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YASKAWA SGD7S-120D, Product Manual

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8.13  Manual Tuning

8.13.2  Compatible Adjustment Functions

8-86

Model Following Control Speed Feedforward Compensation 

If overshooting occurs even after you adjust the model following control gain, model following 
control bias in the forward direction, and model following control bias in the reverse direction, 
you may be able to improve performance by setting the following parameter. 

If you decrease the settings, the response characteristic will be lowered but overshooting will 
be less likely to occur.

Model Following Control Type Selection

When you enable model following control, you can select the model following control type. Nor-
mally, set Pn14F to n.



1 (Use model following control type 2) (default setting). If compati-

bility with previous models is required, set Pn14F to n.



0 (Use model following control type 

1).

8.13.2

Compatible Adjustment Functions

The compatible adjustment functions are used together with manual tuning. You can use these 
functions to improve adjustment results. These functions allow you to use the same functions 
as for 

Σ

-III-Series SERVOPACKs to adjust 

Σ

-7-Series SERVOPACKs. 

Feedforward 

The feedforward function applies feedforward compensation to position control to shorten the 
positioning time. 

Note: If you set the feedforward value too high, the machine may vibrate. As a guideline, use a setting of 80% or 

less. 

Pn147

(2147 

hex)

Model Following Control Speed Feedforward Compensation 

  

  

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

0 to 10,000

0.1%

1,000

Immediately

Tuning

Parameter

Meaning

When Enabled

Classification

Pn14F
(214F 
hex)

n.



0

Use model following control type 1.

After restart

Tuning

n.



0

Use model following control type 2.

(default setting)

Position

Pn109

(2109 

hex)

Feedforward

  

  

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

0 to 100

1%

0

Immediately

Tuning

Pn10A

(210A 

hex)

Feedforward Filter Time Constant

  

  

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

0 to 6,400

0.01 ms

0

Immediately

Tuning

+

+

+

Pn109

Pn10A

Position reference pulses

Feedback pulses

Position loop gain (Kp)

Feedforward Filter 

Time Constant

Feedforward

Differential

Position

Position

Summary of Contents for SGD7S-120D

Page 1: ...lation Application Functions Tuning Monitoring Fully Closed Loop Control Safety Functions EtherCAT Communications CiA402 Drive Profile Object Dictionary Maintenance Parameter and Object Lists Appendices Basic Functions That Require Setting before Operation Wiring and Connecting SERVOPACKs Trial Operation and Actual Operation Basic Information on SERVOPACKs 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17...

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

Page 3: ...functions that must be set before you start Servo System operation It also describes the setting methods 6 Application Functions Describes the application functions that you can set before you start Servo System operation It also describes the setting methods 7 Trial Operation and Actual Operation Provides information on the flow and procedures for trial operation and convenient functions to use d...

Page 4: ... the table on the following pages Refer to these documents as required Servo Drives Σ 7 Series Catalog Servo Drives Manuals Catalogs Servomotors Σ 7 Series Rotary Servomotor Product Manual Σ 7 Series Linear Servomotor Product Manual Σ 7 Series Operation Interface Operating Manuals Enclosed Documents Enclosed Document SERVOPACKs Σ 7 Series Σ 7S Σ 7W SERVOPACK Product Manual this manual ...

Page 5: ...ive Σ 7W SERVOPACK with 400 V Input Power and EtherCAT CoE Communications References Product Manual SIEP S800002 19 Σ 7 Series AC Servo Drive Σ 7W SERVOPACK with 400 V Input Power and MECHATROLINK III Communications References RJ 45 Connectors Product Manual SIEP S800002 20 Enclosed Documents AC Servo Drive Rotary Servomotor Safety Precautions TOBP C230260 00 Provides detailed information for the ...

Page 6: ...the operating proce dures for a Digital Operator for a Σ 7 Series Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a Σ 7 Series Servo System Continued from previous page Classification Document Name Document No Description ...

Page 7: ...y and main circuit power supply are ON Refer to the following section for details 13 1 Device Control page 13 3 Servo OFF command Disable Operation command A command that is used to turn OFF the servo i e power not supplied to the motor when bit 3 of controlword 6040 hex is changed to 0 OFF while the control power supply and main circuit power supply are ON Refer to the following section for detai...

Page 8: ...nit setting increment that you can set for the parameter This is the setting range for the parameter Object index number used to access the parameter with EtherCAT CoE communications Object index number used to access the parameter with EtherCAT CoE communications Position Speed Parameter number Speed Loop Gain Setting Range 10 to 20 000 0 1 Hz 400 Immediately Setting Unit Default Setting When Ena...

Page 9: ...isual Aids The following aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in machine damage Indicates definitions of difficult terms or terms that have not been previously explained in this manual Indicates operating or setting examples Ind...

Page 10: ...ation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss of life serious injury or fire WARNING Indicates precautions that if not heeded could result in loss of life serious injury or fire CAUTION Indicates precautions that if not heeded could result in r...

Page 11: ...risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks Regenerative Resistors Servomotors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety mea sures such as installing covers so that hands and parts such as cables do not come into con tact with hot components T...

Page 12: ...ny of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Loc...

Page 13: ...s may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts the tapped holes may be damaged CAUTION Install the Servomotor...

Page 14: ...l or be damaged A SERVOPACK or Servomotor is a precision device Do not drop it or subject it to strong shock There is a risk of failure or damage Always install a SERVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure DANGER Do not change any wiring...

Page 15: ...PACK before you wire it Insert only one wire per insertion hole in the main circuit terminals When you insert a wire make sure that the conductor wire e g whiskers does not come into con tact with adjacent wires Install molded case circuit breakers and other safety measures to provide protection against short circuits in external wiring There is a risk of fire or failure NOTICE Whenever possible u...

Page 16: ...hen problems such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of signal When overtravel occurs the power supply to the motor is turned OFF and the brake is released If you use the Servomotor to drive a vertical load set the Servomotor to enter a zero cl...

Page 17: ...parameter settings normal operation may not be possible after a faulty SERVOPACK 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 inspections must be performed only by qualified engineers There is a risk of electric shock or product failure CAUTION Wait for six ...

Page 18: ...lways insert a Magnetic Contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply If a Magnetic Contactor is not connected when the SERVOPACK fails a large current may flow possibly resulting in fire If an alarm occurs shut OFF the main circuit power supply There...

Page 19: ...of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without notice for product improvements specifications changes and improvements to the manual itself We will update the document number of the document and issue revisions when changes are made Any and all qual...

Page 20: ...red product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arise...

Page 21: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety wit...

Page 22: ...SGD7W UL 61800 5 1 E147823 CSA C22 2 No 274 Rotary Servomotors SGM7A SGM7J SGM7G UL 1004 1 UL 1004 6 E165827 Linear Servomotors SGLFW 1 SGLFW2 2 SGLTW 1 UL 1004 E165827 Product Model European Directive Harmonized Standards SERVOPACKs SGD7S SGD7W Machinery Directive 2006 42 EC EN ISO13849 1 2015 EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Low Voltage Dire...

Page 23: ...ty Level IEC 61508 SIL3 IEC 62061 SILCL3 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 4 60 10 9 1 h 4 60 of SIL3 Performance Level EN ISO 13849 1 PLe category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg Medium Stop Category IEC 60204 1 Stop category 0 Safety Function IEC 61800 5 2 STO Mission Time ...

Page 24: ...terpreting SERVOPACK Model Numbers 1 9 1 5 2 Interpreting Servomotor Model Numbers 1 10 1 6 Combinations of SERVOPACKs and Servomotors 1 11 1 6 1 Combinations of Rotary Servomotors and SERVOPACKs 1 11 1 6 2 Combinations of Linear Servomotors and SERVOPACKs 1 12 1 7 Functions 1 13 Selecting a SERVOPACK 2 2 1 Ratings and Specifications 2 2 2 1 1 Ratings 2 2 2 1 2 SERVOPACK Overload Protection Charac...

Page 25: ...onnector Wiring Procedure 4 13 4 3 3 Power ON Sequence 4 14 4 3 4 Power Supply Wiring Diagrams 4 15 4 3 5 Wiring Regenerative Resistors 4 18 4 3 6 Wiring DC Reactors 4 18 4 4 Wiring Servomotors 4 19 4 4 1 Terminal Symbols and Terminal Names 4 19 4 4 2 Pin Arrangement of Encoder Connector CN2 4 19 4 4 3 Wiring the SERVOPACK to the Encoder 4 20 4 4 4 Wiring the SERVOPACK to the Holding Brake 4 25 4 ...

Page 26: ...Setting the Linear Encoder Pitch 5 15 5 6 Writing Linear Servomotor Parameters 5 16 5 7 Selecting the Phase Sequence for a Linear Servomotor 5 20 5 8 Polarity Sensor Setting 5 22 5 9 Polarity Detection 5 23 5 9 1 Restrictions 5 23 5 9 2 Using the Servo ON Command Enable Operation Command to Perform Polarity Detection 5 24 5 9 3 Using a Tool Function to Perform Polarity Detection 5 25 5 10 Overtrav...

Page 27: ...er Origin Offset 5 52 5 16 2 Setting the Origin of the Absolute Linear Encoder 5 52 5 17 Setting the Regenerative Resistor Capacity 5 55 5 18 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor 5 56 Application Functions 6 6 1 I O Signal Allocations 6 4 6 1 1 Input Signal Allocations 6 4 6 1 2 Output Signal Allocations 6 5 6 1 3 ALM Servo Alarm Signal 6 7 6 1 4 WARN Warning...

Page 28: ...ute Linear Encoder 6 41 6 9 4 Reading the Position Data from the Absolute Linear Encoder 6 42 6 9 5 Transmission Specifications 6 42 6 9 6 Calculating the Current Position in Machine Coordinates 6 43 6 10 Software Reset 6 44 6 10 1 Preparations 6 44 6 10 2 Applicable Tools 6 44 6 10 3 Operating Procedure 6 45 6 11 Initializing the Vibration Detection Level 6 46 6 11 1 Preparations 6 46 6 11 2 Appl...

Page 29: ...3 7 6 2 Origin Search 7 19 7 6 3 Test without a Motor 7 21 Tuning 8 8 1 Overview and Flow of Tuning 8 4 8 1 1 Tuning Functions 8 5 8 1 2 Diagnostic Tool 8 6 8 2 Monitoring Methods 8 7 8 3 Precautions to Ensure Safe Tuning 8 8 8 3 1 Overtravel Settings 8 8 8 3 2 Torque Limit Settings 8 8 8 3 3 Setting the Position Deviation Overflow Alarm Level 8 8 8 3 4 Vibration Detection Level Setting 8 10 8 3 5...

Page 30: ...8 8 8 6 Tuning Example for Tuning Mode 2 or 3 8 48 8 8 7 Related Parameters 8 49 8 9 Anti Resonance Control Adjustment 8 50 8 9 1 Outline 8 50 8 9 2 Preparations 8 50 8 9 3 Applicable Tools 8 51 8 9 4 Operating Procedure 8 51 8 9 5 Related Parameters 8 53 8 9 6 Suppressing Different Vibration Frequencies with Anti resonance Control 8 53 8 10 Vibration Suppression 8 55 8 10 1 Outline 8 55 8 10 2 Pr...

Page 31: ...nitor 9 13 9 4 2 Operating Procedure 9 14 9 4 3 Preventative Maintenance 9 15 9 5 Alarm Tracing 9 16 9 5 1 Data for Which Alarm Tracing Is Performed 9 16 9 5 2 Applicable Tools 9 16 Fully Closed Loop Control 10 10 1 Fully Closed System 10 2 10 2 SERVOPACK Commissioning Procedure 10 3 10 3 Parameter and Object Settings for Fully closed Loop Control 10 5 10 3 1 Control Block Diagram for Fully Closed...

Page 32: ...o Ready Output Signal 11 9 11 2 9 BK Brake Output Signal 11 9 11 2 10 Stopping Methods 11 10 11 2 11 ALM Servo Alarm Signal 11 10 11 3 EDM1 External Device Monitor 11 11 11 3 1 EDM1 Output Signal Specifications 11 11 11 4 Applications Examples for Safety Functions 11 12 11 4 1 Connection Example 11 12 11 4 2 Failure Detection Method 11 12 11 4 3 Procedure 11 13 11 5 Validating Safety Functions 11 ...

Page 33: ...n Mode 13 12 13 4 Homing 13 14 13 4 1 Related Objects 13 14 13 4 2 Homing Method 6098 Hex 13 14 13 5 Velocity Control Modes 13 17 13 5 1 Profile Velocity Mode 13 17 13 5 2 Cyclic Synchronous Velocity Mode 13 18 13 6 Torque Control Modes 13 19 13 6 1 Profile Torque Mode 13 19 13 6 2 Cyclic Sync Torque Mode 13 20 13 7 Torque Limits 13 21 13 8 Digital I O Signals 13 22 13 9 Touch Probe 13 23 13 9 1 R...

Page 34: ...7 14 17 Dual Encoder Feedback 14 49 Maintenance 15 15 1 Inspections and Part Replacement 15 2 15 1 1 Inspections 15 2 15 1 2 Guidelines for Part Replacement 15 2 15 1 3 Replacing the Battery 15 3 15 2 Alarm Displays 15 5 15 2 1 List of Alarms 15 5 15 2 2 Troubleshooting Alarms 15 11 15 2 3 Resetting Alarms 15 39 15 2 4 Displaying the Alarm History 15 40 15 2 5 Clearing the Alarm History 15 41 15 2...

Page 35: ...nel Displays 17 2 17 1 1 Interpreting Status Displays 17 2 17 1 2 Alarm and Warning Displays 17 2 17 1 3 Hard Wire Base Block Active Display 17 2 17 1 4 Overtravel Display 17 2 17 1 5 Forced Stop Display 17 2 17 1 6 EtherCAT Communications Indicators 17 3 17 2 Corresponding SERVOPACK and SigmaWin Function Names 17 5 17 2 1 Corresponding SERVOPACK Utility Function Names 17 5 17 2 2 Corresponding SE...

Page 36: ...CAT CoE Communications 1 4 1 2 4 CoE Terminology 1 4 1 2 5 Data Types 1 5 1 2 6 Data Ranges 1 5 1 3 Interpreting the Nameplate 1 6 1 4 Part Names 1 7 1 5 Model Designations 1 9 1 5 1 Interpreting SERVOPACK Model Numbers 1 9 1 5 2 Interpreting Servomotor Model Numbers 1 10 1 6 Combinations of SERVOPACKs and Servomotors 1 11 1 6 1 Combinations of Rotary Servomotors and SERVOPACKs 1 11 1 6 2 Combinat...

