFF Brake Reference Waiting Time Setting Range Sett...

Page 172: ...olword 6040h alarm or power OFF Linear Servomotor Pn583 Rotary Servomotor Pn507 Motor stopped with dynamic brake or by coasting Pn001 n oooX Power supplied Power not supplied OFF Brake applied Motor s...

Page 173: ...ll operate frequently if the power supply is turned ON and OFF or the servo is turned ON and OFF while a reference input is applied to start and stop the Servomotor This may result in deteriora tion o...

Page 174: ...If Pn001 is set to n 0 Stop the motor by applying the dynamic brake and the Servomotor is stopped or operates at a low speed braking force may not be generated just like it is not generated for coast...

Page 175: ...ter Servomotor Stops When Enabled Classifi cation Pn00B Pn00A Pn001 n 0 default setting n 0 default setting Zero speed stopping Dynamic brake After restart Setup n 1 Coasting n 2 n 1 n 0 default setti...

Page 176: ...bjected to a continuous load that exceeds the Servomotor ratings It is designed to prevent Servomotor overheating You can change the detection timing for A 910 warnings Overload and A 720 alarms Conti...

Page 177: ...rload alarm detection level change the setting of Pn52C Base Current Derating at Motor Overload Detection Base Current Derating at Motor Overload Detection Setting Range Setting Unit Default Set ting...

Page 178: ...units with PROFINET communications n Position reference unit n Speed reference unit n Acceleration reference unit The setting procedures are given below 6 15 2 Setting the Position Reference Unit Set...

Page 179: ...rt the travel distances that are specified in reference units to pulses which are required for actual movements With the electronic gear one reference unit is equal to the workpiece travel distance pe...

Page 180: ...hen the Electronic Gear Is Not Used To move the load 10 mm 10 1000 20 256 128 000 pulses so 128 000 pulses are input as the reference Calculating the number of reference pulses for each reference is t...

Page 181: ...ng formula if the linear encoder and SERVOPACK are connected directly or if a linear encoder that does not require a Serial Converter Unit is used Numerator Denominator B A Electronic gear ratio Trave...

Page 182: ...JOHANNES HEIDENHAIN GmbH LIC4100 Series 20 48 EIB3391Y 4 4 096 0 005 m LIC2100 Series 204 8 EIB3391Y 4 4 096 0 05 m 409 6 EIB3391Y 4 4 096 0 1 m LC115 40 96 EIB3391Y 4 4 096 0 01 m LC415 40 96 EIB339...

Page 183: ...el of the Head with Interpolator 4 This is the model of the Interpolator 5 If you use an encoder pulse output with this linear encoder the setting range of the encoder output resolution Pn281 is restr...

Page 184: ...io 1 50 2 Encoder Res olution 16 777 216 24 bits 16 777 216 24 bits 16 777 216 24 bits 3 Reference Unit 0 001 mm 1 m 0 01 0 005 mm 5 m 4 Travel Dis tance per Load Shaft Revolution Reference Units 6 mm...

Page 185: ...r UDINT RW No 1 Value range 231 1 def ault 1 Yes Speed Reference Unit Setting Example Electronic Gear Ratio Setting Example for a Ball Screw Ball screw lead 6 mm Encoder resolution 16 777 216 inc 24 b...

Page 186: ...unit 16 777 216 inc 6 mm 0 1 mm s2 10 4 104 inc s2 Fig 134 Acceleration Reference Unit Setting Example Therefore the objects are set as follows Object 2303h 01 Numerator 16 777 216 Object 2303h 02 De...

Page 187: ...n 2 If a batteryless absolute encoder is used an A 810 alarm Encoder Backup Alarm will occur the first time the power is turned ON After you reset the absolute encoder the A 810 alarm will no longer o...

Page 188: ...ervo Drive Button in the workspace of the Main Window of the Sig maWin 3 Select Absolute Encoder Reset in the Menu Dialog Box The Absolute Encoder Reset Dialog Box will be displayed 4 Click the Contin...

Page 189: ...Click the Continue Button Fig 137 Setup Verification Continue processing Click the Cancel Button to cancel resetting the absolute encoder The previous dialog box will return Sigma 7 Series SERVOPACKs...

Page 190: ...dow will return 8 To enable the change to the settings turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to reset the absolute encoder 6 17 Setting the Origin of the...

Page 191: ...RL36Y After you set the origin the S RDY Servo Ready signal will become inactive because the system position data was changed Always turn the SERVOPACK power supply OFF and ON again After you set the...

Page 192: ...vo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Set Origin in the Menu Dialog Box The Set Origin Dialog Box will be displayed 3 Click the Continue Button Fig 141 Set Orig...

Page 193: ...on to cancel setting the origin of the absolute linear encoder The previous dialog box will return Sigma 7 Series SERVOPACKs Basic Functions That Require Setting before Operation Setting the Origin of...

Page 194: ...set Pn600 Regenerative Resistor Capacity and Pn603 Regenerative Resistance Refer to the following manual to select the capacity of a Regenerative Resistor 7 Series Peripheral Device Selection Manual M...

Page 195: ...capacity W of the actually installed Regenerative Resistor n For forced air cooling Set the parameter to a maximum 50 of the capacity W of the actually installed Regenerative Resistor For a self cooli...

Page 196: ...ate two or more signals to the same input circuit a logical OR of the inputs will be used and all of the allocated signals will operate accordingly This may result in unexpected operation The input si...

Page 197: ...the contacts are ON closed A 7 B 8 C 9 D 10 E 11 F 12 You can allocate the EXT1 and EXT2 input signals only to pins 10 to 12 on the I O signal connector CN1 Refer to the following section for details...

Page 198: ...dingly Interpreting the Output Signal Allocation Tables BK 1 2 3 0 1 and 2 23 and 24 25 and 26 Disabled Not Used CN1 Pin No Brake Pn50F oXoo Output Signals Output Signal Name and Parameter These colum...

Page 199: ...the parameter setting procedure Chap 6 2 4 Setting Methods for SERVOPACK Parameters page 133 You can confirm the status of output signals on the I O signal monitor Refer to the fol lowing section for...

Page 200: ...tails Chap 7 2 3 Output Signal Allocations page 198 7 2 6 TGON Rotation Detection Signal The TGON signal indicates that the Servomotor is operating This signal is output when the shaft of the Servomot...

Page 201: ...ol and Torque Control 7 2 7 S RDY Servo Ready Signal The S RDY Servo Ready signal turns ON when the SERVOPACK is ready to accept the Servo ON command Enable Operation command The S RDY signal is turne...

Page 202: ...ed for example to interlock the SERVOPACK and the host controller You can use this output signal only during speed control The V CMP signal is described in the following table Type Signal Connector Pi...

Page 203: ...ting When Ena bled Classifica tion Pn582 0 to 100 1 mm s 10 Immediately Setup applies to Speed Control The signal is output when the difference between the reference speed and motor speed is equal or...

Page 204: ...n the reference position and the current position i e the position deviation as given by the value of the deviation counter is equal to or less than the setting of the positioning completed width Pn52...

Page 205: ...dth and the reference after the position refer ence filter is 0 n 2 Output the COIN signal when the absolute value of the position deviation is the same or less than the setting of Pn522 Positioning C...

Page 206: ...rence position and the current position i e the position deviation as given by the value of the deviation counter is equal to or less than the setting of the near signal width Pn524 Near Signal Width...

Page 207: ...rdous speed Time Speed Safe operation with speed limit Time Speed limit The signal that is output when the motor speed is being limited by the speed limit is described in the following table Type Sign...

Page 208: ...it during Force Control n Rotary Servomotors Speed Limit during Torque Control Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn407 0 to 10 000 1 min 1 10000 Immediately Set...

Page 209: ...ed for the control power supply and main circuit power supply the SERVOPACK can withstand a power interruption that lasts longer than 50 000 ms The holding time of the SERVOPACK control power supply i...

Page 210: ...age The host controller removes the torque limit after the Undervoltage warning is cleared 280 V 200 V 0 0 Torque limit ends The torque is limited when the Undervoltage warning is received Torque limi...

Page 211: ...424 0 to 100 1 50 Immediately Setup applies to Speed Control Position Control and Torque Control Release Time for Torque Limit at Main Circuit Voltage Drop Setting Range Setting Unit Default Set ting...

Page 212: ...use the Servo OFF command Disable Operation command 7 5 Setting the Motor Maximum Speed You can set the maximum speed of the Servomotor with the following parameter n Rotary Servomotors Maximum Motor...

Page 213: ...position feedback The following table describes the signals and output phase forms 7 6 2 Encoder Divided Pulse Output Signals Type Signal Connector Pin No Name Remarks Output PAO CN1 17 Encoder Divide...

Page 214: ...dth of phase A Even for reverse operation Pn000 n 1 the output phase form is the same as shown above If you use the SERVOPACK s phase C pulse output for an origin return rotate the Servomotor two or m...

Page 215: ...signal Ref in the reverse direction and returning after turning ON the power supply Machine position forward Origin detection position Origin detection position Power ON Origin signal Ref Phase C Tim...

Page 216: ...a linear incremental encoder from Magnescale Co Ltd is used the count direc tion of the encoder determines how the phase C pulse CN1 21 and CN1 22 is output The count direction up or down of the line...

Page 217: ...ntal Encoder When first passing the Origin signal in the reverse direction n When using a Linear encoder with multiple origins and first passing the Origin position in the forward direction and return...

Page 218: ...section describes the setting for the encoder divided pulse output for a Rotary Ser vomotor or Linear Servomotor If you will use a Rotary Servomotor set the number of encoder output pulses Pn212 Numbe...

Page 219: ...000 P Rev Incorrect setting example Pn212 cannot be set to 25 001 P Rev because the setting increment in the above table is not used The upper limit of the pulse frequency is approximately 1 6 Mpps Mi...

Page 220: ...Unit Setting of Pn282 Not Using a Serial Converter Unit when the linear encoder and SERVOPACK are connected directly or when a linear encoder that does not require a Serial Converter Unit is used The...

Page 221: ...the following table Limit Method Outline Control Method Reference Internal Torque Limits The torque is always limited with the setting of a parameter Speed control posi tion control or torque control...

Page 222: ...mediately Setup applies to Speed Control Position Control and Torque Control Set a percentage of the rated motor torque If the setting of Pn402 or Pn403 is too low the torque may be insufficient for a...

Page 223: ...ce Limits Linear Servomotors 7 8 3 External Torque Limits You can limit the torque only when required by the operating conditions of the machine by turning a signal ON and OFF You can use this for app...

Page 224: ...ate the P CL and N CL signals to use them You can use the following parameters to allocate the signal to a terminal Pn50B n X P CL Forward External Torque Limit Input Signal Allocation Pn50B n X N CL...

Page 225: ...0 Immediately Setup applies to Speed Control Position Control and Torque Control Set a percentage of the rated motor torque If the setting of Pn483 Forward Force Limit Pn484 Reverse Force Limit Pn404...

Page 226: ...utput torque when the internal torque limit is set to 800 n Rotary Servomotors It is assumed that counterclockwise is set as the forward direction of motor rotation Pn000 n 0 P CL signal OFF ON N CL s...

Page 227: ...cate the CLT signal to use it Use Pn50F n X CLT Torque Limit Detection Signal Allocation to allocate the signal to a con nector pin Refer to the following section for details Chap 7 2 3 Output Signal...

Page 228: ...r Settings When Using a Single Turn Absolute Encoder Parameter Meaning When Enabled Classification Pn002 n 0 default setting Use the encoder as a single turn absolute encoder A battery is not required...

Page 229: ...d to be wired refer to the following section Chap 5 5 3 Wiring the SERVOPACK to the Encoder page 108 Chap 5 6 3 I O Signal Wiring Examples page 120 7 9 3 Structure of the Position Data of the Absolute...

Page 230: ...f the absolute encoder is the current stop position The absolute encoder outputs the multiturn data with the specified protocol The absolute encoder out puts the position within one rotation as a puls...

Page 231: ...es Refer to the fol lowing table Setting of Pn212 Calculation of the Pulse Output Speed for the Position of the Absolute Encoder within One Rota tion Calculation of the Pulse Output Time T for the Pos...

Page 232: ...haracters P the sign the 5 digit multiturn data and CR which indicates the end of the message P or 0 to 9 0 to 9 0 to 9 0 to 9 0 to 9 CR Multiturn data 5 digits Fig 169 Message Format of PAO Signal 7...

Page 233: ...n when absolute encoder was reset PM Current position in machine coordinate system R Pulses output per encoder rotation value after dividing setting of Pn212 The following formulas apply in Reverse Ro...

Page 234: ...ultiturn limit Pn205 m 1 If m 100 and n 3 i e the turntable rotates three times for each 100 Servomotor rota tions the relationship between the number of Servomotor rotations and the number of turntab...

Page 235: ...data Setting of Pn205 Forward Reverse The multiturn data will always be 0 in the following cases It is not neces sary to reset the absolute encoder in these cases When you use a single turn absolute e...

Page 236: ...the workspace of the Main Window of the Sig maWin 2 Select Multiturn Limit Setting in the Menu Dialog Box The Multiturn Limit Setting Dialog Box will be displayed 3 Click the Continue Button Fig 173 M...

Page 237: ...OFF and ON again An A CC0 alarm Multiturn Limit Disagreement will occur because setting the multi turn limit in the Servomotor is not yet completed even though the setting has been changed in the SER...

Page 238: ...the Motor Button Fig 177 Multiturn Limit Setting Writing into the Servomotor Click the Re change Button to change the setting Sigma 7 Series SERVOPACKs Application Functions Absolute Encoders Multitu...

Page 239: ...power supply to the system is turned ON There are two types of linear encoders for Linear Servomotors The usage of the linear encoder is specified in Pn002 n X Refer to the following section for line...

Page 240: ...0 19 0 Upper 16 bits with sign Lower 20 bits Fig 179 Structure of the Position Data of the Absolute Linear Encoder When the SERVOPACK sends the position data it sends the upper 16 bit data with sign s...

Page 241: ...operation status The host controller must have a reception circuit e g UART for the position data from the absolute linear encoder The pulse counter at the host controller will not count pulses when t...

Page 242: ...Output signal are given in the following table The PAO signal sends only the 16 bit data with sign Refer to the following section for the timing of sending the position data from the absolute encoder...

Page 243: ...ons according to the transmission specifications For the lower 20 bit data the lower bits 20 bits of the current position after dividing by the setting of Pn281 are output as a pulse train Machine coo...

Page 244: ...OFF and that the Servomotor is stopped before you start a software reset the servo cannot be reset when it is ON This function resets the SERVOPACK independently of the host con troller The SERVOPACK...

Page 245: ...Use the following procedure to perform a software reset 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Software Reset in the Menu Dialog Box The Software...

Page 246: ...d This concludes the procedure to reset the software 7 12 Initializing the Vibration Detection Level 7 12 1 Overview You can detect machine vibration during operation to automatically adjust the setti...

Page 247: ...is a discrepancy use the above for mula to adjust Pn311 Vibration Detection Sensitivity Vibration Detection Sensitivity Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn311...