Page 37: ...of machine performance in the shortest time possible thus contributing to improving productivity These SERVOPACKs support ZONE outputs ZONE outputs are used to output signals during preset ranges of positions You can use the ZONE outputs as triggers for operations related to positioning Refer to the following chapter for details on ZONE outputs 6 14 ZONE Outputs FT64 Specification on page 6 58 ...

Page 38: ...cation layer CANopen the data link layer EtherCAT and the physical layer Ethernet The four lay ers other than the application layer data link layer and physical layer are not used The data link layer is implemented with EtherCAT communications and the application layer is imple mented with the DS402 CANopen drive profile This manual describes mainly the specifications of the application layer impl...

Page 39: ...en for the application layer in a seven layer OSI reference model Distributed Clocks DC A clock distribution mechanism that is used to synchronize the EtherCAT slaves with the EtherCAT master Electrically Erasable Programmable Read Only Memory EEPROM A ROM that can be electrically overwritten EtherCAT Slave Controller ESC A hardware chip that processes EtherCAT communications such as loopbacks and...

Page 40: ...Signed 32 bit integer 2 147 483 648 to 2 147 483 627 USINT Unsigned 8 bit integer 0 to 255 UINT Unsigned 16 bit integer 0 to 65 535 UDINT Unsigned 32 bit integer 0 to 4 294 967 295 STRING Character string Notation Description Pos unit The user defined position reference unit that is set in position user unit 2701 hex 1 Pos unit 2701 01 hex 2701 02 hex inc Vel unit The user defined speed reference ...

Page 41: ...rpreting the Nameplate 1 6 1 3 Interpreting the Nameplate The following basic information is provided on the nameplate Order number Serial number Degree of protection Surrounding air temperature SERVOPACK model ...

Page 42: ...rminals The connection terminals for a Dynamic Brake Resistor page 4 37 Ground Terminal The ground terminals to prevent electric shock Always connect this terminal EtherCAT Communications Connectors Input CN6A Output CN6B Connect to EtherCAT devices page 4 39 I O Signal Connector CN1 Connects to sequence I O signals page 4 28 Safety Connector CN8 Connects to a safety function device page 4 35 Enco...

Page 43: ...evice ID and address PWR Lights when the control power is being supplied CN Not used L1 and L2 Analog Monitor Connector CN5 You can use a special cable peripheral device to monitor the motor speed torque reference or other values page 4 41 Panel Display Displays the servo status with a seven segment display Servomotor Brake Power Supply Terminals CN117 Connect to the power supply for the Servomoto...

Page 44: ... outputs FT EX Specification B Interface Code Specification EtherCAT communications reference Design Revision Order 5th 6th digits 7th digit Maximum Applicable Motor Capacity Voltage Code Specification Hardware Options Specification 1st 2nd 3rd digits 4th digit 8th 9th 10th digits Σ 7 Series Σ 7S SERVOPACKs 4th digit 1st 2nd 3rd digits 5th 6th digits 8th 9th 10th digits 7th digit 000 Without optio...

Page 45: ...um inertia high speed Low inertia high speed Medium inertia low speed high torque Medium inertia high speed high torque SGM7 02 D 7 F 2 1 1st 2nd digits 1st 2nd digits Rated Output 3rd digit Power Supply Voltage 4th digit Serial Encoder Specification 5th digit Design Revision Order 7th digit Options 6th digit Shaft End Specification 3rd digit 4th digit 5th digit 6th digit 7th digit Code Specificat...

Page 46: ... 08D F 750 W 3R5D SGM7A 10D F 1 0 kW 5R4D SGM7A 15D F 1 5 kW SGM7A 20D F 2 0 kW 8R4D SGM7A 25D F 2 5 kW 120D SGM7A 30D F 3 0 kW SGM7A 40D F 4 0 kW 170D SGM7A 50D F 5 0 kW SGM7A 70D F 7 0 kW 260D SGM7G Models Standard Models Medium Inertia Low Speed High Torque Rated motor speed 1 500 min 1 SGM7G 05D F 450 W 1R9D SGM7G 09D F 850 W 3R5D SGM7G 13D F 1 3 kW 5R4D SGM7G 20D F 1 8 kW 8R4D SGM7G 30D F 2 9...

Page 47: ...1200 5R4D SGLFW 1ZD200B SGLFW 1ZD380B 1120 2400 120D SGLFW2 30D070A 45 135 1R9D SGLFW2 30D120A 90 270 1R9D SGLFW2 30D230A 180 540 1R9D SGLFW2 45D200A 280 840 3R5D SGLFW2 45D380A 560 1680 8R4D SGLFW2 90D200A 5R4D SGLFW2 90D380A 1120 3360 120D SGLFW2 90D560A 1680 5040 170D SGLFW2 1DD380A 1680 5040 170D SGLFW2 1DD560A 2520 7560 260D SGLT Models with T type Iron Cores SGLTW 35D170H 300 600 3R5D SGLTW ...

Page 48: ...in of the Absolute Encoder page 5 52 Setting the Regenerative Resistor Capacity page 5 55 Operation for Momentary Power Interruptions page 6 14 SEMI F47 Function page 6 15 Setting the Motor Maximum Speed page 6 17 Software Limits page 6 25 Multiturn Limit Setting page 6 36 Adjustment of Motor Current Detection Signal Offset page 6 50 Forcing the Motor to Stop page 6 55 Speed Ripple Compensation pa...

Page 49: ...ent page 8 50 Vibration Suppression page 8 55 Gain Selection page 8 65 Friction Compensation page 8 68 Backlash Compensation page 8 71 Model Following Control page 8 83 Compatible Adjustment Functions page 8 86 Mechanical Analysis page 8 90 Easy FFT page 8 92 Function Reference Software Reset page 6 44 Trial Operation of Servomotor without a Load page 7 7 Program Jogging page 7 13 Origin Search pa...

Page 50: ...ection Characteristics 2 3 2 1 3 Specifications 2 4 2 2 Block Diagrams 2 8 2 2 1 SERVOPACKs without Built in Servomotor Brake Control 2 8 2 2 2 SERVOPACKs with Built in Servomotor Brake Control 2 11 2 3 External Dimensions 2 14 2 3 1 Front Cover Dimensions and Connector Specifications 2 14 2 3 2 SERVOPACK External Dimensions 2 16 2 4 ExamplesofStandardConnectionsbetweenSERVOPACKsandPeripheralDevic...

Page 51: ...W 21 22 28 32 Built in Regenerative Resistor Power Loss W 14 14 28 28 28 36 180 240 Total Power Loss W 54 4 65 3 111 8 139 1 186 7 246 7 216 4 256 5 310 2 389 8 Regenera tive Resis tor Built In Regenera tive Resis tor Resistance Ω 75 75 75 43 43 27 Capacity W 70 70 140 140 140 180 Minimum Allowable External Resistance Ω 75 75 75 43 43 27 18 18 14 25 14 25 Overvoltage Category III Model SGD7S 1R9D ...

Page 52: ... or Ser vomotor that has the lower overload protection characteristics In most cases that will be the overload protection characteristics of the Servomotor Note The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100 or higher For a Yaskawa specified combination of SERVOPACK and Servomotor maintain the effective torque within t...

Page 53: ... m s2 Degree of Protection IP10 Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 000 m or less Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electromagnetic magnetic fields or radioactivity Applicable Standards Refer to the followi...

Page 54: ...ut points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 5 A photocoupler output isolated is used Output Signals COIN Positioning Completion signal V CMP Speed Coincidence Detection signal TGON Rotation Detection signal S RDY Servo Ready signal CLT Torque Limit Detection signal VLT Speed Limit Detection s...

Page 55: ...Distributed Clocks Free Run Mode and DC Mode Can be switched Applicable DC cycles 125 μs to 4 ms in 125 μs increments Slave Information Interface 256 bytes read only Indicators EtherCAT communications in progress Link Activity x 2 EtherCAT communications status RUN x 1 EtherCAT error status ERR x 1 CiA402 Drive Profile Homing Mode Profile Position Mode Interpolated Position Mode Profile Velocity M...

Page 56: ... 260D 280D and 370D do not have a dynamic brake DB If a dynamic brake is neces sary create an external dynamic brake circuit 4 Always perform risk assessment for the system and confirm that the safety requirements are met Safety Functions Inputs HWBB1 and HWBB2 Base block signals for Power Modules Output EDM1 Monitors the status of built in safety circuit fixed output Applicable Standards 4 ISO138...

Page 57: ...12 CN7 CN2 ENC CN5 M CHARGE Overheat protector Overcurrent protector CN8 12 V I O I F CN1 CN6A CN6B Dynamic brake circuit Processor PWM control position speed calculations etc Control power supply Digital Operator Computer Option Module Option Module Current sensor Gate drive Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Relay dr...

Page 58: ... Computer CN3 Option Module CN11 Option Module CN12 CN7 Current sensor CN2 Servomotor ENC Analog voltage converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor M Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Main circuit power supply Control power supply Fan 12 V I O I F CN1 CN6A CN6B EtherCAT communications Encoder divided p...

Page 59: ...Module CN11 Option Module CN12 CN7 Current sensor CN2 Servomotor ENC Analog voltage converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor M Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Main circuit power supply Control power supply Fan 12 V 12 V 12 V 12 V U I O I F CN1 CN6A CN6B EtherCAT communications Encoder divided pulse...

Page 60: ...Current sensor CN2 CN5 Analog monitor output Voltage sensor Voltage sensor Varistor Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Fan 12 V CN101 CN101 I O I F CN1 CN6A CN6B EtherCAT communications Encoder divided pulse output I O signals Status display The DC power supply 24 VDC is not provided by Yaskawa U V W D1 DC DC D2 D3 Servomotor ENC M BK...

Page 61: ... converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Main circuit power supply Control power supply Fan 12 V U V W DC DC Servomotor ENC M BK BK BK Brake control circuit Brake power supply CN117 Control power supply 24 V 24 V 0 V 0 V I O I F CN1 CN6A CN6B EtherCAT communications...

Page 62: ...ltage converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Main circuit power supply Control power supply U V W DC DC Servomotor ENC M BK BK BK Brake control circuit Brake power supply CN117 Control power supply 24 V 24 V 0 V 0 V Fan 12 V 12 V 12 V 12 V I O I F CN1 CN6A CN6B Eth...

Page 63: ...ctor Specifications Connector No Connector Model Number of Pins Manufacturer SERVOPACK Model CN1 DMC 1 5 15 G1F 3 5 LR BK 30 Phoenix Contact All models CN2 3E106 0220KV 6 3M Japan Limited All models CN3 HDR EC14LFDTN SLD 14 Honda Tsushin Kogyo Co Ltd All models CN6A B 1 1734579 4 8 Tyco Electronics Japan G K All models CN7 2172034 1 5 Tyco Electronics Japan G K All models CN8 1903815 1 8 Tyco Elec...

Page 64: ...N102 BLZ 7 62IT 04 180MF4 SN BK BX PRT 4 Weidmüller Interface GmbH Co KG SGD7S 1R9D to 170D BUZ 10 16IT 04 180MF4 AG BK BX LPR SGD7S 210D to 370D CN103 BVZ 7 62IT 04 180MF3 SN BK BX PRT 4 Weidmüller Interface GmbH Co KG SGD7S 1R9D to 170D BUZ 10 16IT 04 180MF3 AG BK BX LPR SGD7S 210D to 370D CN115 BLZ 7 62IT 03 180MF2 SN BK BX PRT 3 Weidmüller Interface GmbH Co KG SGD7S 1R9D to 170D None SGD7S 210...

Page 65: ...prox mass SGD7S 1R9D 3R5D or 5R4D 3 4 kg SGD7S 8R4D or 120D 3 7 kg Unit mm 25 75 25 315 0 5 mounting pitch Exterior Ground terminal M4 60 0 5 mounting pitch 27 5 Mounting Hole Diagram 80 300 15 330 15 3 19 70 15 4 M5 330 7 5 10 80 Ground terminal M4 300 15 330 100 25 15 70 75 21 27 5 25 15 3 4 M5 315 0 5 mounting pitch 330 7 5 10 80 0 5 mounting pitch 100 Exterior Mounting Hole Diagram Approx mass...

Page 66: ...0D and 370D Ground terminal M4 15 100 41 8 70 75 20 41 9 25 33 7 4 M5 365 0 5 mounting pitch 380 7 5 10 80 0 5 mounting pitch Approx mass 7 0 kg Unit mm 100 350 380 Mounting Hole Diagram Ground terminal M4 15 180 42 70 75 21 42 25 34 4 M6 367 0 5 mounting pitch 380 6 5 12 5 155 0 5 mounting pitch Approx mass 13 5 kg Unit mm 180 350 380 Mounting Hole Diagram ...

Page 67: ...nals of the CN1 connector If the power supply is shared the I O signals may malfunction I O Signal Cable Host controller Bottom of SERVOPACK Computer Engineering Tool Computer Cable Analog Monitor Cable Holding Brake Power Supply Unit Magnetic Contactor Wires required for a Servomotor with a Brake Wires required for a Servomotor with a Brake Noise Filter Molded case circuit breaker Magnetic Contac...

Page 68: ...controller Computer Engineering Tool Computer Cable Analog Monitor Cable Noise Filter Molded case circuit breaker Magnetic Contactor Power supply Three phase 400 VAC Control Power Supply Cable SERVOPACK main circuit wires R S T To next EtherCAT station EtherCAT Communications Cable AC DC power supply Digital Operator Digital Operator cable Safety Function Device Cable Linear Encoder Cable Linear E...

Page 69: ...2 Mounting Types and Orientation 3 3 3 3 Mounting Hole Dimensions 3 4 3 4 Mounting Interval 3 5 3 4 1 Installing One SERVOPACK in a Control Panel 3 5 3 4 2 Installing More Than One SERVOPACK in a Control Panel 3 5 3 5 Monitoring the Installation Environment 3 6 3 6 EMC Installation Conditions 3 7 SERVOPACK Installation 3 ...

Page 70: ...heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions Installation Near Sources of Vibration Install a vibration absorber on the installation surface of the SERVOPACK so that the SERVO PACK will not be subjected to vibration Other Precautions Do not install the SERVOPACK in a location subject to high temperatures high humidity water drops cutting oil ...

Page 71: ... Mount the SERVOPACK vertically as shown in the fol lowing figures Also mount the SERVOPACK so that the front panel is facing toward the operator Note Prepare four mounting holes for the SERVOPACK and mount it securely in the mounting holes The number of mounting holes depends on the capacity of the SERVOPACK Airflow SERVOPACK Base ...

Page 72: ... that is longer than the depth of the SER VOPACK Mounting Hole Dimensions SERVOPACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S 1R9D 3R5D 5R4D 8R4D 120D 330 7 5 315 0 5 80 10 60 0 5 10 60 0 5 M5 4 170D 330 7 5 315 0 5 100 10 80 0 5 10 80 0 5 M5 4 210D 260D 380 7 5 365 0 5 100 10 80 0 5 10 80 0 5 M5 4 280D 370D 380 6 5 367 0 5 180 12 5 155 0 5 12 5 155 0 5 M6 4 D E F H A B...

Page 73: ...RVOPACK in a Control Panel Provide the following spaces around the SERVOPACK and install a cooling fan in the control panel 30 mm min 30 mm min 120 mm min 120 mm min SERVOPACK Install cooling fans above the SERVOPACKs so that hot spots do not occur around the SERVO PACKs SERVOPACK model Cooling Fan Installation Conditions 10 mm above SERVOPACK s Top Surface SGD7S 1R9D 3R5D 5R4D 8R4D 120D 170D 210D...

Page 74: ...nitor SERVOPACK Digital Operator Un025 Installation Environment Monitor Implement one or more of the following actions if the monitor value exceeds 100 Lower the surrounding temperature Decrease the load The value of the SERVOPACK Installation Environment Monitor parameter will increase by about 10 for each 10 C increase in the ambient temperature Always observe the surrounding air temperature giv...

Page 75: ... the final equipment The applicable standards are EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 and EN 61800 3 category C2 second environment Three Phase 400 VAC Symbol Cable Name Specification I O Signal Cable Shielded cable Safety Function Device Cable Shielded cable Servomotor Main Circuit Cable Shielded cable Encoder Cable Shielded cable Main Circuit Power Supply Cable Shielded cable Ethe...

Page 76: ...13 4 3 3 Power ON Sequence 4 14 4 3 4 Power Supply Wiring Diagrams 4 15 4 3 5 Wiring Regenerative Resistors 4 18 4 3 6 Wiring DC Reactors 4 18 4 4 Wiring Servomotors 4 19 4 4 1 Terminal Symbols and Terminal Names 4 19 4 4 2 Pin Arrangement of Encoder Connector CN2 4 19 4 4 3 Wiring the SERVOPACK to the Encoder 4 20 4 4 4 Wiring the SERVOPACK to the Holding Brake 4 25 4 5 Connecting I O Signals 4 2...

Page 77: ...Terminal Symbols and Terminal Names 4 37 4 7 2 Connecting a Dynamic Brake Resistor 4 37 4 8 Connecting EtherCAT Communications Cables 4 39 4 8 1 EtherCAT Connectors RJ45 4 39 4 8 2 Ethernet Communications Cables 4 40 4 9 Connecting the Other Connectors 4 41 4 9 1 Serial Communications Connector CN3 4 41 4 9 2 Computer Connector CN7 4 41 4 9 3 Analog Monitor Connector CN5 4 41 ...

Page 78: ...s and instructions for wiring and trial operation precisely as described in this document Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail damage the equipment or cause an accident resulting in death or injury Check the wiring to be sure it has been performed correctly Connectors and pin layouts are sometimes different for di...

Page 79: ...ncoder Cable at the same time you will create a loop circuit between the batteries resulting in a risk of damage or burning When connecting a battery connect the polarity correctly There is a risk of battery rupture or encoder failure If you use an External Regenerative Resistor or External Dynamic Brake Resistor use cable ties clamps or other means to secure the resistor so that the connectors or...

Page 80: ...cuit Cables and Encoder Cables Do not share the power supply with an electric welder or electrical discharge machine If the SERVOPACK is placed near a high frequency generator install Noise Filters on the input side on the Main Circuit Power Supply Cable and Control Power Supply Cable even if the same power supply is not shared with the high frequency generator Refer to the following section for i...

Page 81: ...mm2 preferably flat braided copper wire 2 Whenever possible use twisted pair wires to wire all connections marked with 3 Refer to the following section for precautions when using Noise Filters Noise Filter Wiring and Connection Precautions on page 4 7 SERVOPACK Servomotor Operation relay sequence User signal generators DC power supply Grounding plate External ground Use a dedicated ground 2 0 mm2 ...

Page 82: ...er ground wire output lines and other signal lines in the same duct or bundle them together Connect the Noise Filter ground wire directly to the grounding plate Do not connect the Noise Filter ground wire to other ground wires Noise Filter Noise Filter Noise Filter Noise Filter Separate the circuits Correct Incorrect Grounding plate Grounding plate Grounding plate Grounding plate It is OK if the g...

Page 83: ...the Servomotor is insulated from the machine Motor Frame Ground or Motor Ground If you ground the Servomotor through the machine switching noise current can flow from the main circuit of the SERVOPACK through the stray capacitance of the Servomotor To prevent this always connect the motor frame terminal FG or ground terminal FG of the Servomotor to the ground terminal on the SERVOPACK Also be sure...

Page 84: ...Ry CN2 AC DC 24VIN 24 V 4 7 kW 6 8 10 9 11 12 SI0 SI1 P OT SI2 N OT SI3 SI4 Probe1 SI5 Probe2 SI6 Home BAT BAT 13 14 15 7 Main circuit terminals U V W PE M Motor terminals General purpose sequence input 1 Forward Drive Prohibit input OFF to prohibit drive Sequence input signal power supply input Battery for absolute encoder 2 8 V to 4 5 V General purpose sequence input 0 General purpose sequence i...

Page 85: ...according to EN IEC 60950 1 to input 24 VDC to the control power sup ply input terminals 7 The CN117 connector is used for SERVOPACKs with built in Servomotor brake control SERVOPACKs without built in Servomotor brake control do not have the CN117 connector 8 If using these terminals contact your YASKAWA representative Note 1 You can use parameters to change the functions allocated to the SI0 SI3 ...

Page 86: ...0 50 Hz 60 Hz 24 V Control power supply termi nals 1 24 VDC 15 to 15 0 V 0 VDC B1 B2 B3 2 Regenerative Resistor termi nal 4 3 5 Wiring Regenerative Resistors on page 4 18 If the internal regenerative resistor is insufficient remove the lead or short bar between B2 and B3 and connect an Exter nal Regenerative Resistor between B1 and B2 The External Regenerative Resistor is not included Obtain it se...

Page 87: ...ntrol power supply termi nals 1 24 VDC 15 to 15 0 V 0 VDC B1 2 Main circuit power supply input terminals for DC power supply input 513 VDC to 648 VDC 15 to 10 2 2 0 VDC L1 L2 L3 B2 B3 1 None Do not connect anything to these terminals U V W PE Servomotor terminals These are the Σ 7S connection terminals for the Servomotor Main Circuit Cable power line Note Do not connect the PE terminal to anything...

Page 88: ...D7S Terminal Symbols Screwdriver Type Screwdriver End Dimensions Thickness Width mm Wire Stripping Length mm 1R9D 3R5D 5R4D 8R4D 120D 170D L1 L2 L3 B1 B2 B3 1 2 Flat blade 0 6 3 5 7 U V W PE Phillips or flat blade 7 24 V 0 V Flat blade 10 210D 260D 280D 370D L1 L2 L3 B1 B2 B3 1 2 Phillips or flat blade 1 0 5 5 12 U V W PE Phillips or flat blade 12 24 V 0 V Flat blade 10 Main Circuit Terminals and ...

Page 89: ...r the input power supply Allow at least 1 s after the power supply is turned OFF before you turn it ON again Turn ON the control power supply and the main circuit power supply at the same time or turn ON the control power supply before the main circuit power supply Turn OFF the main circuit power supply first and then turn OFF the control power supply WARNING Even after you turn OFF the power supp...

Page 90: ... Magnetic Contactor for main circuit power supply 1Ry Relay 1PL Indicator lamp 1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode 2KM L1 0 V 1Ry 3 4 1D B2 B3 L2 CN1 1KM 24 V L3 0 V 1QF R S T 1FLT 24 V 1 2 3SA B1 1PL 1KM 2KM 1SA 2SA 1KM 1Ry 1KM ALM ALM 1Ry AC DC 2KM L1 SERVOPACK 0 V 1Ry 3 4 1D B2 L2 CN1 1KM 24 V L3 0 V 1QF R S T 1FLT 24 V 1 2 3SA B1 1QF Molded case circuit b...

Page 91: ...1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode 2FU 1PL 1KM 2KM 1SA 2SA 24 V 0 V 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 2 L1 L2 L3 AC DC B1 2FU For servo alarm display 1PL 1KM 2KM 1SA Servo power ON Servo power OFF 2SA 24 V 0 V B1 SERVOPACK 2 1FU 2KM 0 V 1Ry 1D 24 V 1KM AC DC 1QF R S T 3SA 1QF Molded case circuit brea...

Page 92: ...a branch circuit protective device at the power supply input section to each SERVOPACK Refer to the following document for details Σ 7 Series Σ 7S SERVOPACK with 400 V Input Power Safety Precautions Manual No TOMP C710828 02 R S T 1QF 2KM 1Ry 24 V L1 L2 L3 0 V M L1 L2 L3 L1 L2 L3 1D M M 3SA 1PL 1KM 2KM 1SA 2SA 3 4 CN1 1KM 1Ry 1KM ALM ALM 3 4 CN1 ALM 3 4 CN1 ALM 1Ry ALM ALM 2FLT 3FLT 4FLT Power sup...

Page 93: ...sistor Capacity and Pn603 Regenerative Resistor Resistance Refer to the following section for details on the settings 5 17 Setting the Regenerative Resistor Capacity on page 5 55 4 3 6 Wiring DC Reactors You can connect a DC Reactor to the SERVOPACK when power supply harmonic suppression is required Connection terminals 1 and 2 for a DC Reactor are connected when the SERVOPACK is shipped Remove th...

Page 94: ...g a Linear Servomotor Terminal Connector Symbols Terminal Connector Name Remarks U V and W Servomotor terminals Refer to the following section for the wiring proce dure 4 3 2 Connector Wiring Procedure on page 4 13 PE Ground terminal CN2 Encoder connector Pin No Signal Function 1 PG5V Encoder power supply 5 V 2 PG0V Encoder power supply 0 V 3 BAT Battery for absolute encoder 4 BAT Battery for abso...

Page 95: ... Controller 1 The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use 2 represents a shielded twisted pair cable Wiring Example When Using an Encoder Cable with a Battery Case 1 The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use 2 represents a shielded twisted pair cable ENC 3 4 21 22 BAT BAT CN2 CN1 2 2 1 5 6 1 2...

Page 96: ...ble with a Battery Case that is specified by Yaskawa Refer to the catalog for details When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow Important Circuit Example Battery Required Component Specifications Schottky Diode Reverse Voltage Vr 40 V Forward Voltage Vf 0 37 V Reverse current Ir 5 μA Junction temperature Tj 125 Resistor Resista...

Page 97: ...twisted pair cable Connections to Absolute Linear Encoder from Magnescale Co Ltd SR77 SR87 SQ47 and SQ57 represents a shielded twisted pair cable PS PS PG5V PG0V 2 6 1 5 5 6 1 2 CN2 U V W M Absolute linear encoder from Mitutoyo Corporation Shield Connector shell Connector shell SERVOPACK Absolute linear encoder from Renishaw PLC PS PS PG5V PG0V Shield Connector shell 5 6 1 2 Connector shell SERVOP...

Page 98: ...s a shielded twisted pair cable Serial Converter Unit Linear encoder from Heidenhain Corporation 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 PS U V W M Serial Converter Unit Linear encoder from Renishaw PLC 9 1 10 11 4 12 2 3 9 1 10 11 4 12 2 3 COS ...

Page 99: ...owing table gives the Linear Encoder and Interpolator combinations 1 This is the model of the Head with Interpolator 2 This is the model of the Interpolator represents a shielded twisted pair cable Linear Encoder Model Interpolator Model SL700 SL710 SL720 and SL730 PL101 RY 1 SQ10 MQ10 FLA 2 MQ10 GLA 2 PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Linear encoder from Magnescale Co Ltd Shield Connector shell...

Page 100: ...wer supply Refer to the catalog for details After the Surge Absorber is connected check the time required to brake in your application The Surge Absorber may affect the time required to brake Configure the relay circuit to activate the holding brake for an emergency stop You can change the output signal allocation of the BK signal Refer to the following section for details Allocating the BK Brake ...

Page 101: ...ACKs without built in Servomotor brake control is provided below Install the Surge Absorber near the brake terminals on the Servomotor Servomotor with a Holding Brake SERVOPACK Surge Absorber Power supply BK RY Brake control relay 1D Flywheel diode M BK ENC U V W CN2 AC DC BK RY BK RY 24 V L1 L2 L3 BK BK CN1 Brake power supply DC side 1D 0 V 24 V 0 V AC DC ...

Page 102: ...a wiring example Connector Specifications Built in Brake Relay Specifications The specifications of the built in brake relay are as follows Service life number of operations 30 000 operations Allowable number of operations 30 operations per minute max Connector No Model Number of Pins Manufacturer CN117 BLF 5 08HC 04 180LR SN BK BX SO 4 Weidmüller Interface GmbH Co KG Servomotor with a Holding Bra...

Page 103: ...rive Prohibit Input SI3 9 General purpose Sequence Input 3 You can allocate the input signal to use with parameters Used for general purpose input SI4 Probe1 10 General 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 current feedback pulse counter SI5 Probe2 11 General purpose Sequence Input 5 Probe ...

Page 104: ...ls the brake The brake is released when the signal turns ON closes page 5 32 SO1 BK 2 SO2 23 General purpose Sequence Output 2 Used for general purpose outputs Set the parameters to allocate functions page 14 47 SO2 24 SO3 25 General purpose Sequence Output 3 SO3 26 SO4 27 General purpose Sequence Output 4 SO4 28 SO5 29 General purpose Sequence Output 5 SO5 30 PAO 17 Encoder Divided Pulse Output P...

Page 105: ...equence input 5 26 SO3 General purpose sequence output 3 10 SI4 Probe1 General purpose sequence input 4 25 SO3 General purpose sequence output 3 9 SI3 General purpose sequence input 3 24 SO2 General purpose sequence output 2 8 SI2 N OT General purpose sequence input 2 23 SO2 General purpose sequence output 2 7 SI1 P OT General purpose sequence input 1 22 PCO Encoder divided pulse output phase C 6 ...