Page 248: ...evel Chap 7 12 4 Operating Procedure page 248 7 12 4 Operating Procedure Use the following procedure to initialize the vibration detection level 1 Click the Servo Drive Button in the workspace of the...

Page 249: ...tection Start Button A setting execution standby mode will be entered Fig 189 Initialize Vibration Detection Level AXIS 00 Detection Start Sigma 7 Series SERVOPACKs Application Functions Initializing...

Page 250: ...g 190 Initialize Vibration Detection Level AXIS 00 Execute Sigma 7 Series SERVOPACKs Application Functions Initializing the Vibration Detection Level Operating Procedure PROFINET Communications SIEP Y...

Page 251: ...ted n Changes during Function Execution Not allowed The parameter cannot be changed using the SigmaWin or other tool while this function is being executed Allowed The parameter can be changed using th...

Page 252: ...use a parameter so it will not change even if the parameter settings are initialized Always check the following before you automatically adjust the motor current detection signal offset n The paramet...

Page 253: ...Box The Adjust the Motor Current Detection Signal Offsets Dialog Box will be dis played 3 Click the Continue Button Fig 192 Adjust the Motor Current Detection Signal Offsets Caution Sigma 7 Series SER...

Page 254: ...nal Offsets Dialog Box Fig 193 Adjust the Motor Current Detection Signal Offsets Automatic Adjustment Sigma 7 Series SERVOPACKs Application Functions Adjusting the Motor Current Detection Signal Offse...

Page 255: ...y adjusted with this function the Servomotor char acteristics may be adversely affected Observe the following precautions when you manually adjust the offset Operate the Servomotor at a speed of appro...

Page 256: ...etection Offset Operating Procedure page 256 Use the following procedure to manually adjust the motor current detection signal offset 1 Operate the Servomotor at approximately 100 min 1 2 Click the Se...

Page 257: ...Detection Offset Area to V phase 9 Use the 1 and 1 Buttons to adjust the offset for phase V Change the offset by about 10 in the direction that reduces the torque ripple 10 Repeat steps 6 to 9 until t...

Page 258: ...sult from contact faults or disconnec tions use a normally closed switch for the Forced Stop Input signal 7 14 2 FSTP Forced Stop Input Signal Classification Signal Connector Pin No Signal Status Desc...

Page 259: ...op according to the setting of Pn001 n X Motor Stopping Method for Servo OFF and Group 1 Alarms To stop the Servomotor by setting emergency stop torque set Pn406 Emergency Stop Torque The PROFINET mod...

Page 260: ...can be used after stopping operation for an FSTP Forced Stop Input signal If the FSTP Forced Stop Input signal is OFF and the Servo ON command Enable Oper ation command is input the forced stop state...

Page 261: ...t use a Serial Converter Unit connect the thermostat cable of the Linear Servomotor to CN1 5 To use overheat protection for the machine connect the overheat protection input an analog voltage input fr...

Page 262: ...250 Immediately Setup applies to Speed Control Position Control and Torque Control Overheat Warning Level Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn61C 0 to 100 1 100...

Page 263: ...onnector on the SERVOPACK Chap 5 Wiring and Connecting SERVOPACKs page 84 3 Confirmations before Trial Operation Chap 8 3 Inspections and Confirmations before Trial Operation page 267 4 Power ON 5 Res...

Page 264: ...page 274 8 2 2 Flow of Trial Operation for Linear Servomotors The procedure for trial operation is given below 1 Installation Install the Servomotor and SERVOPACK according to the installation conditi...

Page 265: ...e 154 5 4 Pn080 n X Polarity Sensor Selec tion Chap 6 9 Polarity Sensor Set ting page 156 5 5 Polarity Detec tion This step is necessary only for a Linear Ser vomotor without a Polarity Sensor Chap 6...

Page 266: ...tors Step 2 Chap 8 5 Trial Operation with PROFINET Communications page 272 3 Trial Operation with the Servomotor Connected to the Machine To power supply CN1 to host controller CN6A to host controller...

Page 267: ...specified voltage of 24 VDC to the brake A circuit example for trial operation is provided below M BK ENC U V W CN2 AC DC L1 L2 L3 L1C L2C 24 VDC Power supply SERVOPACK Servomotor with Holding Brake 2...

Page 268: ...When Ena bled Classifica tion Pn305 0 to 10 000 1 ms 0 Immediately Setup applies to Speed Control Soft Start Deceleration Time Setting Range Setting Unit Default Set ting When Ena bled Classifica tio...

Page 269: ...on Time Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn306 0 to 10 000 1 ms 0 Immediately Setup applies to Speed Control 8 4 3 Applicable Tools The following table lists t...

Page 270: ...g Box The Jog Operation Dialog Box will be displayed 3 Read the warnings and then click the OK Button Fig 206 JOG Operation Warning Sigma 7 Series SERVOPACKs Trial Operation and Actual Operation Trial...

Page 271: ...n the Operation Area will change to Servo ON To change Information the speed click the Edit Button and enter the new speed Sigma 7 Series SERVOPACKs Trial Operation and Actual Operation Trial Operatio...

Page 272: ...n this example operation in PROFIdrive Position Mode is described The default positioning mode is relative positioning For PROFINET communication the YASKAWA telegram 100 is used The configuration of...

Page 273: ...s mapped into the cyclic data Change the values of the objects in the cyclic data PZDs Param eter requests to objects mapped in cyclic data will not have the expected result because these are overwrit...

Page 274: ...Troubleshooting Based on the Operation and Conditions of the Servomotor page 646 If the load machine is not sufficiently broken in before trial opera tion the Servomotor may become overloaded 8 6 Tria...

Page 275: ...before you perform the trial operation procedure for both the machine and Servomotor n Make sure that the procedure described in Chap 8 5 Trial Operation with PROFINET Communications page 272 has bee...

Page 276: ...ration with PROFINET Communications page 272 and confirm that the same results are obtained as when trial operation was performed on the Servomotor without a load 8 If necessary adjust the servo gain...

Page 277: ...INET communications are disabled n The overtravel function is enabled n The software limits are disabled An example of a program jogging operation pattern is given below In this example the Servomotor...

Page 278: ...l distance Number of movements Number of movements Pn536 Travel distance Pn531 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Travel distance Pn531 Movement speed Rotary Se...

Page 279: ...trol and Torque Control Program Jogging Acceleration Deceleration Time Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn534 2 to 10 000 1 ms 100 Immediately Setup applies to...

Page 280: ...Control and Torque Control Program Jogging Acceleration Deceleration Time Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn534 2 to 10 000 1 ms 100 Immediately Setup applie...

Page 281: ...trol and Force Control Program Jogging Acceleration Deceleration Time Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn534 2 to 10 000 1 ms 100 Immediately Setup applies to...

Page 282: ...e following procedure for a program jog operation 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select JOG Program in the Menu Dialog Box The Jog Program Dialog...

Page 283: ...ton A graph of the operation pattern will be displayed Fig 211 JOG Program Running Condition Sigma 7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Oper...

Page 284: ...Button the Servomotor will decelerate to a stop and then enter a zero clamped state This concludes the program jogging procedure 8 7 3 Origin Search The origin search operation positions the motor to...

Page 285: ...wing table lists the tools that you can use to perform an origin search and the applicable tool functions Tool Function Operating Procedure Reference Digital Operator Fn003 7 Series Digital Operator O...

Page 286: ...ck the OK Button Fig 214 Origin Search Warning Sigma 7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation Origin Search PROFINET Communications SI...

Page 287: ...utton Fig 215 Origin Search Servo ON Sigma 7 Series SERVOPACKs Trial Operation and Actual Operation Convenient Function to Use during Trial Operation Origin Search PROFINET Communications SIEP YEUOC7P...

Page 288: ...ly operating a Servomotor This test allows you to check wiring debug the system and verify parameters to shorten the time required for setup work and to prevent damage to the machine that may result f...

Page 289: ...n n Rated motor speed n Maximum motor speed n Setting of Pn000 n X Rotary Linear Startup Selection When Encoder Is Not Connected n Rated motor speed and maximum motor speed The values previously saved...

Page 290: ...oder informa tion n Resolution n Encoder pitch n Encoder type n Resolution 256 n Encoder pitch Setting of Pn282 Linear Encoder Pitch n Encoder type Setting of Pn00C n X Encoder Type Selection for Test...

Page 291: ...with the moment of inertia ratio that is set in Pn103 The following functions cannot be used during the test without a motor n Regeneration and dynamic brake operation n Brake output signal n Items ma...

Page 292: ...isagreement Alarm Chap 7 9 9 Multiturn Limit Disagreement Alarm A CC0 page 235 Reset Configuration Error of Option Module Fn014 Reset Option Module Configuration Error Chap 16 4 7 Resetting Alarms Det...

Page 293: ...uning with a Host Refer ence page 339 Custom Tuning Fn203 One Parameter Tuning Chap 9 9 Custom Tuning page 350 Adjust Anti resonance Control Fn204 Adjust Anti resonance Control Chap 9 10 Anti Reso nan...

Page 294: ...rogram Jog ging page 277 Alarms Display Alarm Fn000 Display Alarm History Chap 16 4 5 Displaying the Alarm History page 630 Fn006 Clear Alarm History Chap 16 4 6 Clearing the Alarm History page 632 1...

Page 295: ...n filters friction compensation and moment of inertia ratio These parameters influence each other so you must consider the balance between them The servo gains are set to stable settings by default Us...

Page 296: ...anual tuning or the additional adjustment function Fig 218 Overview and Flow of Tuning If possible perform autotuning with a host reference If a host controller is not available set an operation patte...

Page 297: ...ensation n Anti resonance control n Vibration suppression Speed control or position con trol Chap 9 7 Autotuning without Host Reference page 321 Autotuning with Host Reference The following parameters...

Page 298: ...hap 9 14 Manual Tuning page 405 9 2 3 Diagnostic Tool You can use the following tools to measure the frequency characteristics of the machine and set notch filters Diagnostic Tool Outline Applicable C...

Page 299: ...servo is ON Before starting the Servomotor make sure that an emergency stop can be performed at any time Make sure that trial operation has been successfully performed without any problems Provide an...

Page 300: ...n 1 Position deviation reference units Fig 219 Position Deviation Formula Rotary Servomotors Pn102 0 1 s 10 2 3 Denominator Numerator Linear encoder pitch mm 1 000 Resolution Motor speed mm s Position...

Page 301: ...e position reference exceeds the tracking capacity of the Servomotor the tracking delay will increase and the position devi ation will no longer satisfy the above formulas If this occurs lower the acc...

Page 302: ...ardous situation To prevent this you can set a position deviation overflow alarm level at servo ON to restrict operation The related parameters and alarms are given in the following tables Position De...

Page 303: ...tion Overflow Warning at Servo ON This warning occurs if the servo is turned ON while the position deviation exceeds the specified per centage Pn526 Pn528 100 9 5 Tuning less Function 9 5 1 Overview T...

Page 304: ...le you execute Easy FFT and then it is enabled when Easy FFT has been completed Friction Compensation Gain Selection Mechanical Analysis The tuning less function is disa bled while you execute mechan...

Page 305: ...other problems occur change the tuning less levels To change the tuning less levels use the SigmaWin Preparations Check the following settings before you set the tuning less levels n The tuning less f...

Page 306: ...ty Level If you use tuning less type 1 or 2 Pn14F n 0 or n 1 set the tuning less level to between 0 and 4 Pn170 n 0 to n 4 Do not set the tuning less level to between 5 and 7 Pn170 n 5 to n 7 Paramete...

Page 307: ...g table are disabled Item Parameter Name Parameter Number Gain Related Parameters Speed Loop Gain Pn100 Second Speed Loop Gain Pn104 Speed Loop Integral Time Constant Pn101 Second Speed Loop Inte gral...

Page 308: ...n of auto tuning without a host ref erence autotuning with a host reference and custom tuning 9 5 7 Related Parameters The following parameters are automatically adjusted when you execute the tuning l...

Page 309: ...estimation after jogging to a position that ensures a suitable range of motion SERVOPACK Travel distance Servomotor Travel distance Responses References Movement speed Fig 225 Moment of Inertia Estim...

Page 310: ...n Confirm safety around moving parts This function involves automatic operation with vibration Make sure that you can perform an emergency stop to turn OFF the power supply at any time There will be m...

Page 311: ...3 Click the Execute Button Fig 226 Tuning Warning Sigma 7 Series SERVOPACKs Tuning Estimating the Moment of Inertia Operating Procedure PROFINET Communications SIEP YEUOC7P 02A Revision 0 en 311...

Page 312: ...te Button Fig 227 Tuning Execute Moment of Inertia Ratio Identification Sigma 7 Series SERVOPACKs Tuning Estimating the Moment of Inertia Operating Procedure PROFINET Communications SIEP YEUOC7P 02A R...

Page 313: ...ease the setting any farther 2 Identification Start Level Group This is the setting of the moment of inertia calculation starting level If the load is large or the machine has low rigidity the torque...

Page 314: ...rate is the more accurate the moment of inertia estima tion will be Set the maximum acceleration range within the possible range of movement considering the gear ratio e g the pulley diameters or bal...

Page 315: ...and may cause the maximum speed setting to be exceeded temporarily Allow sufficient leeway in the set tings When Measurement Is Not Correct Estimating the moment of inertia ratio cannot be performed c...

Page 316: ...ng Dialog Box It is disabled while data is being transferred 4 Next Button This button is enabled only when the data has been transferred correctly You cannot use it if an error occurs or if you cance...

Page 317: ...ft will rotate in the forward direction and the measurement will start After the measurement and data transfer have been completed the Reverse Button will be displayed in color Sigma 7 Series SERVOPAC...

Page 318: ...n and the measurement will start After the measurement and data transfer have been completed the Forward Button will be displayed in color Fig 233 Tuning Operation Measurement Dialog Box Forward Butto...

Page 319: ...rements have been completed click the Servo On Button to turn OFF the servo 14 Click the Next Button The Write Results Dialog Box will be displayed If you click the Next Button before you turn OFF the...

Page 320: ...Ratio Box The value that is set for the parameter is displayed here After you click the Writing Results Button the value that was found with opera tion and measurements will be displayed as the new se...

Page 321: ...Pn103 was changed the new value will be saved and the Tuning Dialog Box will be displayed again This concludes the procedure to estimate the moment of inertia ratio 9 7 Autotuning without Host Refere...

Page 322: ...change the parameter display setting to display all parameters Pn00B n 1 and then turn the power supply OFF and ON again 9 7 2 Outline For autotuning without a host reference operation is automaticall...

Page 323: ...ll be movement in both directions within the set range of movement Check the range of movement and the directions and implement protective controls for safety such as the overtravel functions 9 7 3 Re...

Page 324: ...uning less function must be disabled Pn170 n 0 or the tuning less function must be enabled Pn170 n 1 default setting and moment of inertia estimation must be specified n If you execute autotuning with...

Page 325: ...firm that the moment of inertia ratio Pn103 is set correctly 2 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 3 Select Tuning in the Menu Dialog Box The Tuning Dialo...