Page 106: ...signals of the CN1 connector If the power supply is shared the I O signals may malfunction 4 7 kΩ General purpose sequence input 0 Forward Drive Prohibit input prohibited when OFF Sequence input signal power supply input Battery for absolute encoder Backup battery 2 2 8 V to 4 5 V Reverse Drive Prohibit input prohibited when OFF Brake output released when ON Servo Alarm Output OFF for alarm 1 4 4 ...

Page 107: ...lfunction 24 V 2 1 3 3 3 4 7 kΩ General purpose sequence input 0 Forward Drive Prohibit input prohibited when OFF Linear Servomotor overheat protection input Reverse Drive Prohibit input prohibited when OFF Brake output released when ON Servo Alarm Output OFF for alarm Photocoupler outputs Max allowable voltage 30 VDC Max allowable current 50 mA DC Encoder Divided Pulse Output Phase A Encoder Divi...

Page 108: ...nection examples in 4 5 3 I O Signal Wiring Examples on page 4 31 are for sink circuit connections Examples for Relay Circuits Examples for Open Collector Circuits Sink Circuits Source Circuits Input Signal Polarity Input Signal Polarity Photocoupler Internal Signal Level Photocoupler Internal Signal Level ON Low level ON Low level OFF High level OFF High level 4 7 kΩ E g DEC SERVOPACK 24 VDC 24VI...

Page 109: ... B pulses The resulting output signals PAO PAO and PBO PBO and origin pulse signal PCO and PCO are output with line driver output circuits Connect the line driver output circuits to line receiver circuits at the host controller Incorrect wiring or incorrect voltage application to the output circuits may cause short circuit fail ures If a short circuit failure occurs as a result of any of these cau...

Page 110: ... is in effect when the signal is OFF 4 HWBB1 5 HWBB2 Hard Wire Base Block Input 2 6 HWBB2 7 EDM1 External Device Monitor Output Turns ON when the HWBB1 and the HWBB2 signals are input and the SER VOPACK enters a base block state 8 EDM1 For safety function signal connections the input signal is the 0 V common and the output signal is a source output This is opposite to other signals described in th...

Page 111: ...not activate the HWBB normal operation OFF open Activates the HWBB motor current shut OFF request Item Characteristics Remarks Internal Imped ance 4 7 kΩ Operating Voltage Range 24 V 20 Maximum Delay Time 8 ms Time from HWBB1 and HWBB2 signals turning OFF until HWBB is activated Type Signal Pin No Output Sta tus Meaning Output EDM1 CN8 8 CN8 7 ON Both the HWBB1 and HWBB2 signals are operat ing nor...

Page 112: ...r fire if incorrect wiring is performed SERVOPACK Model Terminal Symbols Terminal Name Specification SGD7S 1R9D 3R5D 5R4D 8R4D 120D 170D D1 D2 Dynamic Brake Resis tor terminals These terminals are connected to an External Dynamic Brake Resistor WARNING Wire the Dynamic Brake Resistor correctly Do not connect the following terminals directly to each other D1 and D2 There is a risk of burning in the...

Page 113: ...nect the Dynamic Brake Resistor to the D1 and D2 terminals on the SERVOPACK Note 1 The D1 and D2 are in the locations shown in the following figure Do not connect anything to the D3 terminal 2 Terminal labels D1 and D2 are provided on the Dynamic Brake Resistor connector 7 Set Pn601 Dynamic Brake Resistor Allowable Energy Consumption and Pn604 Dynamic Brake Resistance Refer to the following sectio...

Page 114: ...he CN6A and CN6B connectors Note The length of the cable between stations L1 L2 Ln must be 50 m or less 4 8 1 EtherCAT Connectors RJ45 Connector Pin Assignments These pins are not connected to any signals EtherCAT Controller Ln L1 L2 Connector Description CN6A EtherCAT input signals CN6B EtherCAT output signals Pin Signal Remarks 1 TD Send data 2 TD 3 RD Receive data 4 N C 5 N C 6 RD Receive data ...

Page 115: ...s 4 40 4 8 2 Ethernet Communications Cables Use category 5e Ethernet communications cables to make the connections Use cables with the following specifications Shielded S STP or S UTP Length 50 m max between nodes The following cable is recommended Manufacturer Model Beckhoff ZB9020 ...

Page 116: ...efer to the following manual for the operating procedures for the SigmaWin AC Servo Drive Engineering Tool SigmaWin Operation Manual Manual No SIET S800001 34 Refer to the catalog for details on the Computer Cable 4 9 3 Analog Monitor Connector CN5 To use an analog monitor connect CN5 on the SERVOPACK Wiring Example The measuring instrument is not provided by Yaskawa Refer to the following section...

Page 117: ...OPACK Parameter Settings 5 10 5 2 Power Supply Type Settings for the Main Circuit 5 12 5 3 Automatic Detection of Connected Motor 5 13 5 4 Motor Direction Setting 5 14 5 5 Setting the Linear Encoder Pitch 5 15 5 6 Writing Linear Servomotor Parameters 5 16 5 7 Selecting the Phase Sequence for a Linear Servomotor 5 20 5 8 Polarity Sensor Setting 5 22 5 9 Polarity Detection 5 23 5 9 1 Restrictions 5 ...

Page 118: ...g Method for Servo OFF 5 38 5 12 2 Servomotor Stopping Method for Alarms 5 38 5 13 Motor Overload Detection Level 5 40 5 13 1 Detection Timing for Overload Warnings A 910 5 40 5 13 2 Detection Timing for Overload Alarms A 720 5 41 5 14 Setting Unit Systems 5 42 5 14 1 Setting the Position Reference Unit 5 42 5 14 2 Setting the Speed Reference Unit 5 47 5 14 3 Setting the Acceleration Reference Uni...

Page 119: ... parameters individually Classification Meaning Setup Parameters Parameters for the basic settings that are required for operation Tuning Parameters Parameters that are used to adjust servo performance The tuning parameters are not displayed by default when you use the Digital Operator To display and set the tuning parameters set Pn00B to n 1 Display all parameters We recommend that you use the Se...

Page 120: ...efault setting Use the encoder according to encoder specifications After startup Setup n 1 Use the encoder as an incremental encoder n 2 Use the encoder as a single turn absolute encoder Parameter number Parameter number The control methods for which the parameters apply are given This is the parameter setting before shipment This is when any change made to the parameter will become effective This...

Page 121: ...ce of the Main Window of the SigmaWin 2 Select Edit Parameters in the Menu Dialog Box The Parameter Editing Dialog Box will be displayed 3 Click the cell of the parameter to edit If the parameter to edit is not displayed in the Parameter Editing Dialog Box click the or Button to display the parameter to edit 4 Change the setting of the parameter 5 Press the Enter Key The background of the edited p...

Page 122: ...ith a Digital Operator Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 Setting SERVOPACK Parameters with EtherCAT CoE Com munications You can set objects 2000 hex to 26FF hex with EtherCAT CoE communications to set the SERVOPACK parameters Pn000 to Pn6FF Object index 2 hex corresponds to SERVOPACK parameter number Pn When you use EtherCAT CoE communications objects you must ...

Page 123: ...ange the write prohibition setting for SERVOPACK parameters and the applicable tool functions Operating Procedure Use the following procedure to prohibit or permit writing parameters 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Write Prohibition Setting in the Menu Dialog Box The Write Prohibition Setting Dialog Box will be displayed 3 Press the or fo...

Page 124: ... Setting for SERVOPACK Parameters 5 8 5 Click the OK Button The setting will be written to the SERVOPACK 6 To enable the new setting turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to prohibit or permit writing parameter settings ...

Page 125: ... be executed page 6 37 Reset Configuration Error of Option Module Fn014 Reset Option Module Config uration Error Cannot be executed page 15 42 Vibration Detection Level Initialization Fn01B Initialize Vibration Detection Level Cannot be executed page 6 46 Set Origin Fn020 Set Absolute Linear Encoder Origin Cannot be executed page 5 52 Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Cannot be e...

Page 126: ...Fn012 Display Software Version Can be executed Fn01E Display SERVOPACK and Servomotor IDs Can be executed Fn01F Display Servomotor ID from Feedback Option Module Can be executed Test Opera tion Jogging Fn002 Jog Cannot be executed page 7 7 Program Jogging Fn004 Jog Program Cannot be executed page 7 13 Alarm Display Alarm Fn000 Display Alarm History Can be executed page 15 40 Fn006 Clear Alarm Hist...

Page 127: ... the Sig maWin 2 Select Edit Parameters in the Menu Dialog Box The Parameter Editing Dialog Box will be displayed 3 Select any parameter of the axis to initialize 4 Click the Initialize Button 5 Click the OK Button Click the Cancel Button to cancel initialization The Parameter Editing Dialog Box will return 6 Click the OK Button 7 Turn the power supply to the SERVOPACK OFF and ON again after the p...

Page 128: ...led Classification Pn001 2001 hex n 0 default set ting Use an AC power supply input After restart Setup n 1 Use a DC power supply input WARNING Connect the AC or DC power supplies to the specified SERVOPACK terminals Connect an AC power supply to the L1 L2 and L3 terminals on the SERVOPACK Connect a DC power supply to the B1 and 2 terminals and the 24 V and 0 V terminals on the SERVOPACK There is ...

Page 129: ...ecify the motor type If an encoder is not connected e g for a test without a motor you can specify a Rotary Ser vomotor or a Linear Servomotor in Pn000 n X Rotary Linear Startup Selection When Encoder Is Not Connected If you specify either a Rotary or Linear Servomotor only the parameters monitors alarms and functions for the specified motor type will be enabled Information Parameter Meaning When ...

Page 130: ...ing Forward reference P OT For ward Drive Prohibit sig nal Reverse reference N OT Reverse Drive Pro hibit signal n 1 Use CW as the forward direc tion Reverse Rota tion Mode Forward reference P OT For ward Drive Prohibit sig nal Reverse reference N OT Reverse Drive Pro hibit signal Parameter Forward Reverse Reference Motor Moving Direction and Encoder Divided Pulse Outputs Applicable Overtravel Sig...

Page 131: ...the power supply OFF and ON again Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK Scale Pitch A linear encoder has a scale for measuring lengths positions The length of one division on this scale is the scale pitch Pn282 2282 hex Linear Encoder Pitch Setting Range Setting Unit Default Setting When Enabled Cla...

Page 132: ...tting Error A 710 Instantaneous Overload A 720 Continuous Overload and A C90 Encoder Communications Error Applicable Tools The following table lists the tools that you can use to write the parameters to the Linear Servo motor and the applicable tool functions WARNING Check the motor and linear encoder information before you write the motor parameters If you do not write the correct motor parameter...

Page 133: ...rkspace of the Main Window of the Sig maWin 3 Select Motor Parameter Scale Write in the Menu Dialog Box The Motor Parameter Scale Write Dialog Box will be displayed 4 Click the OK Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return If the write is completed normally the Motor Parameter Scale Write File Select Dialog Box will be d...

Page 134: ...rmation that is displayed is suitable for your motor and then click the Next Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return 8 Click the Write Button Displays an exterior view of the motor Click the image to enlarge it ...

Page 135: ...ick the Complete Button 11 Click the OK Button 12 Turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to write the motor parameters Confirming If the Motor Parameters Have Been Written After you write the motor parameters you can use a monitor function to confirm that the motor parameters are in the encoder If the motor parameters have not been written no informati...

Page 136: ... confirm that only the correct number of feedback pulses is returned If the correct number and only the correct number of pulses is returned the signal is being received correctly from the linear encoder If you do not confirm the above items before you attempt to operate the motor the motor may not operate or it may run out of control Always confirm these items before you operate the motor Paramet...

Page 137: ...the following condi tions may exist Check the situation and correct any problems 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 specifications of the linear encoder The linear encoder is not adjusted properly If the linear encoder is not adjusted properl...

Page 138: ...polarity sensor default setting If the Linear Servomotor does not have a polarity sensor set Pn080 to n 1 Do not use polarity sensor Turn the power supply OFF and ON again to enable the new setting Parameter Meaning When Enabled Classification Pn080 2080 hex n 0 default setting Use polarity sensor After restart Setup n 1 Do not use polarity sensor If you set Pn080 to n 0 Use polarity sensor and th...

Page 139: ...iction equivalent to a few percent of the rated force applied to the guides Air sliders cannot be used Preparations Check the following settings before you execute polarity detection Not using a polarity sensor must be specified Pn080 n 1 The servo must be OFF The main circuit power supply must be ON There must be no hard wire base block HWBB There must be no alarms except for an A C22 alarm Phase...

Page 140: ...r Polarity detection will start simultaneously with execution of the Servo ON command Enable Operation command As soon as polarity detection is completed the S RDY will turn ON and the servo will change to ON status statusword operation enabled 1 Power is supplied to the Servomotor during polarity detection Be careful not to get an electric shock Also the Moving Coil of the Linear Servomotor may g...

Page 141: ...ty detection 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Polarity Detection in the Menu Dialog Box The Polarity Detection Dialog Box will be displayed 3 Click the Continue Button Click the Cancel Button to cancel polarity detection The Main Window will return 4 Click the Start Button Polarity detection will be executed This concludes the polarity det...

Page 142: ...a refer ence CAUTION To prevent accidents that may result from contact faults or disconnections use normally closed limit switches Do not change the default settings of the polarity of the overtravel signals P OT and N OT If you use a Servomotor for a vertical axis the BK Brake signal will remain ON i e the brake will be released when overtravel occurs This may result in the workpiece falling when...

Page 143: ... braking or coast to a stop according to the setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method and then the Servomotor will enter a coasting state Refer to the following section for information on stopping methods other than those for over travel 5 12 1 Stopping Method for Servo OFF on page 5 38 Parameter Meaning When Enabled Classification Pn50A 250A hex n 1 default setting The forw...

Page 144: ...ervomotor by Setting the Deceleration Time To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Stops If you set Pn30A to 0 the Servomotor will be stopped with a zero speed The deceleration time that you set in Pn30A is the time to decelerate the motor from the maxi mum motor speed Pn406 2406 hex Emergency Stop Torque Se...

Page 145: ... may not reach the target position speci fied by the host controller Check the feedback position to make sure that the axis is stopped at a safe position Parameter Meaning When Enabled Classification Pn00D 200D hex n 0 default setting Do not detect overtravel warnings Immediately Setup n 1 Detect overtravel warnings 1 Warnings are detected for overtravel in the same direction as the reference 2 Wa...

Page 146: ...Set to n 1 Parameter Meaning When Enabled Classification Pn022 2022 hex n 0 default setting Overtravel exists while the P OT or N OT signal is being input After restart Setup n 1 Overtravel exists while the P OT or N OT signal is input and the current position of the workpiece is separated from the P OT signal or N OT signal Machine coordinate 2 1 0 1 2 P OT signal N OT signal Statusword 6041 hex ...

Page 147: ...thod 1 11 12 13 14 28 or 34 If the P OT signal is input homing error bit 13 in statusword 6041 hex changes to 1 and the homing operation is canceled For Homing Method 2 7 8 9 10 24 or 33 If the N OT signal is input homing error bit 13 in statusword 6041 hex changes to 1 and the homing operation is canceled Interpolated position mode Cyclic synchronous posi tion mode If an overtravel signal is inpu...

Page 148: ...n The brake built into a Servomotor with a Brake is a de energization brake It is used only to hold the Servomotor and cannot be used for braking Use the holding brake only to hold a Servomotor that is already stopped Vertical Axis Servomotor Holding brake Prevents the moving part from falling due to gravity when the power supply is OFF Moving part of machine Shaft with External Force Applied Exte...

Page 149: ...tor brake control is somewhat longer than the time required on SERVOPACKs without built in Servomotor brake control Consider the brake oper ation delay time when you design the system Connection Examples Refer to the following section for information on brake wiring 4 4 4 Wiring the SERVOPACK to the Holding Brake on page 4 25 5 11 2 BK Brake Signal The following settings are for the output signal ...

Page 150: ...ignal to its own output connector pin i e do not use the same out put terminal for another signal For example never allocate the TGON Rotation Detection signal and BK signal to the same output connector pin If you did so the TGON signal would be turned ON by the falling speed on a vertical axis and the brake would not operate Important Pn506 2506 hex Brake Reference Servo OFF Delay Time Setting Ra...

Page 151: ...583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped Pn507 2507 hex Brake Reference Output Speed Level Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 100 Immediately Setup Pn508 2508 hex Servo OFF Brake Reference Waiting Time Setting Range Setting Unit Default Setting When Enabled Classification 10 to 100 10 ms 50 Immediately Setup ...

Page 152: ...even if the brake reference output speed level Rotary Servomotor Pn507 Linear Servomotor Pn583 is higher than the maximum speed Pn508 Enable Operation Disable Operation Linear Servomotor Pn583 Rotary Servomotor Pn507 Motor stopped with dynamic brake or by coasting Pn001 n X Power supplied Power not supplied OFF Brake applied Motor speed Motor power status BK signal Controlword 6040 hex alarm or po...

Page 153: ...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 deterioration of the internal elements in the SERVOPACK Use speed input references or position references to start and stop the Servomotor If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo the Servomot...

Page 154: ...thod for Group 1 Alarms When a group 1 alarm occurs the Servomotor will stop according to the setting of Pn001 n X The default setting is to stop by applying the dynamic brake Refer to the following section for details 5 12 1 Stopping Method for Servo OFF on page 5 38 Motor Stopping Method for Group 2 Alarms When a group 2 alarm occurs the Servomotor will stop according to the settings of the foll...

Page 155: ...nd Forced Stops Stopping the Servomotor by Setting the Deceleration Time on page 5 28 Parameter Servomotor Stopping Method Status after Servomotor Stops When Enabled Classification Pn00B 200B hex Pn00A 200A hex Pn001 2001 hex n 0 default setting n 0 default setting Zero speed stop ping Dynamic brake After restart Setup n 1 Coasting n 2 n 1 n 0 default setting Dynamic brake Dynamic brake n 1 Coasti...

Page 156: ...n 20 of the time required to detect an overload alarm You can change the time required to detect an over load warning by changing the setting of the overload warning level Pn52B You can increase safety by using overload warning detection as an overload protection function matched to the system The following graph shows an example of the detection of overload warnings when the over load warning lev...

Page 157: ...s occur Refer to the relevant manual given below for a diagram that shows the relationships between the motor heat dissipation conditions heat sink size surrounding air temperature and derat ing You can protect the motor from overloads more effectively by setting this derating value in Pn52C Σ 7 Series Rotary Servomotor with 400 V Input Power Product Manual Manual No SIEP S800001 86 Σ 7 Series Lin...

Page 158: ...or actual movements With the electronic gear one reference unit is equal to the workpiece travel distance per refer ence pulse input to the SERVOPACK In other words if you use the SERVOPACK s electronic gear pulses can be read as reference units The difference between using and not using the electronic gear is shown below Rotary Servomotors In this example the following machine configuration is us...

Page 159: ...h revolution so 10 6 revolutions are required to move 10 mm Calculate the required number of reference pulses One revolution is 1 048 576 pulses therefore 10 6 1 048 576 1 747 626 66 pulses Input 1 747 627 pulses as the reference If you use reference units to move the workpiece when one reference unit is set to 1 μm the travel distance is 1 μm per pulse To move the workpiece 10 mm 10 000 μm 10 000...

Page 160: ...r Model of Interpolator Resolution Resolution Incre mental Heidenhain Corporation LIDA48 20 JZDP H003 E 2 256 0 078 μm JZDP J003 E 2 4 096 0 0049 μm LIF48 4 JZDP H003 E 2 256 0 016 μm JZDP J003 E 2 4 096 0 00098 μm Renishaw PLC RGH22B 20 JZDP H005 E 2 256 0 078 μm JZDP J005 E 2 4 096 0 0049 μm Magnes cale Co Ltd SR75 LF 5 80 8 192 0 0098 μm SR75 MF 80 1 024 0 078 μm SR85 LF 5 80 8 192 0 0098 μm SR...

Page 161: ...2 512 0 1 μm ST784 ST784AL 51 2 512 0 1 μm ST788A ST788AL 51 2 512 0 1 μm ST789A ST789AL 25 6 512 0 05 μm ST1381 5 12 512 0 01 μm ST1382 0 512 512 0 001 μm Renishaw PLC EL36Y 050F 12 8 256 0 05 μm EL36Y 100F 25 6 256 0 1 μm EL36Y 500F 128 256 0 5 μm RL36Y 050 12 8 256 0 05 μm RL36Y 001 0 256 256 0 001 μm Magnes cale Co Ltd SR77 LF 5 80 8 192 0 0098 μm SR77 MF 80 1 024 0 078 μm SR87 LF 5 80 8 192 0...

Page 162: ... Specifications Ball screw lead 6 mm Gear ratio 1 1 Rotation angle per revo lution 360 Gear ratio 1 100 Pulley dia 100 mm Pulley circumference 314 mm Gear ratio 1 50 2 Encoder Resolution 16 777 216 24 bits 16 777 216 24 bits 16 777 216 24 bits 3 Reference Unit 0 001 mm 1 μm 0 01 0 005 mm 5 μm 4 Travel Distance per Load Shaft Revolution Reference Units 6 mm 0 001 mm 6 000 360 0 01 36 000 314 mm 0 0...

Page 163: ...re the encoder resolution will be equivalent to 20 bits 1 048 576 Consider this when you set the position reference unit in position user unit 2701 hex Index Subin dex Name Data Type Access PDO Mappings Value Saving to EEPROM 2702 hex 0 Number of entries USINT RO No 2 No 1 Numerator UDINT RW No 1 to 1 073 741 823 default 1 Yes 2 Denominator UDINT RW No 1 to 1 073 741 823 default 1 Yes Speed Refere...

Page 164: ...nt to 20 bits 1 048 576 Consider this when you set the position reference unit in position user unit 2701 hex Index Subin dex Name Data Type Access PDO Mappings Value Saving to EEPROM 2703 hex 0 Number of entries USINT RO No 2 No 1 Numerator UDINT RW No 1 to 1 073 741 823 default 1 Yes 2 Denominator UDINT RW No 1 to 1 073 741 823 default 1 Yes Acceleration Reference Unit Setting Example Electronic...

Page 165: ...o reset the absolute encoder to clear these alarms If an A 8 alarm Internal Encoder Monitoring Alarm occurs turn OFF the power supply to reset the alarm 5 15 2 Applicable Tools The following table lists the tools that you can use to reset the absolute encoder and the appli cable tool functions CAUTION The multiturn data will be reset to a value between 2 and 2 rotations when the absolute encoder i...

Page 166: ... 3 Select Absolute Encoder Reset in the Menu Dialog Box The Absolute Encoder Reset Dialog Box will be displayed 4 Click the Continue Button Click the Cancel Button to cancel resetting the absolute encoder The Main Window will return 5 Click the Execute setting Button The current alarm code and name will be displayed in the Alarm name Box 6 Click the Continue Button Click the Cancel Button to cance...

Page 167: ...RVOPACK the fol lowing dialog box will be displayed and processing will be canceled Click the OK Button The Main Window will return Turn OFF the servo and repeat the procedure from step 1 When Resetting Is Successful The following dialog box will be displayed when the absolute encoder has been reset The Main Window will return 8 To enable the change to the settings turn the power supply to the SER...

Page 168: ...C EVOLUTE Series Models EL36Y Renishaw PLC RESOLUTE Series Models RL36Y Preparations The following conditions must be met to set the origin of the absolute linear encoder The parameters must not be write prohibited The servo must be OFF Index Subindex Name Data Type Access Data Ranges Default Value Saving to EEPROM 607C hex 0 Home offset DINT RW 536 870 912 to 536 870 911 0 Yes If the encoder posi...

Page 169: ...l functions Operating Procedure Use the following procedure to set the origin of an absolute linear encoder 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Set Origin in the Menu Dialog Box The Set Origin Dialog Box will be displayed 3 Click the Continue Button 4 Click the Execute Button Tool Function Reference Digital Operator Fn020 Σ 7 Series Digital O...

Page 170: ...inear encoder The previous dia log box will return 6 Click the OK Button 7 Turn the power supply to the SERVOPACK OFF and ON again 8 If you use a Linear Servomotor that does not have a polarity sensor perform polarity detection Refer to the following section for details on the polarity detection 5 9 Polarity Detection on page 5 23 This concludes the procedure to set the origin of the absolute line...

Page 171: ... Yaskawa s Regen erative Resistor Unit is being used WARNING If you connect an External Regenerative Resistor set Pn600 and Pn603 to suitable values If a suitable value is not set A 320 alarms Regenerative Overload will not be detected cor rectly and the External Regenerative Resistor may be damaged or personal injury or fire may result When you select an External Regenerative Resistor make sure t...

Page 172: ...hese parameters will cause an A 730 alarm Dynamic Brake Overload to be detected incorrectly and can destroy the External Dynamic Brake Resistor cause unintended operation during an emergency stop cause damage to the machine and cause burning or injury When you select an External Dynamic Brake Resistor make sure that it has a suitable energy consumption and resistance There is a risk of personal in...

Page 173: ...ncidence Detection Signal 6 9 6 1 8 COIN Positioning Completion Signal 6 10 6 1 9 NEAR Near Signal 6 11 6 1 10 Speed Limit during Torque Control 6 12 6 2 Operation for Momentary Power Interruptions 6 14 6 3 SEMI F47 Function 6 15 6 4 Setting the Motor Maximum Speed 6 17 6 5 Encoder Divided Pulse Output 6 18 6 5 1 Encoder Divided Pulse Output Signals 6 18 6 5 2 Setting for the Encoder Divided Pulse...

Page 174: ...put Ports for the Position Data from the Absolute Linear Encoder 6 41 6 9 4 Reading the Position Data from the Absolute Linear Encoder 6 42 6 9 5 Transmission Specifications 6 42 6 9 6 Calculating the Current Position in Machine Coordinates 6 43 6 10 Software Reset 6 44 6 10 1 Preparations 6 44 6 10 2 Applicable Tools 6 44 6 10 3 Operating Procedure 6 45 6 11 Initializing the Vibration Detection L...

Page 175: ...4 Specification 6 58 6 14 1 ZONE Table and ZONE Signals 6 58 6 14 2 ZONE Table Settings 6 59 6 14 3 ZONE Signals 1 to 4 Outputs ZONE0 to ZONE3 6 60 6 14 4 nZONE Signal Output 6 61 6 14 5 ZONE Output Application Example 6 62 ...

Page 176: ...afety problems will exist If you allocate 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 Input Signal Input Signal Name Parameter P OT Forward Drive Prohibit Pn50A 250A hex n X N OT Reverse Drive Prohibit Pn50B 250B hex n X P CL Forward External Torque Limit Pn50...

Page 177: ...t the allocations in the following parameters Pn50E Pn50F Pn510 Pn513 and Pn514 Output signals are allocated as shown in the following table Refer to Interpreting the Output Signal Allocation Tables and change the allocations accord ingly 9 13 A reverse signal a signal with before the signal abbreviation such as the P CL signal is active when the contacts are OFF open A signal that does not have b...

Page 178: ... Maintenance Pn514 2514 hex n X PM 1 2 3 4 5 0 default setting ZONE Signal 1 Output PnBA0 2752 hex n X ZONE0 1 2 3 4 5 0 default setting ZONE Signal 2 Output PnBA0 2752 hex n X ZONE1 1 2 3 4 5 0 default setting ZONE Signal 3 Output PnBA0 2752 hex n X ZONE2 1 2 3 4 5 0 default setting ZONE Signal 4 Output PnBA0 2752 hex n X ZONE3 1 2 3 4 5 0 default setting nZONE Signal Output PnBA1 2753 hex n X nZ...

Page 179: ...RN Warning Signal Both alarms and warnings are generated by the SERVOPACK Alarms indicate errors in the SERVOPACK for which operation must be stopped immediately Warnings indicate situations that may results in alarms but for which stopping operation is not yet necessary The WARN Warning signal indicates that a condition exists that may result in an alarm Note You must allocate the WARN signal to ...

Page 180: ...o alarms If a Servomotor without a polarity sensor is used polarity detection has been completed Do not include this condition if the Servo ON command Enable Operation command is input for the first time after the control power supply was turned ON In that case when the first Servo ON command Enable Operation command is input polarity detection is started immediately and the S RDY signal turns ON ...

Page 181: ...cidence Signal Detection Width for a Rotary Servomotor or in Pn582 Speed Coincidence Signal Detection Width for a Linear Servomotor Rotary Servomotors The signal is output when the difference between the reference speed and motor speed is equal or less than the setting Linear Servomotors The signal is output when the difference between the reference speed and motor speed is equal or less than the ...

Page 182: ...e 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 Pn522 The setting of the positioning completed width has no effect on final positioning accuracy Note If the parameter is set to a value that is too large the COIN signal may be output when the position deviation is low during a low sp...