Page 326: ...otuning Area and then click the Autotuning Button Fig 240 Tuning AXIS 00 Autotuning No Reference Input Sigma 7 Series SERVOPACKs Tuning Autotuning without Host Reference Operating Procedure PROFINET C...

Page 327: ...moment of inertia ratio is set in Pn103 Moment of Inertia Ratio Fig 241 Tuning Warning The Moment of Inertia Ratio has never been changed from the default setting Sigma 7 Series SERVOPACKs Tuning Auto...

Page 328: ...g Setting Conditions AXIS 00 1 Switching the load moment of inertia load mass identification Box Specify whether to estimate the moment of inertia 0 A moment of inertia is presumed default setting 1 A...

Page 329: ...with relatively high rigidity e g a ball screw or Linear Servomotor Use this setting if there is no other appropriate setting n 3 Rigid model Tuning is performed for a mechanism with high rigidity e g...

Page 330: ...rvo ON Button Fig 243 Autotuning Automatic Setting AXIS 00 Servo ON Sigma 7 Series SERVOPACKs Tuning Autotuning without Host Reference Operating Procedure PROFINET Communications SIEP YEUOC7P 02A Revi...

Page 331: ...tuning Button Fig 244 Autotuning Automatic Setting AXIS 00 Start tuning Sigma 7 Series SERVOPACKs Tuning Autotuning without Host Reference Operating Procedure PROFINET Communications SIEP YEUOC7P 02A...

Page 332: ...ation When the settings have been completed the indicators for the functions that were used will light at the lower left of the dialog box Fig 246 Autotuning Execution in Progress 10 When tuning has b...

Page 333: ...on The gain adjustments were not successfully completed Machine vibration occurs or the positioning completion signal is not stable when the Servomotor stops n Increase the setting of the positioning...

Page 334: ...n561 That may improve the adjustment results n Pn561 100 default setting This will allow tuning with overshooting that is equivalent to the positioning completed width n Pn561 0 This will allow tuning...

Page 335: ...st reference auto tuning with a host refer ence and custom tuning n 1 default setting Adjust the second stage notch filter automatically when the tuning less function is enabled or during execution of...

Page 336: ...Note Autotuning without a host reference uses model following control Therefore it can be executed only if the mode is set to 2 or 3 Parameter Meaning When Enabled Classification Pn140 n 0 Do not adj...

Page 337: ...speed torque feedforward together Parameter Meaning When Enabled Classification Pn140 n 0 default setting Do not use model fol lowing control and speed torque feedfor ward together Immediately Tuning...

Page 338: ...43 Model Following Control Bias in the Forward Direction Yes Pn144 Model Following Control Bias in the Reverse Direction Yes Pn145 Vibration Suppression 1 Frequency A Yes Pn146 Vibration Suppression 1...

Page 339: ...ensation n Anti resonance control n Vibration suppression Refer to the following section for details on the parameters that are adjusted Chap 9 8 8 Related Parameters page 349 Movement speed Operation...

Page 340: ...re must be no overtravel n The servo must be OFF n Position control must be selected if power is supplied to the motor i e when the servo is ON n The gain selection switch must be set to manual gain s...

Page 341: ...Box will be displayed Click the Cancel Button to cancel tuning 4 Click the Execute Button Fig 248 Tuning Warning Sigma 7 Series SERVOPACKs Tuning Autotuning with a Host Reference Operating Procedure P...

Page 342: ...totuning Area and then click the Autotuning Button Fig 249 Tuning AXIS 00 Autotuning Position Reference Input Sigma 7 Series SERVOPACKs Tuning Autotuning with a Host Reference Operating Procedure PROF...

Page 343: ...t of inertia ratio is set in Pn103 Moment of Inertia Ratio Fig 250 Tuning Warning The Moment of Inertia Ratio has never been changed from the default setting Sigma 7 Series SERVOPACKs Tuning Autotunin...

Page 344: ...atically adjusted n 2 For positioning Tuning is performed for positioning applications In addition to gain adjust ment model following control notch filters anti resonance control and vibration suppre...

Page 345: ...Servomotor Use this setting if there is no other appropriate setting n 3 Rigid model Tuning is performed for a mechanism with high rigidity e g a rigid body system 3 Tuning parameters Box Specify the...

Page 346: ...t confirm safety around moving parts Turn ON the servo enter a reference from the host controller and then click the Start tuning Button Fig 254 Autotuning Automatic Setting AXIS 00 Sigma 7 Series SER...

Page 347: ...ndicators for the functions that were used will light at the lower left of the dialog box Fig 256 Autotuning with a Host Reference Execution in Progress 11 When tuning has been completed click the Fin...

Page 348: ...nt and the vibration suppression function Positioning was not com pleted within approximately 10 seconds after position adjustment was completed The positioning completed width is too narrow or pro po...

Page 349: ...p Gain Yes Pn103 Moment of Inertia Ratio No Pn121 Friction Compensation Gain Yes Pn123 Friction Compensation Coefficient Yes Pn124 Friction Compensation Frequency Correction No Pn125 Friction Compensa...

Page 350: ...There are two adjustment methods that you can use for custom tuning n Tuning Mode 0 Setting Servo Gains Giving Priority to Stability or 1 Setting Servo Gains Giving Priority to Good Response These mo...

Page 351: ...g procedure to perform custom tuning WARNING Before you execute custom tuning check the information provided in the SigmaWin operating manual Observe the following precautions Make sure that you can p...

Page 352: ...g Dialog Box will be displayed Click the Cancel Button to cancel tuning 4 Click the Execute Button Fig 257 Tuning Warning Sigma 7 Series SERVOPACKs Tuning Custom Tuning Operating Procedure PROFINET Co...

Page 353: ...Advanced adjustment Button Fig 258 Tuning AXIS 00 Autotuning Position Reference Input Sigma 7 Series SERVOPACKs Tuning Custom Tuning Operating Procedure PROFINET Communications SIEP YEUOC7P 02A Revisi...

Page 354: ...Pn103 Moment of Inertia Ratio Fig 259 Tuning Warning The Moment of Inertia Ratio has never been changed from the default setting 6 Click the Custom tuning Button Fig 260 Custum Tuning Custom tuning B...

Page 355: ...ance control except during torque control are automatically adjusted n 2 Set servo gains for positioning application Tuning is performed for positioning applications In addition to gain adjust ment no...

Page 356: ...rigidity e g a ball screw or Linear Servomotor Use this setting if there is no other appropriate setting n 3 Rigid body system Tuning is performed for a mechanism with high rigidity e g a rigid body s...

Page 357: ...m the host controller and then click the Start tuning Button Fig 263 Custom Tuning Tuning Mode 0 or 1 Start Tuning Sigma 7 Series SERVOPACKs Tuning Custom Tuning Operating Procedure PROFINET Communica...

Page 358: ...Fig 264 Custom Tuning Tuning Mode 2 or 3 Start Tuning Sigma 7 Series SERVOPACKs Tuning Custom Tuning Operating Procedure PROFINET Communications SIEP YEUOC7P 02A Revision 0 en 358...

Page 359: ...s original value The tuning level will return to the value from before when custom tuning was started Fig 265 Custom Tuning Tuning Mode 0 or 1 Changing the tuning level Tuning Mode 0 or 1 Sigma 7 Seri...

Page 360: ...justment The new feedforward level will not be used until the positioning completed signal is output 11 You can set the functions to suppress vibration notch filters automatic anti reso nance control...

Page 361: ...r higher notch filters are effective to suppress vibration If the vibration is between 100 Hz and 1 000 Hz anti resonance control is effective n Automatic Setting To set vibration suppression automati...

Page 362: ...ton the SERVOPACK will detect vibration at that time and set the notch filter frequency stage 1 or 2 or anti resonance control frequency that is effective for the detected vibration You can also perfo...

Page 363: ...xam ples Operation 1 Position deviation Reference speed Positioning completion signal The positioning time is measured after the moment of inertia ratio Pn103 is set cor rectly Tuning is completed if...

Page 364: ...tings while custom tuning is being executed Parameter Name Automatic Changes Pn100 Speed Loop Gain Yes Pn101 Speed Loop Integral Time Constant Yes Pn102 Position Loop Gain Yes Pn103 Moment of Inertia...

Page 365: ...n Input an operation reference and execute this anti reso nance control adjustment when there is vibration Anti resonance control is automatically set by autotuning without a host reference or autotun...

Page 366: ...st without a motor function must be disabled Pn00C n 0 n The control method must not be set to torque control n The parameters must not be write prohibited 9 10 4 Applicable Tools The following table...

Page 367: ...the frequency the current anti resonance control effect may be lost Caution is particularly required when automatically detecting the vibration frequency If effective vibration reduction is not achie...

Page 368: ...dure depends on whether you know the vibration frequency Fig 269 Custom Tuning Adjust AXIS 00 Anti res Ctrl Adj Sigma 7 Series SERVOPACKs Tuning Anti Resonance Control Adjustment Operating Procedure P...

Page 369: ...n Frequency The frequency will be set Fig 270 Adjust Anti resonance Control AXIS 00 Auto Detect To Manually Set the Vibration Frequency Fig 271 Adjust Anti resonance Control AXIS 00 Manual Set 4 Click...

Page 370: ...tect the Vibration Frequency Change the setting of the damping gain Fig 272 Adjust Anti resonance Control AXIS 00 Change Damping Gain To Manually Set the Vibration Frequency Change the settings of the...

Page 371: ...he settings while anti resonance control adjustment is being executed Parameter Name Automatic Changes Pn160 Anti Resonance Control Related Selections Yes Pn161 Anti Resonance Frequency Yes Pn162 Anti...

Page 372: ...nabled Classification Pn160 n 0 default setting Do not use anti reso nance control After restart Setup n 1 Use anti resonance con trol Anti Resonance Frequency Setting Range Setting Unit Default Set t...

Page 373: ...Refer to the following section for details Chap 9 10 5 Operating Procedure page 366 2 If there is vibration at a higher frequency than the vibration suppressed with anti resonance control in step 1 a...

Page 374: ...ent of inertia ratio normal control of the machine may not be possible and vibration may occur Vibration suppression detects vibration frequencies between 1 Hz and 100 Hz Frequency detection will not...

Page 375: ...ion control must be used n The tuning less function must be disabled Pn170 n 0 n The test without a motor function must be disabled Pn00C n 0 n The parameters must not be write prohibited 9 11 4 Appli...

Page 376: ...the Vib Suppress Button Fig 275 Custom Tuning Adjust AXIS 00 Vib Suppress Sigma 7 Series SERVOPACKs Tuning Vibration Suppression Operating Procedure PROFINET Communications SIEP YEUOC7P 02A Revision 0...

Page 377: ...between 1 0 and 100 0 Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequen cies If a vibration frequency is not...

Page 378: ...d click the Set Button again Fig 278 Vibration Suppression AXIS 00 Set frequency Click the Reset Button during adjustment to restore the setting to its original value The status from before when adjus...

Page 379: ...rol is not normally used together with either the speed feedforward input VFF or torque feedforward input TFF from the host controller However model following control can be used with the speed feedfo...

Page 380: ...ergency stop to turn OFF the power supply at any time Execute speed ripple compensation only after adjusting the gains Reset speed ripple compensation after you replace the Servomotor or SERVOPACK Exe...

Page 381: ...pensation Operating Procedure page 381 Use the following procedure to set up speed ripple compensation 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Ripp...

Page 382: ...will return If write protection is set the following dialog box will be dis played Fig 280 Write Prohibited Setting Warning Click the OK Button to cancel write prohibition Sigma 7 Series SERVOPACKs T...

Page 383: ...r the jogging speed in the Input Value Box and click the OK Button Fig 282 Ripple Compensation AXIS 00 Jogging Speed Sigma 7 Series SERVOPACKs Tuning Speed Ripple Compensation Setting Up Speed Ripple...

Page 384: ...ON Button Fig 283 Ripple Compensation AXIS 00 Servo ON Button Sigma 7 Series SERVOPACKs Tuning Speed Ripple Compensation Setting Up Speed Ripple Compensation PROFINET Communications SIEP YEUOC7P 02A...

Page 385: ...e measurement time i e the jogging time for the speed ripple is too short speed ripple measurement will not be com pleted The following dialog box will be displayed if speed ripple measurement was not...

Page 386: ...speed while you hold down the Forward or Reverse Button The waveform with speed ripple compensation applied to it will be displayed Fig 287 Ripple Compensation Verification Operation 11 If the verific...

Page 387: ...his set Pn423 n X Speed Ripple Compensation Selections and Pn427 or Pn49F Speed Ripple Compen sation Enable Speed Parameter Meaning When Enabled Classification Pn423 n 0 default setting Speed referenc...

Page 388: ...ion of A 942 Pn423 n 1 Parameter Meaning When Enabled Classification Pn423 n 0 default setting Detect A 942 alarms After restart Setup n 1 Do not detect A 942 alarms 9 13 Additional Adjustment Functio...

Page 389: ...utomatic gain switching is enabled only for position control 9 13 2 Gain Switching You can use gain switching to shorten the positioning time by increasing the gains during positioning and suppressing...

Page 390: ...nditions are specified by using the following settings Parameter Switching Condition Selected Gains Switching Waiting Time Switching Time Pn139 n 2 Condition A satisfied Gain settings 1 to gain settin...

Page 391: ...Switching n Relationship between the Waiting Times and Switching Times for Gain Switching In this example an ON COIN Positioning Completion signal is set as condition A for automatic gain switching Th...

Page 392: ...g applies to Position Control First Stage First Torque Reference Filter Time Constant Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn401 0 to 65 535 0 01 ms 100 Immediatel...

Page 393: ...es to Speed Control Position Control and Torque Control Second Friction Compensation Gain Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn122 10 to 1 000 1 100 Immediately...

Page 394: ...in settings 2 are enabled 9 13 3 Friction Compensation Friction compensation is used to compensate for viscous friction fluctuations and regular load fluctuations You can automatically adjust friction...

Page 395: ...Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn124 10 000 to 10 000 0 1 Hz 0 Immediately Tuning applies to Speed Control and Position Control Friction Compensation Gain C...

Page 396: ...the better the response will be If the machine has a resonance fre quency however vibration may occur if the setting is too high Pn123 Friction Compensation Coefficient This parameter sets the effect...

Page 397: ...er status BK Brake signal Brake contact section lining Position speed reference Motor speed Fig 292 Gravity Compensation Timing Chart The following parameter settings are required to use gravity compe...

Page 398: ...stopped The setting depends on the capacity of the SERVOPACK SERVOPACK Models SGD7S R70A R90A 1R6A 2R8A 3R8A 5R5A and 7R6A Parameter Function When Enabled Classification Pn009 n 0 Use current control...

Page 399: ...rformed again 9 13 7 Speed Detection Method Selection You can use the speed detection method selection to ensure smooth Servomotor speed changes during operation To ensure smooth motor speed changes d...

Page 400: ...n can be used only for position control Reference travel distance Machine shaft Backlash compensation value Reference travel distance Motor shaft Forward reference direction Motor shaft Machine axis e...