Page 183: ...bination with the COIN signal Note You must allocate the NEAR signal to use it Use Pn510 n X NEAR Near Signal Allocation to allo cate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 5 Parameter Description When Enabled Classification Pn207 2207 hex n 0 default setting Output the COIN signal when the absolute value of the position d...

Page 184: ...ction to limit the speed Note The actual limit of motor speed depends on the load conditions on the Servomotor VLT Speed Limit Detection Signal The signal that is output when the motor speed is being limited by the speed limit is described in the following table Note You must allocate the VLT signal to use it Use Pn50F n X VLT Speed Limit Detection Signal Allo cation to allocate the signal to a co...

Page 185: ...Servomotor set Pn480 Speed Limit during Force Control Rotary Servomotors Linear Servomotors Note If the parameter setting exceeds the maximum speed of the Servomotor the Servomotor s maximum speed or the overspeed alarm detection speed will be used Parameter Meaning When Enabled Classification Pn002 2002 hex n 0 default setting Ignore the setting of the speed limit for the VLIM Limit Speed for Tor...

Page 186: ...a power interruption that lasts longer than 50 000 ms 3 The holding time of the SERVOPACK control power supply 24 VDC depends on the specifications of the 24 VDC power supply Confirm the holding time yourself If control operations become impossible during a momentary power interruption of the control power supply the setting of Pn509 will be ignored and the same operation will be per formed as for...

Page 187: ...torque in response to an A 971 warning Undervoltage The host controller removes the torque limit after the Undervoltage warning is cleared Execution with the SERVOPACK Pn008 n 2 The torque is limited in the SERVOPACK in response to an Undervoltage warning The SERVOPACK controls the torque limit for the set time after the Undervoltage warning is cleared 560 V 400 V 0 0 Torque limit ends The torque ...

Page 188: ...omentary Power Interruption Hold Time Setting Range Setting Unit Default Setting When Enabled Classification 20 to 50 000 1 ms 20 Immediately Setup This function handles momentary power interruptions for the voltage and time ranges stipu lated in SEMI F47 An uninterruptible power supply UPS is required as a backup for momen tary power interruptions that exceed these voltage and time ranges Set the...

Page 189: ... the set speed is reached or exceeded To limit the speed so that the load is not driven beyond the allowable moment of inertia Refer to relevant manual from the following list for the relationship between the speed and the allowable moment of inertia Σ 7 Series Rotary Servomotor with 400 V Input Power Product Manual Manual No SIEP S800001 86 Σ 7 Series Linear Servomotor with 400 V Input Power Prod...

Page 190: ...ype Signal Connector Pin No Name Remarks Output PAO CN1 17 Encoder Divided Pulse Output Phase A Rotary Servomotors These encoder divided pulse output pins output the number of pulses per motor resolution that is set in Pn212 Number of Encoder Output Pulses The phase difference between phase A and phase B is an electric angle of 90 Linear Servomotors These encoder divided pulse output pins output p...

Page 191: ...n signal refer to the manual for the Renishaw PLC incre mental linear encoder When Passing the First Origin Signal Ref in the Forward Direction and Returning after Turning ON the Power Supply Forward rotation or movement phase B leads by 90 Reverse rotation or movement phase A leads by 90 If you use the SERVOPACK s phase C pulse output for an origin return rotate the Servomotor two or more rotatio...

Page 192: ...lse Output Selection Pn081 n X If you set Pn081 to n 1 Output phase C pulses in both the forward and reverse direc tions the width of the phase C pulse output may be narrower than the width of the phase A pulse There is a difference of 1 8th of the scale pitch in the phase C detection position for the encoder s phase C pulse output position origin return command or phase C latch between when Pn081...

Page 193: ...origin detection position is passed for the first time in the reverse direction after the power supply is turned ON However after the origin detection position is passed in the forward direction and the encoder s phase C pulse is output it will then also be output when the origin detection point is passed in the reverse direction Encoder Model Interpolator Linear Encoder Pitch μm SL710 PL101 RY MJ...

Page 194: ...e first time in the reverse direction after the power supply is turned ON However after the origin detection position is passed in the forward direction and the encoder s phase C pulse it output it will then also be output when the origin detection point is passed in the reverse direction Encoder count up direction Origin 1 detection position Origin 2 detection position Power ON Phase C pulse outp...

Page 195: ...le Pn212 cannot be set to 25 001 P Rev because the setting increment in the above table is not used 2 The upper limit of the pulse frequency is approximately 1 6 Mpps The Servomotor speed will be limited if the setting of the number of encoder output pulses is too high An A 511 alarm Encoder Output Pulse Overspeed will occur if the upper limit of the motor speed is exceeded Output example An outpu...

Page 196: ...ter Unit Setting of Pn282 Not Using a Serial Converter Unit when the lin ear encoder and SERVOPACK are connected directly or when a linear encoder that does not require a Serial Converter Unit is used The linear encoder pitch is automatically detected by the SERVO PACK so the setting of Pn282 is ignored You can use the monitor functions of the SigmaWin to check the linear encoder pitch that was au...

Page 197: ...software for machine movement that do not use the overtravel signals P OT and N OT If a software limit is exceeded an emergency stop will be executed in the same way as it is for overtravel Refer to the following section for details on this function Software Position Limits 607D Hex on page 14 29 ...

Page 198: ...e Limits The torque is always limited with the setting of a parameter Speed control position control or torque control 6 7 1 External Torque Limits The torque is limited with an input signal from the host computer 6 7 2 Limiting Torque with controlword 6040 hex A command from the Controller enables the torque limit that is set in a parameter Speed control or position control 14 6 Limiting Torque w...

Page 199: ...n X P CL Forward External Torque Limit Input Signal Allocation Pn50B n X N CL Reverse External Torque Limit Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 4 Pn483 2483 hex Forward Force Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 30 Immediately Setup Pn484 2484 hex Reverse Force Limit Setting R...

Page 200: ...tting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 800 Immediately Setup Pn404 2404 hex Forward External Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup Pn405 2405 hex Reverse External Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup ...

Page 201: ...forward direction of motor rotation Pn000 n 0 Linear Servomotors It is assumed that the linear encoder count up direction is set as the forward direction of motor movement Pn000 n 0 P CL signal OFF ON N CL signal OFF ON P CL signal OFF ON N CL signal OFF ON Pn402 Pn403 0 Speed Torque Pn403 0 Pn404 Pn402 Speed Torque 0 Pn403 Pn405 Pn402 Speed Torque 0 Pn403 Pn405 Pn404 Pn402 Speed Torque Pn483 Pn48...

Page 202: ...e You must allocate the CLT signal to use it Use Pn50F n X CLT Torque Limit Detection Signal Allo cation to allocate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 5 Type Signal Connector Pin No Signal Status Meaning Output CLT Must be allocated ON closed The motor output torque is being limited OFF open The motor output torque is...

Page 203: ...CO Encoder Divided Pulse Output signals If they need to be wired refer to the following section 4 4 3 Wiring the SERVOPACK to the Encoder on page 4 20 4 5 3 I O Signal Wiring Examples on page 4 31 Parameter Meaning When Enabled Classification Pn002 2002 hex n 0 default setting Use the encoder as an incremental encoder A battery is not required After restart Setup n 1 Use the encoder as an incremen...

Page 204: ...ided below The PAO Encoder Divided Pulse Output signal outputs the position data from the absolute encoder after the control power supply is turned ON The position data of the absolute encoder is the current stop position The absolute encoder outputs the multiturn data with the specified protocol The absolute encoder outputs the position within one rotation as a pulse train It then outputs pulses ...

Page 205: ...thin One Rotation 16 to 16 384 680 Pn212 16 384 kpps 25 ms max 16 386 to 32 768 680 Pn212 32 768 kpps 50 ms max 32 722 to 65 536 680 Pn212 65 536 kpps 100 ms max 65 544 to 131 072 680 Pn212 131 072 kpps 200 ms max 131 088 to 262 144 680 Pn212 262 144 kpps 400 ms max 262 176 to 524 288 680 Pn212 524 288 kpps 800 ms max 524 352 to 1 048 576 680 Pn212 1 048 576 kpps 1 600 ms max 1 048 704 to 2 097 15...

Page 206: ... the Position Data from the Absolute Encoder on page 6 33 Data Format of PAO Signal As shown below the message format consists of eight characters P the sign the 5 digit multiturn data and CR which indicates the end of the message Item PAO signal Synchronization Method Start stop synchronization ASYNC Baud Rate 9 600 bps Start Bits 1 bit Stop Bits 1 bit Parity Even Character Code ASCII 7 bits Data...

Page 207: ...the current position of the absolute encoder M Current position of the multiturn data of the absolute encoder PO Position of the current position within one rotation PS Position data of the absolute encoder when absolute encoder was reset MS Multiturn data of the absolute encoder when absolute encoder was reset PS Position of the absolute encoder within one rotation when absolute encoder was reset...

Page 208: ...ween the number of turntable revolutions and the number of motor revolu tions is shown in the following graph for when m is 100 and n is 3 Set Pn205 to 99 Pn205 100 1 99 Note This parameter is enabled when you use an absolute encoder The data will change as shown below when this parameter is set to anything other than the default setting If the motor operates in the reverse direction when the mult...

Page 209: ... is set to be used as a single turn absolute encoder Pn002 n 2 the multiturn data will always be zero It is not necessary to reset the absolute encoder Also an alarm related to the absolute encoder A 810 or A 820 will not occur 32 767 32 768 0 Number of rotations Multiturn data Forward Reverse 0 Number of rotations Multiturn data Setting of Pn205 Forward Reverse Information Display Name Meaning A ...

Page 210: ...ive Button in the workspace of the Main Window of the SigmaWin 2 Select Multiturn Limit Setting in the Menu Dialog Box The Multiturn Limit Setting Dialog Box will be displayed 3 Click the Continue Button Click the Cancel Button to cancel setting the multiturn limit The Main Window will return 4 Change the setting 5 Click the Writing into the Servopack Button 6 Click the OK Button ...

Page 211: ...ill occur because setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK 8 Display the Multiturn Limit Setting in the Menu Dialog Box 9 Click the Continue Button 10 Click the Writing into the Motor Button Click the Re change Button to change the setting 11 Click the OK Button This concludes the procedure to set the multiturn lim...

Page 212: ... with EtherCAT communications There fore it is not necessary to wire the PAO PBO and PCO Encoder Divided Pulse Output signals If they need to be wired refer to the following section 4 4 3 Wiring the SERVOPACK to the Encoder on page 4 20 4 5 3 I O Signal Wiring Examples on page 4 31 6 9 2 Structure of the Position Data of the Absolute Linear Encoder The position data of the absolute linear encoder ...

Page 213: ...ata with sign according to the specified protocol The absolute encoder outputs the lower 20 bit data as a pulse train It then outputs pulses as an incremental linear encoder incremental 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 the upper 16 bi...

Page 214: ... absolute encoder 6 9 4 Reading the Position Data from the Absolute Linear Encoder on page 6 42 Switched on Controlword 6040 hex Disable Operation Statusword 6041 hex Enable Operation Power supplied Motor power status Power not supplied Operation Enabled Main circuit power supply Control power supply S RDY signal ALM output signal PAO signal PBO signal Upper 16 bit position data with sign Lower 20...

Page 215: ...unications 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 The current position PM in the machine coordinate system is calculated as follows PM PE PS PE MO R PO PS MS R PS Note The above formulas also apply in reverse movement mode Pn000 n 1 P or 0 to 9 0 to 9 0 ...

Page 216: ...perform a software reset 1 Always confirm that the servo is OFF and that the motor is stopped before you start a soft ware reset 2 This function resets the SERVOPACK independently of the host controller The SERVO PACK carries out the same processing as when the power supply is turned ON and out puts the ALM Servo Alarm signal The status of other output signals may be forcibly changed 3 When you ex...

Page 217: ...e Menu Dialog Box The Software Reset Dialog Box will be displayed 3 Click the Execute Button Click the Cancel Button to cancel the software reset The Main Window will return 4 Click the Execute Button 5 Click the OK Button to end the software reset operation All settings including parameters will have been re calculated When you finish this operation discon nect the SigmaWin from the SERVOPACK and...

Page 218: ... a motor function must be disabled Pn00C n 0 6 11 2 Applicable Tools The following table lists the tools that you can use to initialize the vibration detection level and the applicable tool functions Parameter Meaning When Enabled Classification Pn310 2310 hex n 0 default setting Do not detect vibration Immediately Setup n 1 Output a warning A 911 if vibration is detected n 2 Output an alarm A 520...

Page 219: ...etection Level in the Menu Dialog Box The Initialize Vibration Detection Level Dialog Box will be displayed 3 Select Pn311 Vibration Detection Sensitivity and Pn310 Vibration Detection Selec tions and then click the Detection Start Button A setting execution standby mode will be entered Tool Function Operating Procedure Reference Digital Operator Fn01B Σ 7 Series Digital Operator Operating Manual ...

Page 220: ... Level 6 11 3 Operating Procedure 6 48 4 Click the Execute Button The newly set vibration detection level will be displayed and the value will be saved in the SERVO PACK This concludes the procedure to initialize the vibration detection level ...

Page 221: ...maWin or other tool while this function is being executed Allowed The parameter can be changed using the SigmaWin or other tool while this func tion is being executed Automatic Changes after Function Execution Yes The parameter is automatically set or adjusted after execution of this function No The parameter is not automatically set or adjusted after execution of this function Parameter Name Sett...

Page 222: ...ffset The parameters must not be write prohibited The servo must be in ready status The servo must be OFF Applicable Tools The following table lists the tools that you can use to automatically adjust the offset Execute the automatic offset adjustment if the torque ripple is too large when compared with other SERVOPACKs The offset does not use a parameter so it will not change even if the parameter...

Page 223: ... detection signal offset 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box The Adjust the Motor Current Detection Signal Offsets Dialog Box will be displayed 3 Click the Continue Button 4 Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets Dialo...

Page 224: ...nal Offset 6 12 1 Automatic Adjustment 6 52 5 Click the Adjust Button The values that result from automatic adjustment will be displayed in the New Boxes This concludes the procedure to automatically adjust the motor current detection signal offset ...

Page 225: ... Detection Signal Offsets in the Menu Dialog Box The Adjust the Motor Current Detection Signal Offsets Dialog Box will be displayed 4 Click the Continue Button If the offset is incorrectly adjusted with this function the Servomotor characteristics may be adversely affected Observe the following precautions when you manually adjust the offset Operate the Servomotor at a speed of approximately 100 m...

Page 226: ...educes the torque ripple Adjustment range 512 to 511 8 Set the Channel Box in the Motor Current 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 the torque ripple cannot be improved any further regardless of whether you increase or decrease the offse...

Page 227: ...tor will be stopped with the dynamic braking or coast to a stop according to the setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method Panel Operator and Digital Operator Displays When a forced stop is performed the panel and the Digital Operator will display FSTP CAUTION To prevent accidents that may result from contact faults or disconnections use a normally closed switch for the Force...

Page 228: ...tting the Deceleration Time for Servo OFF and Forced Stops Pn30A To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Stops If you set Pn30A to 0 the Servomotor will be stopped with a zero speed The deceleration time that you set in Pn30A is the time to decelerate the motor from the maxi mum motor speed Pn406 2406 hex Em...

Page 229: ... is input the forced stop state will be maintained even after the FSTP signal is turned ON Send the Servo OFF command Disable Operation command to place the SERVOPACK in the base block BB state and then send the Servo ON command Enable Operation command Enable Operation Controlword 6040h Enable Operation Disable Operation Statusword 6041h Operation enabled Switched on Operation enabled Forced stop...

Page 230: ...he current value is within a zone registered in the ZONE table the corresponding ZONE number is output on the ZONE signals You can use the ZONE signals as required e g to trigger operations related to positioning Note 1 Signal is ON active 0 Signal is OFF inactive Setting Range Setting Unit Default Setting When Enabled 2 147 483 648 to 2 147 483 647 Pos unit 0 Immediately ZONE Table ZONE Signals Z...

Page 231: ...FF 0 6 14 2 ZONE Table Settings The ZONE table is set by setting the ZONE table positive side boundary position ZONE P 2750 hex and the ZONE table negative side boundary position ZONE N 2751 hex ZONE N ZONE P ZONE P ZONE N Index Subindex Name Access PDO Mapping Unit Data Type Parameter No 2750 hex ZONE table Positive side boundary position ZONE P 1 ZONE ID 0 RW No Pos unit DINT PnA00 2 ZONE ID 1 R...

Page 232: ... DINT PnA2A 12 ZONE ID 11 RW No Pos unit DINT PnA2E 13 ZONE ID 12 RW No Pos unit DINT PnA32 14 ZONE ID 13 RW No Pos unit DINT PnA36 15 ZONE ID 14 RW No Pos unit DINT PnA3A 16 ZONE ID 15 RW No Pos unit DINT PnA3E Continued from previous page Index Subindex Name Access PDO Mapping Unit Data Type Parameter No Type Signal Connector Pin No Signal Status Meaning Outputs ZONE0 Must be allocated ON closed...

Page 233: ...0 OFF if both ZONE N and ZONE P are zero Type Signal Connector Pin No Signal Status Meaning Output nZONE Must be allocated ON closed The current value is within a zone registered in the ZONE table OFF open The current value is not within a zone registered in the ZONE table ZONE Table nZONE ZONE Number ID ZONE N Reference Units ZONE P Reference Units 0 nnnnnnnnnn nnnnnnnnnn 1 1 nnnnnnnnnn nnnnnnnnn...

Page 234: ...g table The ZONE table is given below The relationship between the operation pattern and ZONE signals is shown in the following dia grams ZONE Signals nZONE Signal ZONE Number ID ZONE N ZONE P 0 0 0 1 1000 1000 2 99000 101000 3 0 0 4 199000 201000 5 0 0 6 0 0 7 0 0 8 299000 301000 9 0 0 10 0 0 11 0 0 12 0 0 13 0 0 14 0 0 15 0 0 The ZONE outputs operate independently of the Digital outputs 60FE hex...

Page 235: ...ation 7 6 7 3 Trial Operation for the Servomotor without a Load 7 7 7 3 1 Preparations 7 7 7 3 2 Applicable Tools 7 7 7 3 3 Operating Procedure 7 8 7 4 Trial Operation with EtherCAT CoE Communications 7 10 7 5 Trial Operation with the Servomotor Connected to the Machine 7 11 7 5 1 Precautions 7 11 7 5 2 Preparations 7 11 7 5 3 Operating Procedure 7 12 7 6 Convenient Function to Use during Trial Op...

Page 236: ...on is checked with no load Do not connect the Servomotor to the machine Chapter 3 SERVOPACK Installation 2 Wiring and Connections Wire and connect the SERVOPACK First Servomotor operation is checked without a load Do not connect the CN1 connector on the SERVOPACK Chapter 4 Wiring and Connecting SERVOPACKs 3 Confirmations before Trial Operation 7 2 Inspections and Confirmations before Trial Opera t...

Page 237: ...on page 7 10 3 Trial Operation with the Servomotor Con nected to the Machine 7 5 Trial Operation with the Servomotor Connected to the Machine on page 7 11 To power supply Secure the motor flange to the machine Do not connect the motor shaft to the load shaft Secure the motor flange to the machine Do not connect the motor shaft to the load shaft To power supply CN1 to host controller CN6A to host c...

Page 238: ...n page 7 6 4 Power ON 5 Setting Parameters in the SERVOPACK 6 Setting the Origin of the Absolute Linear Encoder Note This step is necessary only for an Absolute Linear Servomotor from Mitutoyo Corpora tion 5 16 2 Setting the Origin of the Absolute Linear Encoder on page 5 52 Step No of Parameter to Set Description Remarks Reference 5 1 Pn282 2282 hex Linear Encoder Pitch Set this parameter only if...

Page 239: ...e Servomotor without a Load on page 7 7 2 Trial Operation with EtherCAT CoE Commu nications 7 4 Trial Operation with EtherCAT CoE Communica tions on page 7 10 3 Trial Operation with the Servomotor Con nected to the Machine 7 5 Trial Operation with the Servomotor Connected to the Machine on page 7 11 To power supply To power supply CN1 to host controller CN6A to host controller To power supply CN1 ...

Page 240: ...is not damaged Also make sure that oil has been applied If you are performing trial operation on a Servomotor that has been stored for a long period of time make sure that all Servomotor inspection and maintenance procedures have been com pleted Refer to the manual for your Servomotor for Servomotor maintenance and inspection infor mation If you are using a Servomotor with a Holding Brake make sur...

Page 241: ...onsider the range of motion of your machine when you jog the Servomotor Pn304 2304 hex Jogging Speed Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 500 Immediately Setup Pn305 2305 hex Soft Start Acceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Setup Pn306 2306 hex Soft Start Decelera...

Page 242: ...n the workspace of the Main Window of the SigmaWin 2 Select JOG Operation in the Menu Dialog Box The Jog Operation Dialog Box will be displayed 3 Read the warnings and then click the OK Button 4 Check the jogging speed and then click the Servo ON Button The display in the Operation Area will change to Servo ON To change the speed click the Edit Button and enter the new speed Information ...

Page 243: ... 7 9 7 Trial Operation and Actual Operation 5 Click the Forward Button or the Reverse Button Jogging will be performed only while you hold down the mouse button 6 After you finish jogging turn the power supply to the SERVOPACK OFF and ON again This concludes the jogging procedure ...

Page 244: ...e Machine on page 12 3 5 Set the modes of operation to Profile Position Mode Refer to the following section for details on modes of operation Modes of Operation 6060 Hex on page 14 27 6 Change the controlword to supply power to the motor When statusword shows the Operation Enabled state power is supplied to the motor Note Manipulate the objects that were mapped to PDOs Values will not be written i...

Page 245: ... Operation with EtherCAT CoE Commu nications on page 7 10 has been completed Make sure that the SERVOPACK is connected correctly to both the host controller and the peripheral devices Safety Function Wiring If you are not using the safety function leave the Safety Jumper Connector provided as an accessory with the SERVOPACK connected to CN8 If you are using the safety function remove the Safety Ju...

Page 246: ...ring the remainder of the procedure 7 Input the Enable Operation command from the host controller The servo will turn ON 8 Perform trial operation according to 7 4 Trial Operation with EtherCAT CoE Communi cations on page 7 10 and confirm that the same results are obtained as when trial oper ation was performed on the Servomotor without a load 9 If necessary adjust the servo gain to improve the Se...

Page 247: ...jogging to move the Servomotor without connecting it to the host controller in order to check Servomo tor operation and execute simple positioning operations Preparations Confirm the following conditions before you perform program jogging The parameters must not be write prohibited The main circuit power supply must be ON There must be no alarms There must be no hard wire base block HWBB The servo...

Page 248: ...ce Pn531 Travel distance Pn531 Travel distance Pn531 Speed 0 Movement speed Rotary Servomotor Pn533 Linear Servomotor Pn585 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Waiting time Pn535 Travel distance Pn531 Travel distance Pn531 Travel distance Pn531 Number of movements Pn536 Number of movements Pn536 Number of movements Pn536 Movement speed Rotary Servomotor Pn533...

Page 249: ... operation from the Digital Operator press the JOG SVON Key to turn OFF the servo to end infinite time operation Continued from previous page Setting of Pn530 2530 hex Setting Operation Pattern Number of movements Pn536 Travel distance Pn531 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Travel distance Pn531 Movement speed Rotary Servomotor Pn533 Linear Servomotor Pn58...

Page 250: ...Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 1 Immediately Setup Pn530 2530 hex Program Jogging Related Selections Setting Range Setting Unit Default Setting When Enabled Classification 0000 to 0005 0000 Immediately Setup Pn531 2531 hex Program Jogging Travel Distance Setting Range Setting Unit Default Setting When Enabled Classification 1 to 1 073 741 824 1 reference unit...

Page 251: ...rogram jog operation 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select JOG Program in the Menu Dialog Box The Jog Program Dialog Box will be displayed 3 Read the warnings and then click the OK Button 4 Set the operating conditions click the Apply Button and then click the Run Button A graph of the operation pattern will be displayed ...

Page 252: ...s the program jogging procedure CAUTION Be aware of the following points if you cancel the program jogging operation while the motor is operating If you cancel operation with the Servo OFF Button the motor will stop according to setting of the Servo OFF stopping method Pn001 n X If you cancel operation with the Cancel Button the motor will decelerate to a stop and then enter a zero clamped state ...

Page 253: ...must not be write prohibited The main circuit power supply must be ON There must be no alarms There must be no hard wire base block HWBB The servo must be OFF Applicable Tools The following table lists the tools that you can use to perform an origin search and the applica ble tool functions CAUTION Make sure that the load is not coupled when you execute an origin search The Forward Drive Prohibit ...

Page 254: ...dow of the SigmaWin 2 Select Search Origin in the Menu Dialog Box The Origin Search Dialog Box will be displayed 3 Read the warnings and then click the OK Button 4 Click the Servo ON Button 5 Click the Forward Button or the Reverse Button An origin search will be performed only while you hold down the mouse button The motor will stop when the origin search has been completed This concludes the ori...

Page 255: ...Setup n 1 Enable tests without a motor An asterisk is displayed on the status display of the Digital Operator while a test without a motor is being executed Motor Connection Status Information That Is Used Source of Information Connected Motor information Information in the motor that is connected Encoder information Encoder resolution Encoder type Not connected Motor information Rated motor speed...

Page 256: ...ution Encoder pitch Encoder type Resolution 256 Encoder pitch Setting of Pn282 Linear Encoder Pitch Encoder type Setting of Pn00C n X Encoder Type Selection for Tests without a Motor Parameter Meaning When Enabled Classification Pn000 2000 hex n 0 default setting When an encoder is not connected start as SERVOPACK for Rotary Servomotor After restart Setup n 1 When an encoder is not connected start...

Page 257: ... Motor Current Detection Sig nal Offset Parameter Write Pro hibition Setting Fn010 Write Prohibition Set ting page 5 7 Multiturn Limit Setting Fn013 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm page 6 37 Reset Configuration Error of Option Mod ule Fn014 Reset Option Module Configuration Error page 15 42 Initializing the Vibra tion Detection Level Fn01B Initialize Vibration Dete...

Page 258: ...SERVOPACK and Servomotor IDs page 9 2 Fn01F Display Servomotor ID from Feedback Option Module Test Oper ation Jogging Fn002 Jogging page 7 7 Program Jogging Fn004 Program Jogging page 7 13 Alarms Display Alarm Fn000 Display Alarm History page 15 40 Fn006 Clear Alarm History page 15 41 Continued from previous page SigmaWin Digital Operator Executable Reference Button in Menu Dialog Box SigmaWin Fun...

Page 259: ...ation Overflow Alarm Level 8 8 8 3 4 Vibration Detection Level Setting 8 10 8 3 5 Setting the Position Deviation Overflow Alarm Level at Servo ON 8 10 8 4 Tuning less Function 8 12 8 4 1 Application Restrictions 8 12 8 4 2 Operating Procedure 8 13 8 4 3 Troubleshooting Alarms 8 14 8 4 4 Parameters Disabled by Tuning less Function 8 15 8 4 5 Automatically Adjusted Function Setting 8 15 8 4 6 Relate...

Page 260: ... Outline 8 41 8 8 2 Preparations 8 41 8 8 3 Applicable Tools 8 42 8 8 4 Operating Procedure 8 42 8 8 5 Automatically Adjusted Function Settings 8 48 8 8 6 Tuning Example for Tuning Mode 2 or 3 8 48 8 8 7 Related Parameters 8 49 8 9 Anti Resonance Control Adjustment 8 50 8 9 1 Outline 8 50 8 9 2 Preparations 8 50 8 9 3 Applicable Tools 8 51 8 9 4 Operating Procedure 8 51 8 9 5 Related Parameters 8 ...

Page 261: ...n 8 69 8 12 4 Current Gain Level Setting 8 70 8 12 5 Speed Detection Method Selection 8 70 8 12 6 Speed Feedback Filter 8 70 8 12 7 Backlash Compensation 8 71 8 13 Manual Tuning 8 76 8 13 1 Tuning the Servo Gains 8 76 8 13 2 Compatible Adjustment Functions 8 86 8 14 Diagnostic Tools 8 90 8 14 1 Mechanical Analysis 8 90 8 14 2 Easy FFT 8 92 ...

Page 262: ...r for the conditions of your machine The basic tuning procedure is shown in the following flowchart Make suitable adjustments considering the conditions and operating requirements of your machine End Start of Tuning Results acceptable Yes Results acceptable Yes End No No Results acceptable No End Yes End Perform the tuning less function Response acceptable Yes No Perform custom tuning Continuous V...

Page 263: ...position reference input from the host controller while the machine is in operation You can use this function for fine tuning after you perform autotuning without a host reference Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filters Friction compensation Anti resonance control Vibration suppression Position control page 8 34 Custom Tuning The following...