Page 401: ...nominator 1 Numerator 1 Maximum motor speed 6 000 min 1 and Encoder resolution 16 777 216 24 bits 1 4 6 000 60 16 777 216 0 00025 104 857 6 reference units The backlash compensation will be limited to...

Page 402: ...gures Target Position 607Ah target position in the reference coordinate system Position Demand Value 6062h reference position in the reference coordinate system and Position Actual Value 6064h feedbac...

Page 403: ...ning from Target Position 2 to Target Position 1 and then to Target Position 0 Backlash compensation is applied when moving from Target Position 0 to Target Position 1 but not when moving from Target...

Page 404: ...haft Machine shaft Backlash compensation value Pn231 Fig 296 Backlash Compensation Operation When the Servo Is OFF n Operation When There Is Overtravel When there is overtravel i e when driving is pro...

Page 405: ...pulse counter U Fully closed feedback pulse counter U Reference pulse counter Position reference P Target position 607Ah Deviation counter P Following error actual value 60F4h P Position demand value...

Page 406: ...can use manual tuning to set the servo gains in the SERVOPACK to increase the response characteristic of the SERVOPACK For example you can reduce the posi tioning time for position control Use manual...

Page 407: ...oop integral time constant Decrease the speed loop gain Increase the torque filter time constant You can set the following gains to adjust the response characteristic of the SERVOPACK n Pn100 Speed Lo...

Page 408: ...s a delay factor for the position loop located outside of the speed loop This will result in overshooting and vibration in the speed reference Therefore setting the speed loop gain as high as possible...

Page 409: ...Second order lag filter Notch filter Notch filter Notch filter Notch filter Notch filter Torque Related Function Selections 2 Pn416 Third stage notch filter Pn417 Pn418 Pn419 Fourth stage notch filter...

Page 410: ...frequency The width of the notch changes with the notch filter Q value The larger the notch filter Q value is the steeper the notch is and the narrower the width of frequencies that are filtered is Th...

Page 411: ...ble first stage notch filter Immediately Setup n 1 Enable first stage notch filter n 0 default setting Disable second stage notch filter n 1 Enable second stage notch filter Pn416 n 0 default setting...

Page 412: ...sition Control and Torque Control Second Stage Notch Filter Frequency Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn40C 50 to 5 000 1 Hz 5 000 Immediately Tuning applies...

Page 413: ...sition Control and Torque Control Fourth Stage Notch Filter Frequency Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn41A 50 to 5 000 1 Hz 5 000 Immediately Tuning applies...

Page 414: ...and the information in the product manual and use the following conditional expressions as guidelines The appropriate values of the parameter settings are influenced by the machine specifi cations so...

Page 415: ...age Notch Filter Frequency Pn40C Hz Critical gain Pn409 Hz 4 Pn100 Hz Speed Loop Gain Pn100 Hz and Speed Feedback Filter Time Constant Pn308 ms Stable gain Pn308 ms 1 000 2 Pn100 Hz 4 Critical gain Pn...

Page 416: ...ing results for autotuning or custom tuning n When you want to determine the servo gains and model following control parameters yourself The block diagram for model following control is provided below...

Page 417: ...ntrol speed feed forward compensation Pn147 n Related Parameters Next we will describe the following parameters that are used for model following con trol Pn140 Model Following Control Related Selecti...

Page 418: ...dity in which a high model following control gain cannot be set position deviation overflow alarms may occur during high speed operation If that is the case you can increase the setting of the followi...

Page 419: ...rward Compensation Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn147 0 to 10 000 0 1 1 000 Immediately Tuning applies to Position Control n Model Following Control Type S...

Page 420: ...ard value too high the machine may vibrate As a guideline use a setting of 80 or less You can use mode switching to automatically change between proportional control and PI control Overshooting caused...

Page 421: ...orque Reference Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn10C 0 to 800 1 200 Immediately Tuning applies to Speed Control and Position Control Mode Switching Level for...

Page 422: ...hing Level for Acceleration Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn182 0 to 30 000 1 mm s2 0 Immediately Tuning applies to Speed Control and Position Control Mode...

Page 423: ...loop is changed to P control Pn181 PI Speed Speed reference P control Motor speed Time PI control Fig 310 Speed Reference as the Mode Switching Condition Linear Using the Acceleration as the Mode Swit...

Page 424: ...he Mode Switching Condition The position integral is the integral function of the position loop This parameter is effec tive for electronic cams and electronic shafts Position Integral Time Constant S...

Page 425: ...al analysis requires operating the Servomotor and therefore presents hazards Before you execute mechanical analysis check the information provided in the SigmaWin operating manual The Servomotor is us...

Page 426: ...ilters according to the detected resonance frequencies This is used to eliminate high frequency vibration and noise During execution of Easy FFT a frequency waveform reference is sent from the SERVO P...

Page 427: ...n The parameters must not be write prohibited n The main circuit power supply must be ON n The test without a motor function must be disabled Pn00C n 0 n There must be no alarms n There must be no ha...

Page 428: ...3 Click the OK Button Fig 317 Easy FFT Warning Sigma 7 Series SERVOPACKs Tuning Diagnostic Tools Easy FFT PROFINET Communications SIEP YEUOC7P 02A Revision 0 en 428...

Page 429: ...4 Click the Servo ON Button Fig 318 Easy FFT Servo ON Sigma 7 Series SERVOPACKs Tuning Diagnostic Tools Easy FFT PROFINET Communications SIEP YEUOC7P 02A Revision 0 en 429...

Page 430: ...click the Start Button The Servomotor shaft will rotate and measurements will start Fig 319 Easy FFT Measurement start When measurements have been completed the measurement results will be displayed S...

Page 431: ...Measurement result Area and then click the Measure ment complete Button Fig 320 Easy FFT Measurement result Sigma 7 Series SERVOPACKs Tuning Diagnostic Tools Easy FFT PROFINET Communications SIEP YEU...

Page 432: ...rameter Name Automatic Changes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value No Pn40C Second Stage Notch Filter Frequ...

Page 433: ...pe n Serial Number n Manufacturing Date n Remarks Information on Encoders n Model Type n Serial Number n Manufacturing Date n Software version SW Ver n Remarks Information on Option Modules n Model Ty...

Page 434: ...001 33 10 3 Monitoring SERVOPACK Status 10 3 1 Servo Drive Status Use the following procedure to display the Servo Drive status n Start the SigmaWin The Servo Drive status will be automatically displa...

Page 435: ...ignal n SPD D Motor Direc tion Input Signal n SPD A Internal Set Speed Selection Input Signal n SPD B Internal Set Speed Selection Input Signal n C SEL Control Selec tion Input Signal n ZCLAMP Zero Cl...

Page 436: ...Feedback Speed FSPD n Current Position Command Speed CSPD n Torque Limit TRQ_LIM n Speed Limit SPD_LIM n 2312h Max Motor Speed n 2313h Max Motor Acceleration n 2314h Max Motor Torque n 2401h Target P...

Page 437: ...01 34 10 3 3 I O Signal Monitor Use the following procedure to check I O signals 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Wiring Check in the Menu D...

Page 438: ...status at the host controller changes accordingly then the wiring is cor rect You cannot use the Force Output Mode Button while the servo is ON 10 4 Monitoring Machine Operation Status and Signal Wave...

Page 439: ...ENC SERVOPACK Position command speed Speed conversion Position amplifier deviation Speed reference Active gain Speed loop Current loop Load Force reference Position loop Electronic gear Deviation coun...

Page 440: ...the following items Data Tracing Trace Objects n Torque Reference n Feedback Speed n Reference Speed n Position Reference Speed n Position Error Deviation n Position Amplifier Error Deviation n Motor...

Page 441: ...ignal n BK Brake Output Signal n WARN Warning Output Signal n NEAR Near Output Signal n ALO1 Alarm Code Output Signal n ALO2 Alarm Code Output Signal n ALO3 Alarm Code Output Signal n PAO Encoder Divi...

Page 442: ...viation 0 05 V Refer ence unit 0 V for speed or torque control n 04 Position Amplifier Devia tion 0 05 V encoder pulse unit Position devia tion after elec tronic gear con version n 05 Position Referen...

Page 443: ...put voltages for analog monitor 1 and analog monitor 2 The relationships to the output voltages are as follows 1 Analog monitor 1 output voltage Analog Monitor 1 Signal Selection Pn006 n ooXX Analog M...

Page 444: ...0 01 When Pn552 1 000 Setting Unit 0 01 Analog monitor output voltage V Motor speed min 1 Note The effective linearity range is 8 V The resolution is 16 bits Approx 10 V Approx 10 V Analog monitor ou...

Page 445: ...erefore the monitor output voltage goes to 50 of the original value n Setting the Adjustment Value to 125 100 125 0 4 150 Therefore the monitor output voltage goes to 150 of the original value The adj...

Page 446: ...ment Tool Function Operating Procedure Ref erence Digital Operator Fn00D 7 Series Digital Oper ator Operating Manual Manual No SIEP S800001 33 SigmaWin Setup Analog Monitor Output Adjustment Operating...

Page 447: ...ustment Tab Fig 331 Adjust the Analog Monitor Output AXIS 00 Sigma 7 Series SERVOPACKs Monitoring Monitoring Machine Operation Status and Signal Waveforms Using the Analog Monitors PROFINET Communicat...

Page 448: ...nt The operating status of the SERVOPACK in terms of the installation environment is displayed Implement one or more of the following actions if the monitor value exceeds 100 n Lower the surrounding t...

Page 449: ...Part Replacement page 579 Surge Prevention Circuit Service Life Predic tion The unused status of the SERVOPACK is treated as the 100 value The value decreases each time the main circuit power supply...

Page 450: ...rkspace of the Main Window of the Sig maWin 2 Select Life Monitor in the Menu Dialog Box The Life Monitor Dialog Box will be displayed With the Digital Operator you can use Un025 to Un02A to mon itor...

Page 451: ...arnings The PM Preventative Maintenance Output signal is output when any of the following service life prediction values reaches 10 or less SERVOPACK built in fan life capacitor life inrush current li...

Page 452: ...ce data are not recorded Alarms that occur while utility functions are being executed are not recorded 10 6 2 Data for Which Alarm Tracing Is Performed Two types of data are recorded for alarm tracing...

Page 453: ...perator Digital Operator You cannot display alarm tracing data from the Digital Operator SigmaWin Alarm Alarm Tracing Engineering Tool SigmaWin Operation Manual Manual No SIET S800001 34 Sigma 7 Serie...

Page 454: ...ts may cause vibration or oscillation resulting in unstable positioning Refer to the following manual for details on Fully closed Modules 7 Series Peripheral Device Selection Manual Manual No SIEP S80...

Page 455: ...s in the SERVOPACK n Does jogging function cor rectly when you operate the SERVOPACK without a load n Do the I O signals turn ON and OFF correctly n Is power supplied to the Servomotor when the Servo...

Page 456: ...tion 4 Perform a program jogging operation Items to Check Does the fully closed system operate correctly for the SER VOPACK without a load Perform a program jogging operation and confirm that the trav...

Page 457: ...Signal Settings page 462 Pn22A n X Speed feedback method during fullyclosed loop control Chap 11 4 10 Setting to Use an External Encoder for Speed Feed back page 463 11 4 2 Control Block Diagram for...

Page 458: ...ence Motor direction CW CCW CW CCW External encoder Reverse movement Forward movement Forward movement Reverse movement n Phase B leads in the divided pulses for a forward reference regardless of the...

Page 459: ...ns n External encoder scale pitch 20 m n Ball screw lead 30 mm Number of external encoder pitches per motor rotation External encoder scale pitch 20 mm Workpiece position after movement Workpiece posi...

Page 460: ...ve pitch Fig 337 Encoder Divided Pulse Output indicates the edge positions In this example the set value is 20 and therefore the number of edges is 20 The upper limit of the encoder signal output freq...

Page 461: ...same setting as for a Linear Servomotor is used 11 4 8 Alarm Detection Settings This section describes the alarm detection settings Pn51B and Pn52A This setting is used to detect the difference betwee...

Page 462: ...One Fully closed Rotation n Related Parameters Multiplier per One Fully closed Rotation Setting Range Setting Unit Default Set ting When Ena bled Classifica tion Pn52A 0 to 100 1 20 Immediately Setup...

Page 463: ...rvomotor and an external encoder attached to the machine is used but only the encoder in the Rotary Servomotor is used in the control loop The external encoder is used only to monitor the current posi...

Page 464: ...Block Diagrams A simple block diagram is given below to provide an overall image of monitoring an external encoder SERVOPACK Position reference Motor ENC Machine External encoder Serial conversion Po...

Page 465: ...ion reached window comparator Position user unit 2301h 1 2301h 0 Position window time 6068h Following window time out 6066h Position actual value 6064h Velocity actual value 606Ch Torque actual value...

Page 466: ...nction is equivalent to the Safety Stop 1 function defined in IEC 61800 5 2 Yes Yes Safe Position Mon itor with Delay SPM D 2 This safety function is equivalent to the Safety Stop 2 function defined i...

Page 467: ...rect use of the safety function may cause injury The dynamic brake and the brake signal are not safety related ele ments You must design the system so that SERVOPACK failures will not cause a hazardou...

Page 468: ...PACK 24 V power supply Fuse Switch Fig 342 Connection Example Hard Wire Base Block 12 3 2 Risk Assessment When using the HWBB you must perform a risk assessment of the servo system in advance to confi...

Page 469: ...Base Block HWBB State The SERVOPACK will be in the following state if the HWBB operates If the HWBB1 or HWBB2 signal turns OFF the HWBB will operate and the SERVOPACK will enter a HWBB state Statuswor...

Page 470: ...d ON Send the Shutdown command to place the SERVOPACK in the BB state and then send the Servo ON command Enable Operation command Statusword 6041h bit 14 1 0 Controlword 6040h Statusword 6041h S2 Read...

Page 471: ...rvo ON command Enable Operation command in controlword 6040h bits 0 to 3 Power will be supplied to the motor 12 3 6 Detecting Errors in HWBB Signal If only the HWBB1 or the HWBB2 signal is input an A...

Page 472: ...ogging n Automatic adjustment without host reference n Easy FFT n Adjustment of motor current detection signal offset HWBB1 HWBB2 Function execution mode Function execution status Function execution m...

Page 473: ...not be used to stop the Servomotor 12 3 11 Stopping Methods If the HWBB1 or HWBB2 signal turns OFF and the HWBB operates the Servomotor will stop according to the stop mode that is set for stopping th...

Page 474: ...g the status of the HWBB1 HWBB2 and EDM1 signals in the following table A failure can be detected by checking the failure status e g when the power supply is turned ON Signal Logic HWBB1 ON ON OFF OFF...

Page 475: ...circuit is ON while the guard is closed the Safety Unit is reset the HWBB1 and the HWBB2 signals turn ON and the operation is enabled The EDM1 signal is used as a source output Connect the EDM1 so tha...

Page 476: ...firmation results as a record When the HWBB1 and HWBB2 signals turn OFF confirm that the Digital Operator displays Hbb and that the Servomotor does not operate Monitor the ON OFF status of the HWBB1 a...

Page 477: ...the Safety Module 12 8 2 Safety Base Block with Delay SBB D The Safety Base Block with Delay SBB D function operates according to the Safe Stop 1 SS1 function defined in IEC 61800 5 2 The deceleration...

Page 478: ...to the following section for details Chap 12 3 5 Recovery Method page 470 12 8 3 Safe Position Monitor with Delay SPM D The Safe Position Monitor with Delay SPM D function operates according to the Sa...

Page 479: ...12 8 4 Safe Speed Limit with Delay SLS D The Safe Speed Limit with Delay SLS D function operates according to the Safely Limited Speed SLS function defined in IEC 61800 5 2 The deceleration operation...

Page 480: ...e Mode Function stops the motor according to the deceleration reference that is preset in a parameter in the SERVOPACK when the safety request input signal turns OFF during SBB D or SPM D If Profile T...

Page 481: ...deceleration rate Pn622 or Pn623 and then the servo is locked Operation Enabled state Safety request input signal OFF Safety function operation requested Pn624 0 0 0 1 ON ON Controlword 6040h Enable...

Page 482: ...s given below Bit 08 1 Active Mode Function operating Bit 15 1 Safety function operating n Recovery Conditions If the Active Mode Function operates and the motor is stopped the Active Mode Function wi...

Page 483: ...at the safety request input signal turned ON confirm that bit 8 in statusword 6041h is 0 Active Mode Function operation completed and that bit 15 is 0 safety function operation completed and then spec...

Page 484: ...d via the non real time channel NRT For this purpose the common UDP protocol is used Anyhow no timing determinism can be guaranteed and typically the cycle times can be more than 100 ms IT Application...

Page 485: ...ree classes of communication devices n Controller The Controller is a controlling device which is associated with one or more drives axes Related to the automation system the Controller is the host fo...

Page 486: ...ding of this concept is crucial for parameter accesses in multi axis P Devices This is because global and local accesses are distinguished A local access refers to a special axis DO a global access re...

Page 487: ...exchange n Alarm queue optional n Clock synchronous operation currently not supported The cyclic data exchange includes the transmission reception of data values like set point values e g Position set...

Page 488: ...of the PROFINET device I M 0 Data Content Size Description Comment Header 6 bytes Vendor ID 2 bytes PROFINET Vendor ID YASKAWA 0111h Order ID 20 bytes Serial number 16 bytes Serial number of the SERVO...

Page 489: ...date in the format YYYY MM DD hh mm Example 2018 11 14 10 02 The string is padded to the maximum length Reserved 38 bytes The I M 2 data structure is used to inform an IO Controller of the installati...

Page 490: ...ty Control Torque Control Pole Detection Free configurable telegram 999 Position Control Velocity Control Torque Control Pole Detection A change of the telegram configuration will be activated during...

Page 491: ...tion 6060h 6061h n 3 PROFIdrive velocity mode n 1 Pole detection mode Telegram 2 Application Class 1 PZD 1 Controlword 1 STW1 Statusword 1 ZSW1 PZD 2 Speed Setpoint B NSOLL_B Speed Actual Value B NIST...

Page 492: ...Position Telegram ST9 Operating mode PNU 930 n 0002h PROFIdrive position mode MDI sub mode Program submode n 80FFh Pole detection mode Modes of Operation 6060h 6061h n 2 PROFIdrive position mode MDI s...

Page 493: ...Operating mode PNU 930 n 0001h PROFIdrive velocity mode n 0002h PROFIdrive position mode MDI sub mode Program submode n 80FFh Pole detection mode n 8004h Profile Torque Mode Modes of Operation 6060h...

Page 494: ...ling Info STW1 6040h B11 ZSW1 6041h B12 STW2 2503h BB0 ZSW2 2504h BB1 SATZANW 2532h BD0 AKTSATZ 2533h BD1 Modes of Oper ation 6060h B18 Modes of Oper ation Display 6061h B19 Position Actual Value 6064...

Page 495: ...o 16 can be freely selected See Chap 13 7 IO Data Signals page 497 for parameters to be selected If this telegram is used a PZD length in a range of 1 to 16 PZDs can be used Please note that to activa...

Page 496: ...ofile Deceleration Set PNU 915 A to 6084h Profile Deceleration Set PNU 916 0 to 6041h Statusword 1 Note PZD1 is required to be Status word 1 Set PNU 916 1 to 2533h Actual Traversing Block Set PNU 916...

Page 497: ...ual Value B NIST_B TPZD DINT N4 2508h 606Ch 21 Digital Input E_DIGITAL TPZD UINT 2521h 22 Digital Output A_DIGITAL RPZD UINT 2522h 28 Position Actual Value XIST_A TPZD DINT 6064h 32 Traversing Block S...

Page 498: ...PZD UINT 60E0h 117 Negative Torque Limit Value RPZD UINT 60E1h 118 Following Error Actual Value TPZD DINT 60F4h 119 Position Demand Internal Value TPZD DINT 60FCh 120 Target Velocity RPZD DINT 60FFh 1...

Page 499: ...Operation STW1 bit 3 true Coast Stop STW1 bit 1 false Coast Stop OR Quick Stop STW1 bit 1 false OR bit 2 false Disable Operation STW1 bit 3 false Fault reaction Active ZSW1 bit 6 false 0 1 2 3 true Dr...

Page 500: ...ROFIdrive Velocity Mode depends on STW1 bit 4 n STW1 bit 4 0 Profile deceleration is according to Parameter 605Dh Default 605Dh Max Deceleration n STW1 bit 4 1 Profile deceleration 6084h Coast Stop S4...

Page 501: ...operation mode from the other mode New Operation Mode Behavior when Changing to a New Operation Mode PROFIdrive Position mode Active operation mode PROFIdrive velocity mode n Operation mode is change...

Page 502: ...6062h Following error window comparator Position unit multiplier 2301 1 2301 0 Velocity unit multiplier 2302 1 2302 0 Position reached window comparator Position unit multiplier 2301 1 2301 0 Positio...

Page 503: ...rsing Task Edge STW1 bit 4 5 true AND STW1 bit 6 positive edge Intermediate Stop STW1 bit 5 false Activate Traversing Task Edge STW1 bit 6 positive edge Reject Traversing Task STW1 bit 4 false or SATZ...

Page 504: ...he program execution to the MDI interface and vice versa is controlled by Bit 15 of Traversing Block Selection SATZANW 2532h n Bit 15 1 Activation of the MDI submode If there is a program still runnin...

Page 505: ...1 STW1 RW RPZD 0 UINT 6041h 0 B12 Statusword 1 ZSW1 RO TPZD UINT 2503h 0 BB0 Controlword 2 STW2 RW RPZD 0 UINT 2504h 0 BB1 Statusword 2 ZSW2 RO TPZD UINT 2532h 0 BD0 Traversing Block Selec tion SATZA...

Page 506: ...tion Code RW No 2 Slow down on quick stop ramp INT 605Dh 0 B16 Halt Option Code RW No 3 Slow down on Max Decel eration 60C6h INT 606Bh 0 B2E Velocity Demand Value RO TPZD 0 Vel units DINT 6067h 0 B2A...

Page 507: ...by the dedicated bits of STW1 and the signal SATZANW out of the DO IO Data The start of a motion program or the change to a new program while a program is still running is done by selecting the first...

Page 508: ...tual Value RO TPZD 0 0 1 INT 606Ch 0 B30 Velocity Actual Value RO TPZD 0 Vel units DINT 6063h 0 B22 Position Actual Internal Value RO TPZD Inc DINT 6064h 0 B24 Position Actual Value RO TPZD Pos units...

Page 509: ...1 B44 Max Position Range Limit RW No 7FFFFFFFh Pos units DINT 14 3 4 Modulo Positioning In motion control there are two types of positioning that can be used for linear or rotary axes n relative posit...

Page 510: ...s position Modulo positioning represents the desired target position in a different way than absolute positioning where the user clearly defines the target Within a system a rotary axis performs an op...

Page 511: ...Value range of corresponding target actual values n Target Position 607Ah 8000 0000h to 0 to 7FFF FFFFh n Position Actual Value 6064h 8000 0000h to 0 to 7FFF FFFFh n Target Position in Range 2401h 0...

Page 512: ...arch for switch RW No 0 Vel units UDINT 1 B5C Speed during search for zero RW No 0 Vel units UDINT 609Ah 0 B5E Homing Acceleration RW No 0 Acc units UDINT 6064h 0 B24 Position Actual Value RO TPZD Pos...

Page 513: ...it 8 Vel reached threshold comparator Velocity threshold 606Fh ZSW1 bit 10 Position actual internal value 6063h Position actual value 6064h Following error actual value 60F4h NIST_A 2506h NIST_B 2508h...

Page 514: ...RW No Max motor acceleration Acc units UDINT 60C6h 0 B7E Max Deceleration RW No Max motor acceleration Acc units UDINT 605Ah 0 B13 Quick Stop Option Code RW No 2 Slow down on quick stop ramp INT 605Dh...

Page 515: ...Sub Pn No Name Access PDO Mapping Default value Units Type 6063h 0 B22 Position Actual Internal Value RO TPZD Inc DINT 6064h 0 B24 Position Actual Value RO TPZD Pos units DINT 606Ch 0 B30 Velocity Act...

Page 516: ...torque 0 1 UINT 60E1h 0 B82 Negative Torque Limit Value RW RPZD Max motor torque 0 1 UINT The rated motor torque is 100 14 8 Digital Inputs and Outputs The Digital Inputs and Digital Outputs are used...

Page 517: ...in a feed to length application include the use of conveyors or pinch rolls The walking beam approach is also used while another approach uses a gripper to pull the product to the desired length Appli...

Page 518: ...1 X and the Probe 2 Latch Input Signal parameter Pn511 X Touch probe 1 cannot be used during homing If touch probe 1 was already active it will be switched OFF Index hex Sub Pn No Name Access PDO Mapp...

Page 519: ...ly closed Loop Control The following figure shows the block diagram for the fully closed loop control Position control loop Velocity control loop Torque control loop Position demand internal value 60F...

Page 520: ...s Pn Chap 17 2 2 List of Parameters page 661 can be read or written with PROFINET Communications Reading internal Servo parameter In order to read SERVOPACK parameter do the fol lowing n Write paramet...

Page 521: ...h 0 Set Parameter Parameter Identify RW No FFFFh UINT 2103h 0 Set Parameter Parameter Value RW No 0 DINT Related Objects Sigma 7 Series SERVOPACKs PROFIdrive Drive Profile Get Set SERVOPACK Parameter...

Page 522: ...mory global page 531 Name of Station 61000 Name of Station page 532 IP of Station 61001 Ip of Station page 532 MAC of Station 61002 Mac of Station page 532 Standard Gateway of Station 61003 Standard G...

Page 523: ...Max Motor Speed 2312h Max Motor Speed page 541 Max Motor Acceleration 2313h Max Motor Acceleration page 541 Max Motor Torque 2314h Max Motor Torque page 542 Device Control Error Code 603Fh Error Code...

Page 524: ...e Deceler ation page 559 Target Position MDI_TARPOS 607Ah Target Position page 559 Position Range Limit 607Bh Position Range Limit page 560 Software Position Limit 607Dh Software Position Limit page 5...

Page 525: ...8h Speed Actual Value B NIST_B page 569 Velocity Demand Value 606Bh Velocity Demand Value page 570 Velocity Actual Value 606Ch Velocity Actual Value page 570 Velocity Window 606Dh Velocity Window page...

Page 526: ...60BAh Touch Probe 1 Position Value page 576 Touch Probe 2 Position Value 60BCh Touch Probe 2 Position Value page 576 Digital Inputs Outputs Digital Inputs 2521h Digital Inputs page 577 Digital Outputs...

Page 527: ...n 2 1 3 Firmware date year yyyy decimal 2019 year 2019 4 Firmware date day month ddmm decimal 1501 15th of January 5 Number of Drive Objects DO 0001h Displays the PROFIdrive profile number and profile...

Page 528: ...eter PNU 972 in the following manner The reset is initiated by write accessing PNU 972 1 The write access to PNU 972 with value 1 results in a drive reset and therefore from the perspective of the Con...

Page 529: ...Max latency per request n x 10 ms 0 Maximum latency time for the processing of a parameter request time between request and response without time consumed on the com munication line for a worst case s...

Page 530: ...111h YASKAWA Vendor ID 1 DO type 0000h 2 Version Software xxyy decimal 0201 Version 2 1 3 Firmware date year yyyy decimal 2019 Year 2019 4 Firmware date day month ddmm decimal 1501 15th of January 5 P...

Page 531: ...eset or power cycled Store the whole DU parameter set to a non volatile memory PNU dec Name Data Type Access PDO Map ping Value Saving to EEPROM 977 Transfer in Non volatile Memory global UINT RW No 0...

Page 532: ...ation also accessible via PROFIdrive Parameter Access PNU dec Name Data Type Access PDO Map ping Value Saving to EEPROM 61002 Mac of Station OS 6 RO No Yes This read only parameter contains the Next D...

Page 533: ...ned standard or manufac turer specific telegram number from the following table Data Description Value Comments 0 Telegram may be freely configured P915 x P916 x 1 Standard telegram 1 Speed mode 2 Sta...

Page 534: ...al number The following is valid for parameter 923 y n There is an entry for all standard signals which the device supports and for the device specific signals n Standard signals which are not support...

Page 535: ...after power on 8004h Profile Torque Mode The fault message counter is incremented each time that the fault buffer changes This means that it may be guaranteed that the fault buffer may be consistently...

Page 536: ...ed in parameters under the subindices manufacturer specific and pro file parameters The arrays shall be assigned in increasing sequence and consecutively If a subindex contains zero the end of the lis...

Page 537: ...The lower 16 bits contain information of Pn002 Interpretation from LSB to MSB n Pn002 0 1 n Pn002 1 0 n Pn002 2 0 n Pn002 3 0 In case of 32 bit parameters e g Pn520 all 32 bits are relevant Example T...

Page 538: ...r 16 bits contain information of Pn002 Interpretation from LSB to MSB n Pn002 0 1 n Pn002 1 0 n Pn002 2 0 n Pn002 3 0 In case of 32 bit parameters e g Pn520 all 32 bits are relevant Example The parame...

Page 539: ...1 to activate the new user units n Save user units to non volatile memory n Perform power cycle to update After that procedure the relevant object values will be automatically updated to the new unit...

Page 540: ...umber of encoder counts per msec for One user velocity unit Velocity User Unit Numerator Denominator inc ms Default setting for Velocity User Unit 1 inc ms PNU hex Name Data Type Access PDO Map ping V...

Page 541: ...new acceleration user units Refer to Chap 6 15 4 Setting the Acceleration Reference Unit page 186 This object specifies the maximum speed of the motor based on the value read from the driver during i...

Page 542: ...nitialization PNU hex Name Data Type Access PDO Mapping Value Saving to EEPROM Units 2314h Max Motor Torque UINT RO No 0 1 The rated motor torque is 100 Max Motor Torque Sigma 7 Series SERVOPACKs Obje...

Page 543: ...otor is stopped the drive unit returns to state S2 Ready For Switching on This command is interruptible 1 Coast Stop OFF2 1 No Coast Stop no OFF 2 To be set for transition S1 S2 Note Bit 0 must be res...

Page 544: ...rmal control state alarm 11 Operation mode specific 12 Negative torque limit Torque limit enable bit 0 Disable 1 Enable To use these torque limits you have to set the following Servo Drive Parameters...

Page 545: ...0 Not supported Always 0 9 0 Not supported Always 0 11 0 1 Start homing procedure 1 0 Stop homing Procedure The axis stops according to Homing Acceleration 609Ah PROFIdrive Profile velocity mode Bit N...

Page 546: ...FIdrive Profile Data Description Explanation 0 Ready to switch on Refer to Notes below 1 Ready to operate 2 Operation enabled 3 Fault 4 Coast Stop OFF2 1 Coast Stop not activated 0 Coast Stop activate...

Page 547: ...tching On 0 0 0 0 1 S3 Switched On 0 0 0 1 1 S4 Operation 0 0 1 1 1 S51 Switching off ramp stop 0 0 0 1 1 S52 Switching off quick stop 0 0 0 1 1 Fault reaction Active 0 1 1 1 1 Fault 1 1 0 0 0 Warning...

Page 548: ...nce range 10 0 Target position not reached 1 Target position reached The position actual value is located at the end of a traversing task in the positioning window 11 0 Home position not yet set no va...

Page 549: ...ofile Torque Mode Bit No Value Safety SSx PD condition Definition 10 0 Halt Bit 8 in Controlword 0 Target torque not reached Halt Bit 8 in Controlword 1 The axis is deceler ating Safety SSx PD Request...

Page 550: ...Isafe SS1 SS2 standard compliance No internal Quick Stop Slow down 1 1 Slow down on slow down ramp by CW QuickStop command and SMMO in case of Safety Requested Not PROFIdrive and PROFIsafe SS1 SS2 sta...

Page 551: ...ject defines the operation that is performed when an alarm is detected PNU hex Name Data Type Access PDO Map ping Value Saving to EEPROM 605Eh Fault Reaction Option Code INT RW No 0 to 3 default 2 Yes...

Page 552: ...h a magnetic pole of linear motor connected to Sigma 7 can be detected When an incremental linear scale is used the detected phase information will not be saved and thus the mode of operation is requi...

Page 553: ...g to EEPROM 2503h Controlword 2 STW2 UINT RO RPZD No Data Description Bit No Data description Explanation 0 Absolute Relative posi tioning mode 0 Relative positioning from Actual Position 1 Absolute p...

Page 554: ...ot Active 1 Input P OT Active 2 Homing switch DEC 0 Input DEC Not Active 1 Input DEC Active 3 Positive Software Posi tion Limit 0 Positive Software Position Limit 607Dh 01 Not Active 1 Positive Softwa...

Page 555: ...ixed rotational direction the drive moves always in that direction specified by the appropriate mode The warped target command value when Position range limit executed PNU hex Name Data Type Access PD...

Page 556: ...p and the MDI motion command shall be rejected Traversing block selected PNU hex Name Data Type Access PDO Map ping Value Saving to EEPROM 2533h Actual Traversing Block AKTSATZ UINT RO TPZD No Data De...

Page 557: ...MOD UINT RW RPZD UINT default 0 No Data Description Bits Description 0 Absolute Relative positioning mode PNU 2400h 0 n 1 Absolute positioning The target position in the signal MDI_TARPOS defines the...

Page 558: ...g in range 1 to 15 Reserved for future use by PROFIdrive profile 16 to 31 Reserved The target position is the position that the drive should move to in PROFIdrive position profile mode using the setti...

Page 559: ...Block Profile Deceleration Array UDINT 64 RW No 0 to 231 1 default 0 Yes Acc units The target position is the position that the drive should move to in position profile mode using the current settings...

Page 560: ...object 607Dh The values shall be given in user defined position units PNU hex Name Data Type Access PDO Map ping Value Saving to EEPROM Units 607Bh Position Range Limit Array DINT 2 RW No Yes Pos unit...

Page 561: ...607Dh Software Posi tion Limit Array DINT 2 RW No Yes Pos units Data Description Subindex Name Value Range Default Value 0 Min Position Limit DINT 231 1 Max Position Limit DINT 231 1 n For Incremental...

Page 562: ...leration If this param eter is not supported then the profile acceleration value is also used for deceleration PNU hex Name Data Type Access PDO Map ping Value Saving to EEPROM Units 6084h Profile Dec...

Page 563: ...ct indicates the configured maximal deceleration It is used to limit the decelera tion to an acceptable value in order to prevent the motor and the moved mechanics from being destroyed PNU hex Name Da...

Page 564: ...position Home Position Zero Position home_offset Fig 374 Home Offset 607Ch The homing method object determines the method that will be used during homing PNU hex Name Data Type Access PDO Map ping Va...

Page 565: ...pulse Refer to method 1 18 Homing on the positive limit switch Same homing as method 2 without an index pulse Refer to method 2 19 to 20 Homing on the positive home switch Same homing as method 3 and...

Page 566: ...ts Data Description Subindex Name Value Range Default Value 0 Speed during search for switch 0 to Max Motor Speed 0 1 Speed during search for zero 0 to Max Motor Speed 0 The homing acceleration establ...

Page 567: ...symmetrically to the position demand value If the position actual value is out of the following error window a following error occurs A following error may occur when a drive is blocked unreachable p...

Page 568: ...UINT RW No UINT default 0 Yes ms This object provides the actual value of the following error PNU hex Name Data Type Access PDO Map ping Value Saving to EEPROM Units 60F4h Following Error Actual Valu...

Page 569: ...etpoint B is the normalized value to parameter 60FFh Target Velocity PNU hex Name Data Type Access PDO Map ping Value Saving to EEPROM Units 2507h Speed Setpoint B NSOLL_B DINT RW RPZD DINT default 0...

Page 570: ...EEPROM Units 606Dh Velocity Window UINT RW No UINT default 0 Yes Vel units The corresponding bit 10 target reached is set in the Statusword when the difference between target velocity and the velocit...

Page 571: ...Data Type Access PDO Map ping Value Saving to EEPROM Units 60FFh Target Velocity DINT RW RPZD Max Pro file Velocity 607Fh to Max Profile Velocity 607Fh default 0 Vel units Target Velocity Sigma 7 Seri...

Page 572: ...value condition is as follows Max Torque ABS Target Torque 6071h and Max Torque Pos Torque Limit 60E0h and Max Torque Neg Torque Limit 60E1h This parameter is the output value of the torque limit fun...

Page 573: ...t Max Motor Torque Yes 0 1 The rated motor torque is 100 Max Motor Torque taken from the driver during initialization This object sets the negative torque limit value Set the value in units of 0 1 of...

Page 574: ...0 Trigger with touch probe 1 input 1 Trigger with zero signal of position encoder 3 Reserved 4 0 Switch off sampling at touch probe 1 1 Enable sampling at touch probe 1 5 Not supported 6 7 0 User def...

Page 575: ...ed 3 to 6 0 Reserved 7 0 1 Shall toggle with every update of Touch probe 1 value stored 1 8 0 Touch probe 2 is switched off 1 Touch probe 2 is enabled 9 0 Touch probe 2 no value stored 1 Touch probe 2...

Page 576: ...e cution This object provides the position value of the touch probe 2 The value is given in user defined position units PNU hex Name Data Type Access PDO Map ping Value Saving to EEPROM Units 60BCh To...

Page 577: ...0 SRI_A1 Input Signal Only applicable if a safety card is connected 11 SRI_A2 Input Signal Only applicable if a safety card is connected 12 SRI_B1 Input Signal Only applicable if a safety card is conn...

Page 578: ...output 1 SO2 SO2 port output 2 SO3 SO3 port output 3 7 Reserved Should not be used 8 15 Manufacturer specific No signal reference No effect SOx are defined by the user by setting servo parameter 0 Swi...

Page 579: ...parts 16 2 3 Guidelines for Part Replacement The following electric or electronic parts are subject to mechanical wear or deterioration over time Use one of the following methods to check the standar...

Page 580: ...the battery must be replaced Refer to the following section for the battery replacement procedure Chap 16 2 4 Replacing the Battery page 580 Whether to display an alarm or a warning is determined by...

Page 581: ...Encoder Battery Error 4 Turn ON the control power supply to the SERVOPACK again 5 Make sure that the alarm has been cleared and that the SERVOPACK operates normally n When Using an Encoder Cable with...

Page 582: ...anges Alarms are really useful for the 0 1 of communication needs that can t be handled in that pre defined cyclic format They re event driven so a PROFINET device will only send them if an event happ...

Page 583: ...ModuleIdentNumber Module Ident number of the DO SubmoduleIdentNumber FFFFh AlarmSpecifier Diagnosis type UserStructureIdentifier 8000h Channel Diagnosis Data ChannelNumber 8000h Diagnosis refers to th...

Page 584: ...ated with one or several fault messages generates a device specific fault reaction The fault buffer contains the fault messages which have been generated during the fault situation the fault number li...

Page 585: ...hat occurs in the SERVOPACK use one of the following methods Panel display on SER VOPACK If there is an alarm the code will be displayed one character at a time as shown below Example Alarm A 020 Stat...

Page 586: ...Code 603Fh is not reset until the alarm warning has been acknowledged and no alarm or warning is present PROFINET Fault Buffer PNU 947 is volatile 16 4 2 2 List of the PROFINET Module Alarms The foll...

Page 587: ...lem Fault Reaction Option Code 6085h No A AA9 1AA9h Abnormal Control State Main power is turned off during one of the following states n S4 Operation n S3 Switched On n S51 Switching Off ramp stop n S...

Page 588: ...in the SERVOPACK Gr 1 No A 030 1030h Main Circuit Detector Error There is an error in the detection data for the main circuit Gr 1 Yes A 040 1040h Parameter Setting Error A parameter setting is outsid...

Page 589: ...power supply wiring is not correct Gr 1 Yes A 400 1400h Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 1410h Undervoltage The main circuit DC voltage is too low Gr 2 Yes A 510 151...

Page 590: ...e power supplies to the encoder all failed and the position data was lost Gr 1 No A 820 1820h Encoder Checksum Alarm There is an error in the checksum results for encoder memory Gr 1 No A 830 1830h En...

Page 591: ...in the SERVOPACK Gr 1 No A bF4 1bF4h System Alarm 4 Internal program error 4 occurred in the SERVOPACK Gr 1 No A bF5 1bF5h System Alarm 5 Internal program error 5 occurred in the SERVOPACK Gr 1 No A b...

Page 592: ...ultiturn limits have been set in the encoder and the SERVO PACK Gr 1 No A CF1 1CF1h Reception Failed Error in Feedback Option Module Communications Receiving data from the Feedback Option Module faile...

Page 593: ...o A E74 1E74h Unsupported Safety Option Module Alarm An unsupported Safety Option Module was connected Gr 1 No A E75 1E75h 1 Unsupported Feedback Option Module Alarm An unsupported Feedback Option Mod...

Page 594: ...Relation AR with the IO Controller is aborted during PROFIdrive state S4 Operation e g IO Controller closed the con nection etc Check possible rea sons for Application Relation AR abort Re establish c...

Page 595: ...written exceeded the limit Replace the PROFINET SERVO PACK module Recon sider the method for writing the parameters The power supply voltage suddenly dropped Measure the power supply voltage Set the p...

Page 596: ...e power Replace the PROFINET SERVO PACK module A EA1 1EA1h Command Option IF Memory Check Error A failure occurred in the PROFINET SERVOPACK module Check the SERVO PACK and its connec tions Cycle powe...

Page 597: ...ting oil entered the SERVOPACK and caused failure of the internal components Check the installa tion conditions The SERVOPACK may be faulty Replace the SERVO PACK A failure occurred in the SERVOPACK T...

Page 598: ...Check the combina tion of the SERVO PACK and Servo motor capacities Select a proper com bination of SERVO PACK and Servo motor capacities Chap 2 7 Combinations of SERVO PACKs and Ser vomotors page 48...

Page 599: ...still occurs Replace the Servo motor or encoder A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SERVO PACK A 051 1051h Unsupported Device Alarm The motor parameter file was...

Page 600: ...nd W The cable may be shortcircuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short cir cuits across Servo motor phases U V and W or between the groun...

Page 601: ...the alarm still occurs Implement counter measures against noise such as cor rect wiring of the FG Use an FG wire size equivalent to the SERVOPACK s main circuit wire size A failure occurred in the SE...

Page 602: ...he SERVOPACK s main circuit wire size A failure occurred in the SERVOPACK Turn the power supply to the SER VOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERV...

Page 603: ...an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 320 1320h Regenerative Overload The power supply voltage exceeded the specified range Measure the power supply voltage Set th...

Page 604: ...nal Regenera tive Resistor DC power was sup plied when an AC power supply input was specified in the settings Check the power supply to see if it is a DC power supply Correct the power supply setting...

Page 605: ...propriate for the operating conditions and load 2 The moment of inertia ratio or mass ratio exceeded the allow able value Check to see if the moment of inertia ratio or mass ratio is within the allowa...

Page 606: ...A 511 1511h Encoder Output Pulse Over speed The encoder output pulse frequency exceeded the limit Check the encoder output pulse setting Decrease the setting of Pn212 Encoder Output Pulses or Pn281 En...

Page 607: ...limits of the maximum motor speed setting and the encoder output resolution setting Set Pn385 to a value that does not exceed the maximum motor speed Chap 7 5 Setting the Motor Maximum Speed page 212...

Page 608: ...K A 740 1740h Inrush Current Limiting Resistor Over load The main circuit power supply was fre quently turned ON and OFF The allowable fre quency of the inrush current limiting resistor was exceeded w...

Page 609: ...stallation environment monitor Decrease the sur rounding tempera ture by improving the SERVOPACK instal lation conditions Chap 4 6 Monitoring the Installation Environment page 80 An overload alarm was...

Page 610: ...ned ON for the first time Set up the encoder Chap 6 16 Resetting the Absolute Encoder page 186 The Encoder Cable was disconnected and then connected again Check to see if the power supply was turned O...

Page 611: ...ncoder battery voltage was lower than the specified level The battery connec tion is faulty or a bat tery is not connected Check the battery connection Correct the battery connection Chap 5 5 3 Wiring...

Page 612: ...he polarity sensor A 850 1850h Encoder Over speed Detected at the encoder when the control power supply is turned ON Rotary Servomotor The Servomotor speed was 200 min 1 or higher when the control pow...

Page 613: ...coder Turn the power supply to the SER VOPACK OFF and ON again If the alarm still occurs the Servomotor or abso lute linear encoder may be faulty Replace the Servo motor or absolute linear encoder A f...

Page 614: ...ection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protec tion input signal An overload alarm was reset by turning OFF the power supply too many...

Page 615: ...the external encoder A failure occurred in the Serial Converter Unit Replace the Serial Converter Unit A 8A2 18A2h External Incre mental Encoder Sensor Error A failure occurred in the external encoder...

Page 616: ...ailure occurred in the SERVOPACK Turn the power supply to the SER VOPACK OFF and ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF4 1bF4h System Alarm 4 A failu...

Page 617: ...tting of Pn080 n X Motor Phase Selection Check the setting of Pn080 n X Set Pn080 n X to an appropriate value Chap 6 8 Selecting the Phase Sequence for a Linear Servo motor page 154 A failure occurred...

Page 618: ...sensor is protruding from the Magnetic Way of the motor Check the polarity sensor Correctly reinstall the Moving Coil or Mag netic Way of the motor The polarity sensor is not wired correctly Check the...

Page 619: ...put in one direc tion Implement appro priate countermeas ures against noise for the Linear Encoder Cable An external force was applied to the Moving Coil of the motor The polarity cannot be properly d...

Page 620: ...p 5 6 3 I O Signal Wiring Exam ples page 120 A C52 1C52h Polarity Detec tion Not Com pleted The servo was turned ON when using an absolute linear encoder Pn587 was set to n 0 Do not detect polarity an...

Page 621: ...mpe dance is outside the specified values Check the condition of the Encoder Cable Use the Encoder Cable within the specified specifica tions One of the following has occurred corro sion caused by imp...

Page 622: ...Noise entered on the signal line from the encoder Implement counter measures against noise for the encoder wiring Chap 5 2 2 Countermeas ures against Noise page 87 Excessive vibration or shock was ap...

Page 623: ...n Rotary Servomo tors The Encoder Cable wiring distance must be 50 m max n Linear Servomo tors The Encoder Cable wiring distance must be 20 m max There is variation in the FG potential because of the...

Page 624: ...ay be faulty Replace the SERVOPACK A CF1 1CF1h Reception Failed Error in Feedback Option Module Communica tions The cable between the Serial Converter Unit and SERVO PACK is not wired cor rectly or th...

Page 625: ...tion rate or reconsider the elec tronic gear ratio Chap 6 15 2 Setting the Position Refer ence Unit page 178 The acceleration of the position reference is too high Reduce the refer ence acceleration a...

Page 626: ...page 458 There is an error in the connection between the load e g stage and external encoder cou pling Check the coupling of the external encoder Check the mechan ical coupling A d30 1d30h Position D...

Page 627: ...edback Option Module Correctly connect the Feedback Option Module The Feedback Option Module was discon nected Reset the Option Module configuration error and turn the power supply to the SERVOPACK OF...

Page 628: ...nd Check the motor status when the command is exe cuted Execute the Servo ON command Enable Operation command only when the motor is not operating A F10 1F10h Power Supply Line Open Phase The voltage...

Page 629: ...ator may be faulty Replace the Digital Operator A failure occurred in the SERVOPACK Turn the power supply to the SER VOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replac...

Page 630: ...l page 543 Press the ALARM RESET Key on the Digital Operator Refer to the following manual for details on resetting alarms 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 16 4 5 D...

Page 631: ...ms that occurred in the past Fig 383 Alarm Display Alarm History Tab 1 Alarms in order of occurrence older alarms have higher numbers 2 Alarm number Alarm name 3 Accumulated operation time Total opera...

Page 632: ...lists the tools that you can use to clear the alarm history and the appli cable tool functions Tool Function Reference Digital Operator Fn006 7 Series Digital Oper ator Operating Manual Manual No SIEP...

Page 633: ...n Option Modules If any Option Modules are attached to the SERVOPACK the SERVOPACK detects the presence and models of the connected Option Modules If it finds any errors it outputs alarms You can dele...

Page 634: ...nction Reference Digital Operator Fn014 7 Series Digital Oper ator Operating Manual Manual No SIEP S800001 33 SigmaWin Setup Reset Configura tion Error of Option Module Operating Procedure page 634 Us...

Page 635: ...Reset Option Module Configuration Error AXIS 00 4 Click the OK Button Fig 386 Reset Option Module Configuration Error Caution Clearing Detection Results OK Button Sigma 7 Series SERVOPACKs Maintenanc...

Page 636: ...070 alarm is reset by executing the Reset Motor Type Alarm utility function This utility function is the only way to reset an A 070 alarm Motor Type Change Detected The errors are not reset when you r...

Page 637: ...e displayed to warn you before an alarm occurs Panel display on SER VOPACK If there is a warning the code will be displayed one char acter at a time as shown below Example A 910 Status display Not lit...

Page 638: ...Overflow The position deviation exceeded the percentage set with the following formula Pn520 Pn51E 100 A 901 1901h Position Deviation Overflow Alarm at Servo ON The position deviation when the servo w...

Page 639: ...ertravel was detected while the servo was ON A 9b0 19b0h Preventative Maintenance Warning One of the consumable parts has reached the end of its service life Use Pn008 n X Warning Detection Selection...

Page 640: ...ure that there are no faulty connec tions in the wiring for the Servomotor and encoder A SERVOPACK gain is too low Check the SERVO PACK gains Increase the servo gain e g by using autotuning without a...

Page 641: ...The overload warning level Pn52B is not suitable Check that the over load warning level Pn52B is suitable Set a suitable over load warning level Pn52B Chap 6 14 Motor Overload Detection Level page 17...

Page 642: ...SERVO PACK installation conditions Install the SERVO PACK according to specifications Chap 4 3 Mounting Types and Orientation page 75 Chap 4 5 Mounting Interval page 79 A failure occurred in the SERVO...

Page 643: ...r SERVOPACK capacity Reconsider the operating condi tions using the Sigma JunmaSize Capacity Selection Software or other means There was a contin uous regeneration state because a nega tive load was c...

Page 644: ...r rounding tempera ture using a ther mometer Lower the sur rounding tempera ture by improving the installation condi tions of the Linear Servomotor or the machine Operation was per formed under an exc...

Page 645: ...below 60 V Measure the power supply voltage Set the power supply voltage within the specified range The power supply voltage dropped during operation Measure the power supply voltage Increase the pow...

Page 646: ...troubleshooting based on the operation and conditions of the Ser vomotor including causes and corrections Problem Possible Cause Confirmation Correction Reference Servomotor Does Not Start The control...

Page 647: ...ocations page 196 Chap 10 3 3 I O Signal Monitor page 437 The Servo ON com mand Enable Opera tion command was not sent Make sure the Servo ON command Enable Operation command is set to Operation Enabl...

Page 648: ...the Servo ON com mand Enable Opera tion command n If you are using an incremental linear encoder send the Servo ON com mand Enable Operation com mand from the host controller n If you are using an abs...

Page 649: ...nectors and correct the wiring Servomotor Moves without a Reference Input A failure occurred in the SERVOPACK Turn OFF the power supply to the servo system Replace the SERVOPACK The count up direction...

Page 650: ...within the allowable value or increase the load level or reduce the rigidity level in the tuning less level settings If the situation is not improved disable the tuning less function i e set Pn170 to...

Page 651: ...s Turn OFF the power supply to the servo system Make sure that the rotary or Linear Encoder Cable satisfies the specifica tions Use a shielded twisted pair wire cable or a screened twisted pair cable...

Page 652: ...vibration from the machine occurred Check the Servomotor installation mounting surface precision securing state and alignment Check the linear encoder instal lation mounting sur face precision and sec...

Page 653: ...tegral Time Constant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appropriate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not...

Page 654: ...the power supply to the servo system Check to see if the Encoder Cable is bundled with a high current line or installed near a high current line Correct the cable layout so that no surge is applied b...

Page 655: ...checks Perform parity checks for the multiturn data or absolute encoder position data Check for noise inter ference in the cable between the SERVO PACK and the host controller Implement counter measur...

Page 656: ...T signal instead The selection of the Servomotor stopping method is not correct Check the servo OFF stopping method set in Pn001 n X or Pn001 n X Select a Servomotor stopping method other than coastin...

Page 657: ...power supply to the servo system Check to see if the Encoder Cable is bundled with a high current line or installed near a high current line Correct the cable layout so that no surge is applied by hi...

Page 658: ...tions Use a shielded twisted pair cables or a screened twisted pair cable with con ductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O S...

Page 659: ...d Servomotor with larger capacities Polarity detection was not performed cor rectly Check to see if elec trical angle 2 elec trical angle from polarity origin at any position is between 10 Correct the...

Page 660: ...g a Linear Servomotor you need to inter pret the terms accordingly Refer to the following section for details Chap 1 4 Using This Manual page 21 2 When Enabled Indicates when a change to the parameter...

Page 661: ...eters Do not change the following parameters from their default settings Reserved parameters Parameters not given in this manual Parameters that are not valid for the Servomotor that you are using as...

Page 662: ...Appli cable Motors When Enabled Classifi cation Refer ence Pn001 2 Application Function Selections 1 0010h to 0112h 0010h All After restart Setup n X Motor Stopping Method for Servo OFF and Group 1 A...

Page 663: ...ions 2 0001h to 4201h 0001h After restart Setup n X PROFINET Module Torque Limit Com mand Usage Selection 4 Applicable Motors Reference 1 Enable torque limit commands from PROFINET Automatically set b...

Page 664: ...ection 00 Motor speed 1 V 1 000 min 1 Motor speed 1 V 1 000 mm s 01 Speed reference 1 V 1 000 min 1 Speed reference 1 V 1 000 mm s 02 Torque reference 1 V 100 rated torque Force reference 1 V 100 rate...

Page 665: ...led Classifi cation Refer ence Pn007 2 Application Function Selections 7 0000h to 105Fh 0000h All Immedi ately Setup Chap 10 4 4 Using the Analog Monitors page 441 n XX Analog Monitor 2 Signal Selecti...

Page 666: ...motor shaft 0E Reserved setting Do not use 0F Reserved setting Do not use 10 Main circuit DC voltage 11 to 15F Reserved settings Do not use n X Reserved parameter Do not change n X Reserved parameter...

Page 667: ...ation Function Selections 9 0000h to 0121h 0010h All After restart Tuning n X Reserved parameter Do not change n X Current Control Mode Selection Reference 0 Use current control mode 1 Chap 9 13 5 Cur...

Page 668: ...the motor to a stop using the decelera tion time set in Pn30A and then let the motor coast n X Stopping Method for Forced Stops Reference 0 Apply the dynamic brake or coast the motor to a stop use th...

Page 669: ...use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input Chap 6 3 3 Single...

Page 670: ...ge Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn00D 2 Application Function Selections D 0000h to 1001h 0000h All Afte...

Page 671: ...Enabled Classifi cation Refer ence Pn021 2 Reserved parameter Do not change 0000h All Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi catio...

Page 672: ...Sensor Setting page 156 1 Do not use polarity sensor n X Motor Phase Sequence Selection Reference 0 Set a phase A lead as a phase sequence of U V and W Chap 6 8 Selecting the Phase Sequence for a Line...

Page 673: ...not change n X Reserved parameter Do not change Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn100 2 Speed Loop Gain 10...

Page 674: ...Refer ence Pn104 2 Second Speed Loop Gain 10 to 20 000 0 1 Hz 400 All Immedi ately Tuning Chap 9 13 2 Gain Switching page 389 Param eter No Size Name Setting Range Setting Unit Default Setting Appli c...

Page 675: ...ed Classifi cation Refer ence Pn10B 2 Gain Applica tion Selec tions 0000h to 5334h 0000h All Tuning n X Mode Switching Selection When Ena bled Reference 0 Use the internal torque reference as the cond...

Page 676: ...Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn10D 2 Mode Switching Level for Speed Refer ence 0 to 10 000 1 min 1 0 R...

Page 677: ...ctions page 419 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn121 2 Friction Com pensation Gain 10 to 1 000 1 100 All...

Page 678: ...Motors When Enabled Classifi cation Refer ence Pn125 2 Friction Com pensation Gain Correc tion 1 to 1 000 1 100 All Immedi ately Tuning Chap 9 13 3 Friction Compen sation page 394 Param eter No Size...

Page 679: ...di ately Tuning Chap 9 13 2 Gain Switching page 389 n X Gain Switching Selection 0 Disable automatic gain switching 1 Reserved setting Do not use 2 Use automatic gain switching pattern 1 The gain is s...

Page 680: ...model following control n X Vibration Suppression Selection Reference 0 Do not perform vibration suppression Chap 9 14 Manual Tuning page 405 1 Perform vibration suppression for a specific fre quency...

Page 681: ...lassifi cation Refer ence Pn142 2 Model Fol lowing Con trol Gain Cor rection 500 to 2 000 0 1 1000 All Immedi ately Tuning Chap 9 13 2 Gain Switching page 389 Param eter No Size Name Setting Range Set...

Page 682: ...cation Refer ence Pn147 2 Model Fol lowing Con trol Speed Feedforward Compensa tion 0 to 10 000 0 1 1000 All Immedi ately Tuning Chap 9 14 Manual Tuning page 405 Param eter No Size Name Setting Range...

Page 683: ...Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn14F 2 Control Related Selections 0000h to 0021h 0021h All After restart Tuning n X Model Followi...

Page 684: ...with a host reference and custom tuning Chap 9 7 6 Trouble shooting Prob lems in Auto tuning without a Host Reference page 333 1 Adjust anti resonance control automatically during execution of autotun...

Page 685: ...eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn164 2 Anti Reso nance Filter Time Con stant 1 Cor rection 1 000 to 1 000 0 01...

Page 686: ...1401h All Setup Chap 9 5 Tuning less Func tion page 303 n X Tuning less Selection When Enabled 0 Disable tuning less function After Restart 1 Enable tuning less function n X Speed Control Method When...

Page 687: ...ctions page 419 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn205 2 Multiturn Limit 0 to 65 535 1 rev 65535 Rotary Aft...

Page 688: ...Enabled Classifi cation Refer ence Pn20A 4 Number of External Encoder Scale Pitches 4 to 1 048 576 1 scale pitch rev olution 32768 Rotary After restart Setup Chap 11 4 4 Setting the Number of External...

Page 689: ...11 4 10 Setting to Use an External Encoder for Speed Feedback page 463 n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X Fully closed...

Page 690: ...eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn233 2 Backlash Compensa tion Time Constant 0 to 65 535 0 01 ms 0 All Immedi a...

Page 691: ...ng Appli cable Motors When Enabled Classifi cation Refer ence Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Param eter No Size Name Setting Range Setting Unit Defaul...

Page 692: ...e Adjust ment Functions page 419 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn310 2 Vibration Detection Selections 00...

Page 693: ...vel page 246 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn316 2 Maximum Motor Speed 0 to 65 535 1 min 1 10000 Rotary...

Page 694: ...Detection Level page 246 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn385 2 Maximum Motor Speed 1 to 100 100 mm s 50...

Page 695: ...cation Refer ence Pn404 2 Forward External Torque Limit 0 to 800 1 1 100 All Immedi ately Setup Chap 7 8 3 External Torque Limits page 223 Param eter No Size Name Setting Range Setting Unit Default Se...

Page 696: ...notch filter n X Speed Limit Selection When Ena bled Reference 0 Use the smaller of the maximum motor speed and the setting of Pn407 as the speed limit After restart Chap 7 2 11 Speed Limit during To...

Page 697: ...First Stage Notch Filter Q Value 50 to 1 000 0 01 70 All Immedi ately Tuning Chap 9 14 2 Tuning the Servo Gains page 406 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable...

Page 698: ...econd Stage Second Torque Refer ence Filter Frequency 100 to 5 000 1 Hz 5000 All Immedi ately Tuning Chap 9 14 2 Tuning the Servo Gains page 406 Param eter No Size Name Setting Range Setting Unit Defa...

Page 699: ...le fifth stage notch filter n X Reserved parameter Do not change Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn417 2 T...

Page 700: ...sifi cation Refer ence Pn41B 2 Fourth Stage Notch Filter Q Value 50 to 1 000 0 01 70 All Immedi ately Tuning Chap 9 14 2 Tuning the Servo Gains page 406 Param eter No Size Name Setting Range Setting U...

Page 701: ...Appli cable Motors When Enabled Classifi cation Refer ence Pn423 2 Speed Ripple Compensa tion Selec tions 0000h to 1111h 0000h Rotary Setup Chap 9 12 3 Setting Up Speed Ripple Compen sation page 380...

Page 702: ...SEMI F47 Func tion page 209 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn426 2 Torque Feed forward Average Movement...

Page 703: ...n of autotuning without a host reference autotuning with a host reference and custom tuning 1 Adjust the first stage notch filter automatically during execution of autotuning without a host reference...

Page 704: ...Do not change Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn476 2 Gravity Com pensation Torque 1 000 to 1 000 0 1 000...

Page 705: ...Enabled Classifi cation Refer ence Pn483 2 Forward Force Limit 0 to 800 1 1 30 Linear Immedi ately Setup Chap 7 8 2 Internal Torque Limits page 222 Param eter No Size Name Setting Range Setting Unit D...

Page 706: ...to 500 1 ms 100 Linear Immedi ately Tuning Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn48E 2 Polarity Detection Rang...

Page 707: ...eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn502 2 Rotation Detection Level 1 to 10 000 1 min 1 20 Rotary Immedi ately Setu...

Page 708: ...When Enabled Classifi cation Refer ence Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup Chap 6 12 2 Brake Operating Sequence page 168 Param eter No Size Name Se...

Page 709: ...to always prohibit forward drive 8 Set the signal to always enable forward drive 9 Enable forward drive when CN1 13 input signal is OFF open A Enable forward drive when CN1 7 input signal is OFF open...

Page 710: ...FF open B Enable reverse drive when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable rever...

Page 711: ...signal alloca tions Chap 7 8 3 External Torque Limits page 223 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn50E 2 Ou...

Page 712: ...lt Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn50F 2 Output Signal Selections 2 0000h to 6666h 0100h All After restart Setup n X CLT Torque Limit Detection Output Signal Alloc...

Page 713: ...n510 2 Output Signal Selections 3 0000h to 0666h 0000h All After restart Setup n X NEAR Near Output Signal Allocation Reference 0 Disabled the above signal output is not used Chap 7 2 10 NEAR Near Sig...

Page 714: ...9 Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 input signal is OFF open D Active when CN1...

Page 715: ...No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn512 2 Output Signal Inverse Set tings 1 0000h to 1111h 0000h All After restart Set...

Page 716: ...3 Output the signal from the CN1 25 or CN1 26 output terminal 4 to 6 Reserved setting Do not use n X Reserved parameter Do not change Param eter No Size Name Setting Range Setting Unit Default Settin...

Page 717: ...drive when CN1 8 input signal is OFF open C Enable drive when CN1 9 input signal is OFF open D Enable drive when CN1 10 input signal is OFF open E Enable drive when CN1 11 input signal is OFF open F E...

Page 718: ...am eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn520 4 Position Devi ation Over flow Alarm Level 1 to 1 073 741 823 1 refer...

Page 719: ...Servo ON page 302 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn528 2 Position Devi ation Over flow Warning Level at...

Page 720: ...ed Classifi cation Refer ence Pn52C 2 Base Current Derating at Motor Over load Detec tion 10 to 100 1 100 All After restart Setup Chap 6 14 2 Detection Timing for Overload Warnings A 910 page 176 Para...

Page 721: ...n531 Number of movements in Pn536 n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change Param eter No Size Name Setting Range Setting Unit Defa...

Page 722: ...age 277 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn536 2 Program Jog ging Number of Move ments 0 to 1 000 1 time 1...

Page 723: ...nce Pn552 2 Analog Mon itor 1 Magnifi cation 10 000 to 10 000 0 01 100 All Immedi ately Setup Chap 10 4 Moni toring Machine Operation Status and Signal Wave forms page 438 Param eter No Size Name Sett...

Page 724: ...Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup Chap 9 7 Auto tuning...

Page 725: ...hen Enabled Classifi cation Refer ence Pn584 2 Speed Limit Level at Servo ON 0 to 10 000 1 mm s 10000 Linear Immedi ately Setup Chap 9 4 6 Set ting the Position Deviation Overflow Alarm Level at Servo...

Page 726: ...parameter Do not change Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation Refer ence Pn600 6 2 Regenerative Resistor Capacity 2 Depends...

Page 727: ...s When Enabled Classifi cation Refer ence Pn61A 2 Overheat Protection Selections 0000h to 0003h 0000h All After restart Setup Chap 7 15 Overheat Protec tion page 261 n X Overheat Protection Selections...

Page 728: ...535 1 s 0 All Immedi ately Setup Chap 7 15 3 Overheat Protection Selec tions page 261 Param eter No Size Name Setting Range Setting Unit Default Setting Appli cable Motors When Enabled Classifi cation...

Page 729: ...anual for details 7 Series AC Servo Drive 7S 7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual Manual No SIEP S800001 73 7 The SGLFW2 is the only YASKAWA Linear Servomotor...

Page 730: ...6 Setpoint PZD 7 0 C06 7 Setpoint PZD 8 0 C07 8 Setpoint PZD 9 0 C08 9 Setpoint PZD 10 0 C09 10 Setpoint PZD 11 0 C0A 11 Setpoint PZD 12 0 C0B 12 Setpoint PZD 13 0 C0C 13 Setpoint PZD 14 0 C0D 14 Setp...

Page 731: ...ion UINT RW No Yes 1 0 999 C20 PNU dec Subindex Name Data Type Access PDO Map ping Saving to EEPROM 1 Default Value 923 List of all Parameters for Signals 0 Empty UINT RO No No 0 1 Controlword 1 STW1...

Page 732: ...e Demand 6074h 108 Torque Actual Value 6077h 109 Profile Acceleration 6083h 110 Profile Deceleration 6084h 111 Torque Slope 6087h 112 Touch Probe Function 60B8h 113 Touch Probe Status 60B9h 114 Touch...

Page 733: ...lt situation n 3 32 to 39 Fault situation n 4 40 to 47 Fault situation n 5 48 to 55 Fault situation n 6 56 to 63 Fault situation n 7 PNU dec Subindex Name Data Type Access PDO Map ping Saving to EEPRO...

Page 734: ...f parameter requests per multi parameter request 39 2 Max latency per request 0 PNU dec Subindex Name Data Type Access PDO Map ping Saving to EEPROM 1 Default Value 975 DO Identification 0 Manufacture...

Page 735: ...ng Saving to EEPROM 1 Default Value 2101h 0 Get Parameter Parameter Value DINT RO No No 0 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 Default Value Lower Limit Upper Limi...

Page 736: ...imit Param eter No 2 2303h Acceleration User Unit 0 Numerator UDINT RW No Yes 1 1 7FFF FFFFh B0A 1 Denominator UDINT RW No Yes 1 1 7FFF FFFFh B0C Index hex Sub index Name Data Type Access PDO Map ping...

Page 737: ...Saving to EEPROM 1 Default Value Unit Param eter No 2 2506h 0 Speed Actual Value A NIST_A INT RO TPZD No N2 Vel unit BB3 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 Defa...

Page 738: ...Unit Param eter No 2 2536h 0 MDI Accel eration MDI_ACC UINT RW RPZD No 0 0 65535 Max Acc FFFFh BD2 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 Default Value Lower Limit...

Page 739: ...2 2613h Traversing Block Profile Acceleration 0 to 63 Profile accelera tion value UDINT RW No Yes 0 0 7FFF FFFFh Acc unit 8380 to 83FE Index hex Sub index Name Data Type Access PDO Map ping Saving to...

Page 740: ...Saving to EEPROM 1 Default Value Lower Limit Upper Limit Param eter No 2 605Eh 0 Fault Reaction Option Code INT RW No Yes 2 0 3 B17 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEP...

Page 741: ...to EEPROM 1 Default Value Lower Limit Upper Limit Unit Param eter No 2 6066h 0 Following Error Time Out UINT RW No Yes 0 0 FFFFh ms B28 Index hex Sub index Name Data Type Access PDO Map ping Saving t...

Page 742: ...efault Value Lower Limit Upper Limit Unit Param eter No 2 606Fh 0 Velocity Threshold UINT RW No Yes 0 0 FFFFh Vel unit B35 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 Def...

Page 743: ...No Yes 8000 0000h 8000 0000h 0 Pos unit B42 1 Max posi tion range limit DINT RW No Yes 7FFF FFFFh 0 7FFF FFFFh Pos unit B44 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 De...

Page 744: ...OM 1 Default Value Lower Limit Upper Limit Unit Param eter No 2 6083h 0 Profile Accelera tion UDINT RW RPZD Yes 0 0 Max Accel eration Pn B7C Acc unit B50 Index hex Sub index Name Data Type Access PDO...

Page 745: ...Speed Pn BF0 Vel unit B5A 1 Speed during search for zero DINT RW No Yes 0 0 Max Motor Speed Pn BF0 Vel unit B5C Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 Default Value...

Page 746: ...g Saving to EEPROM 1 Default Value Lower Limit Upper Limit Param eter No 2 60C2h Interpolation Time Period 0 Interpolation time unit INT RW No Yes 1 B6E 1 Interpolation time index INT RW No Yes 3 B6F...

Page 747: ...alue Unit Param eter No 2 60F4h 0 Following Error Actual Value DINT RO TPZD No Pos unit B84 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 Default Value Unit Param eter No 2...

Page 748: ...Unit Param eter No 2 2312h 0 Max Motor Speed UDINT RO No No Vel unit BF0 Index hex Sub index Name Data Type Access PDO Map ping Saving to EEPROM 1 Default Value Unit Param eter No 2 2313h 0 Max Motor...

Page 749: ...access with value that does not match the data type of the parameter 06h Setting not per mitted can only be reset Change access with value unequal to 0 when this is not permitted 07h Description elem...

Page 750: ...ff quick stop n Attempt to set S3 Switched On or S4 Opera tion in case of main power is off n Attempt to set pole detection mode in the states except Servo Off n Attempt to change operation mode from...

Page 751: ...rget Velocity is greater than Max Profile Velocity 607Fh 15h Response too long The length of the current response exceeds the maximum transmittable length 16h Parameter address impermissible Illegal v...

Page 752: ...plication Function Selection 22 After restart Pn080 0000h Application Function Selections 80 After restart Pn081 0000h Application Function Selections 81 After restart Pn100 400 Speed Loop Gain Immedi...

Page 753: ...ain Cor rection Immediately Pn143 1000 Model Following Control Bias in the Forward Direction Immediately Pn144 1000 Model Following Control Bias in the Reverse Direction Immediately Pn145 500 Vibratio...

Page 754: ...utput Pulses After restart Pn22A 0000h Fully closed Control Selections After restart Pn230 0000h Position Control Expansion Func tion Selections After restart Pn231 0 Backlash Compensation Immediately...

Page 755: ...h Immediately Pn40C 5000 Second Stage Notch Filter Fre quency Immediately Pn40D 70 Second Stage Notch Filter Q Value Immediately Pn40E 0 Second Stage Notch Filter Depth Immediately Pn40F 5000 Second S...

Page 756: ...482 3000 Polarity Detection Speed Loop Inte gral Time Constant Immediately Pn483 30 Forward Force Limit Immediately Pn484 30 Reverse Force Limit Immediately Pn485 20 Polarity Detection Reference Speed...

Page 757: ...ction Level Immediately Pn51E 100 Position Deviation Overflow Warning Level Immediately Pn520 524288 0 Position Deviation Overflow Alarm Level Immediately Pn522 7 Positioning Completed Width Immediate...

Page 758: ...at Servo ON Immediately Pn585 50 Program Jogging Movement Speed Immediately Pn586 0 Motor Running Cooling Ratio Immediately Pn587 0000h Polarity Detection Execution Selec tion for Absolute Linear Enco...

Page 759: ...lower than the setting The default setting is 20 min 1 or 20 mm s Base Block Display Lit during the base block state servo OFF Not lit while the servo is ON Reference Input Display Lit while a refere...

Page 760: ...ators Green LED RUN State Flash rates LED off There is no connection to the IO Controller Never lit LED on Connection established with IO Controller and in RUN mode Always lit LED blinking Connection...

Page 761: ...section gives the names and numbers of the utility functions and monitor display functions used by the SERVOPACKs and the names used by the SigmaWin 18 3 2 Corresponding SERVOPACK Utility Function Na...

Page 762: ...g Setup Wizard Tuning Autotuning without Host Ref erence Fn201 Advanced Autotuning without Reference Autotuning with Host Refer ence Fn202 Advanced Autotuning with Refer ence Custom Tuning Fn203 One P...

Page 763: ...tional Angle 2 deg electrical angle from origin within one encoder rotation n Linear Servomotors Electrical Angle 2 deg electrical angle from polarity origin Un004 n Rotary Servomotors Rotational Angl...

Page 764: ...Input 0 01 V Current Backlash Compensa tion Value 0 1 reference units Un030 Current Backlash Compensation Value 0 1 reference units Backlash Compensation Value Setting Limit 0 1 refer ence units Un031...

Page 765: ...tion Mon itor Built in Brake Relay Un036 Built in Brake Relay Remaining Life Ratio Product Information Motor Resolution Un084 Linear Encoder Pitch Scale pitch Un084 10Un085 pm Un085 Linear Encoder Pit...

Page 766: ...l other models SGM7M SGM7J SGM7A SGM7P SGM7G SGM7E SGM7F and SGMCV Sigma 7 Series SERVOPACKs Appendices Corresponding SERVOPACK and SigmaWin Function Names Corresponding SERVOPACK Monitor Display Func...

Page 767: ...P YEUOC7P 02A Published in Germany April 2019 3 4 2 19 04 0 1 1 Manual version 2 Date of publication 3 Date of original publication 4 Revision number Date of publi cation Rev no Section Revised conten...

Page 768: ...awa Iruma Saitama 358 8555 Japan 81 4 2962 5151 www yaskawa co jp In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the...

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YASKAWA SGD7S-120A, Technical Manual

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