Page 264: ...l Methods Reference Mechanical Analysis The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed as waveforms or numeric data Speed control position control or torque control page 8 90 Easy FFT The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed only as numeric data Speed control position con...

Page 265: ...veform while you adjust the servo gains Check the adjustment results with the following response waveforms Position Control Speed Control Torque Control Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed min 1 mm s Position reference speed min 1 mm s Position deviation Reference units Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed min 1 mm ...

Page 266: ...sition deviation overflow alarm is a protective function that is enabled when the SERVO PACK is used in position control If the alarm level is set to a suitable value the SERVOPACK will detect excessive position devi ation and will stop the Servomotor if the Servomotor operation does not agree with the refer ence The position deviation is the difference between the position reference value and the...

Page 267: ... the tracking capacity of the Servomotor the tracking delay will increase and the position deviation will no longer satisfy the above formulas If this occurs lower the acceleration deceleration rate so that the Servomotor can follow the position reference or increase the position deviation over flow alarm level Related Parameters Related Alarms Related Warnings Pn520 2520 hex Position Deviation Ov...

Page 268: ...low Alarm Level at Servo ON Setting Range Setting Unit Default Setting When Enabled Classification 1 to 1 073 741 823 1 reference unit 5 242 880 Immediately Setup Pn528 2528 hex Position Deviation Overflow Warning Level at Servo ON Setting Range Setting Unit Default Setting When Enabled Classification 10 to 100 1 100 Immediately Setup Pn529 2529 hex Speed Limit Level at Servo ON Setting Range Sett...

Page 269: ...flow Alarm Level at Servo ON 8 11 8 Tuning Related Warnings Warning Number Warning Name Warning Meaning A 901 Position Deviation Overflow Warning at Servo ON This warning occurs if the servo is turned ON while the position deviation exceeds the specified percentage Pn526 Pn528 100 ...

Page 270: ...oment of inertia If that occurs set the tuning less load level to 2 Pn170 n 2 or reduce the Tuning less Rigidity Level Pn170 n X To ensure safety make sure that you can perform an emergency stop at any time when you execute the tuning less function Function Executable Remarks Vibration Detection Level Initialization Moment of Inertia Estimation Disable the tuning less function Pn170 n 0 before you...

Page 271: ...ss function must be enabled Pn170 n 1 The test without a motor function must be disabled Pn00C n 0 Procedure Use the following procedure to set the tuning less levels In addition to the following procedure you can also set the parameters directly Refer to Related Parameters below for the parameters to set 1 Select Setup Response Level Setting from the menu bar of the Main Window of the SigmaWin Th...

Page 272: ...ement the following measures Resonant Sound Decrease the setting of Pn170 n X or the setting of Pn170 n X Excessive Vibration during Position Control Increase the setting of Pn170 n X or decrease the setting of Pn170 n X Response Level Setting Description Remarks 7 Response level High You cannot select these levels if tuning less type 1 or 2 Pn14F n 0 or n 1 is used 6 5 4 default setting 3 2 1 0 R...

Page 273: ...ings of these parameters after you have enabled the tuning less function Item Parameter Name Parameter Number Gain Related Parameters Speed Loop Gain Second Speed Loop Gain Pn100 2100 hex Pn104 2104 hex Speed Loop Integral Time Constant Second Speed Loop Integral Time Constant Pn101 2101 hex Pn105 2105 hex Position Loop Gain Second Position Loop Gain Pn102 2102 hex Pn106 2106 hex Moment of Inertia...

Page 274: ...res that are used these days With moment of inertia esti mation you can get an accurate load moment of inertia simply by operating the motor in the actual system in forward and reverse a few times The motor is operated with the following specifications Maximum speed 1 000 min 1 can be changed Acceleration rate 20 000 min 1 s can be changed Travel distance 2 5 rotations max can be changed 8 5 2 Res...

Page 275: ...nertia and the applicable tool functions 8 5 4 Operating Procedure Use the following procedure to set the moment of inertia ratio 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin Tool Function Operating Procedure Reference SigmaWin Tuning Tuning 8 5 4 Operating Procedure on page 8 17 WARNING Estimating the moment of inertia requires operating the motor and theref...

Page 276: ... 8 5 4 Operating Procedure 8 18 2 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 3 Click the Execute Button 4 Click the Execute Button 5 Set the conditions as required ...

Page 277: ...acceleration rate maximum speed and maximum travel distance and speed loop related parameters Correct measurement of the moment of inertia ratio may not be possible depending on the settings Set suitable settings using the measurement results as reference Reference Selection Area Either select the reference pattern for estimation processing from the box or set the val ues in the Detailed Setting G...

Page 278: ...bled while data is being transferred 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 cancel the transfer before it is completed Click the Next Button to display the Operation Measurement Dialog Box Cancel Button This button cancels processing and returns you to the Tuning Dialog Box 8 Click the Next Button The Oper...

Page 279: ...e Forward Button will be displayed in color 12 Repeat steps 9 to 11 until the Next Button is enabled Measurements are performed from 2 to 7 times and then verified The number of measurements is displayed in upper left corner of the dialog box A progress bar at the bottom of the dialog box will show the progress of the transfer each time 13 When the measurements have been completed click the Servo ...

Page 280: ...rameter is displayed here After you click the Writing Results Button the value that was found with operation and measurements will be displayed as the new setting Back Button This button is disabled Cancel Button This button will return you to the Tuning Dialog Box 16 Confirm that the Identified Moment of Inertia Ratio Box and the Pn103 Moment of Inertia Ratio Box show the same value and then clic...

Page 281: ...on is enabled Pn170 n 1 default setting Disable the tuning less function Pn170 n 0 before you execute autotuning without a host reference If you change the machine load conditions or drive system after you execute autotuning with out a host reference and then you execute autotuning without a host reference with moment of inertia estimation specified use the following parameter settings If you exec...

Page 282: ...inertia estimation mode switching will be disabled and PI control will be used while the moment of inertia is being calculated Mode switching will be enabled after moment of inertia esti mation has been completed When speed feedforward or torque feedforward is input When the positioning completed width Pn522 is too narrow WARNING Autotuning without a host reference requires operating the motor and...

Page 283: ...tions 8 6 4 Operating Procedure Use the following procedure to perform autotuning without a host reference 1 Confirm 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 Dialog Box will be displayed Click the Cancel Button to cancel tuning If you start autotuning...

Page 284: ...ecute Button 5 Select the No Reference Input Option in the Autotuning Area and then click the Auto tuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 Moment of Inertia Ratio Information ...

Page 285: ...rward opera tion from the current position Default settings Rotary Servomotors Approx 3 rotations Linear Servomotors Approx 90 mm Set the distance to the following values or higher To ensure tuning precision we rec ommend that you use approximately the default distance setting Rotary Servomotors 0 5 rotations Linear Servomotors 5 mm Mode Selection Description 1 Standard Standard gain adjustment is...

Page 286: ...8 6 Autotuning without Host Reference 8 6 4 Operating Procedure 8 28 7 Click the Servo ON Button 8 Click the Start tuning Button ...

Page 287: ... host reference 8 6 5 Troubleshooting Problems in Autotuning without a Host Reference The following tables give the causes of and corrections for problems that may occur in autotun ing without a host reference Autotuning without a Host Reference Was Not Performed Possible Cause Corrective Action Main circuit power supply is OFF Turn ON the main circuit power supply An alarm or warning occurred Rem...

Page 288: ...d the vibration sup pression function An error occurred during calculation of the moment of inertia Refer to the following section for troubleshooting information When an Error Occurs during Calculation of Moment of Inertia on page 8 30 Positioning was not completed within approximately 10 sec onds after position adjustment was com pleted The positioning completed width is too narrow or proportion...

Page 289: ...n140 n 0 Do not adjust automatically only if you do not change the settings for vibration suppression before you execute autotuning without a host reference 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 Function When Enabled Classification Pn460 2460 hex n 0 Do not adjust the first stage notch filter a...

Page 290: ...xecution of autotuning without a host reference autotuning with a host refer ence and custom tuning Immediately Tuning n 1 default setting Adjust vibration suppression automatically during execution of autotuning without a host reference autotuning with a host reference and custom tuning Mode Selection Settings Friction Compensation 1 Standard Based on the setting of Pn408 n X Friction Compensatio...

Page 291: ...st Stage Notch Filter Frequency Yes Pn40A 240A hex First Stage Notch Filter Q Value Yes Pn40C 240C hex Second Stage Notch Filter Frequency Yes Pn40D 240D hex Second Stage Notch Filter Q Value Yes Pn140 2140 hex Model Following Control Related Selections Yes Pn141 2141 hex Model Following Control Gain Yes Pn142 2142 hex Model Following Control Gain Correction Yes Pn143 2143 hex Model Following Cont...

Page 292: ...ing section for details on the parameters that are adjusted 8 7 7 Related Parameters on page 8 40 Autotuning with a host reference makes adjustments based on the set speed loop gain Pn100 Therefore precise adjustments cannot be made if there is vibration when adjustments are started Make adjustments after lowering the speed loop gain Pn100 until vibration is eliminated Important CAUTION Because au...

Page 293: ... integration function is used When proportional control is used When mode switching is used When the positioning completed width Pn522 is too narrow Refer to the following sections for details on custom tuning 8 8 Custom Tuning on page 8 41 Preparations Check the following settings before you execute autotuning with a host reference The servo must be in ready status There must be no overtravel The...

Page 294: ... workspace of the Main Window of the Sig maWin 3 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 4 Click the Execute Button 5 Select the Position reference input Option in the Autotuning Area and then click the Autotuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct mome...

Page 295: ...rmed for positioning applications In addition to gain adjustment model following control notch filters anti resonance control and vibration suppression are auto matically adjusted 3 For positioning especially to pre vent overshooting Tuning is performed for positioning applications with emphasis on elimi nating overshooting In addition to gain adjustment notch filters anti resonance control and vi...

Page 296: ...en click the Start tuning Button 10 Confirm safety around moving parts and click the Yes Button The motor will start operating and tuning will be executed Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration When the settings have been completed the indicators for the functions that were used will light at the lower left of the di...

Page 297: ...width may be extended 8 7 6 Automatically Adjusted Function Settings These function settings are the same as for autotuning without a host reference Refer to the following section 8 6 6 Automatically Adjusted Function Settings on page 8 31 Possible Cause Corrective Action Main circuit power supply is OFF Turn ON the main circuit power supply An alarm or warning occurred Remove the cause of the ala...

Page 298: ...ion Gain Correction Yes Pn401 2401 hex First Stage First Torque Reference Filter Time Constant Yes Pn408 2408 hex Torque Related Function Selections Yes Pn409 2409 hex First Stage Notch Filter Frequency Yes Pn40A 240A hex First Stage Notch Filter Q Value Yes Pn40C 240C hex Second Stage Notch Filter Frequency Yes Pn40D 240D hex Second Stage Notch Filter Q Value Yes Pn140 2140 hex Model Following Co...

Page 299: ... and anti resonance control is provided if vibration is detected Manual anti resonance control adjustment is also possible during custom tuning Tuning Mode 2 Setting Servo Gains Giving Priority to Position Control Applications or 3 Setting Servo Gains Giving Priority to Preventing Overshooting in Position Con trol Applications Two tuning levels are manipulated to reduce positioning time even furth...

Page 300: ...ies Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Tuning Tuning 8 8 4 Operating Procedure on page 8 42 WARNING Before you execute custom tuning check the information provided in the SigmaWin oper ating manual Observe the following precautions Make sure that you can perform an emergency stop at any time When custom tuning is started several parameters will be overwritten with...

Page 301: ... Tuning 5 Click the Advanced adjustment Button 6 Click the Custom tuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 Moment of Inertia Ratio Information ...

Page 302: ...oting may occur because pri ority is given to response In addition to gain adjustment notch filters and anti resonance control except during torque control are automatically adjusted 2 Set servo gains for positioning application Tuning is performed for positioning applications In addition to gain adjust ment notch filters anti resonance control and vibration suppression are adjusted 3 Set servo ga...

Page 303: ...ion notch filters automatic anti resonance setting anti resonance control adjustment and autotuning with a host reference as required Refer to the following section for details Vibration Suppression Functions on page 8 46 Tuning Mode 0 or 1 Tuning Mode 2 or 3 Tuning Mode 0 or 1 Increase the tuning level until overshooting occurs Tuning Mode 2 or 3 Increase the feedforward level until overshoot ing...

Page 304: ...o the Tuning Dia log Box This concludes the procedure to set up custom tuning Vibration Suppression Functions Notch Filters and Automatic Anti resonance Setting If the vibration frequency that occurs when you increase the servo gains is at 1 000 Hz or higher notch filters are effective to suppress vibration If the vibration is between 100 Hz and 1 000 Hz anti resonance control is effective ...

Page 305: ...omatic setting function is enabled you can click the Vib Detect Button to manually detect vibration When you click the Vib Detect Button 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 perform manual vibration detection even when the SERVOPACK does not dete...

Page 306: ...reased Tuning is completed if the specifications are met The tuning results are saved in the SERVOPACK If overshooting occurs before the specifications are met pro ceed to step 3 3 Overshooting will be reduced if the feedback level is increased If the overshooting is eliminated proceed to step 4 4 The graph shows overshooting that occurred when the feed forward level was increased even more after ...

Page 307: ... Pn401 2401 hex First Stage First Torque Reference Filter Time Constant Yes Pn408 2408 hex Torque Related Function Selections Yes Pn409 2409 hex First Stage Notch Filter Frequency Yes Pn40A 240A hex First Stage Notch Filter Q Value Yes Pn40C 240C hex Second Stage Notch Filter Frequency Yes Pn40D 240D hex Second Stage Notch Filter Q Value Yes Pn140 2140 hex Model Following Control Related Selection...

Page 308: ...lowing settings before you execute anti resonance control adjustment The tuning less function must be disabled Pn170 n 0 The test without a motor function must be disabled Pn00C n 0 The control method must not be set to torque control The parameters must not be write prohibited CAUTION Related parameters will be set automatically when anti resonance control adjustment is executed This may greatly ...

Page 309: ...lowing precautions Make sure that you can perform an emergency stop at any time Parameters will be set automatically when anti resonance control adjustment is executed This may greatly affect the response before and after execution Make sure that you can perform an emergency stop to turn OFF the power supply at any time Set the moment of inertia correctly before you execute anti resonance control ...

Page 310: ...ustment Button 5 Use the and Buttons in the Adjustment Area to change the settings Click the Reset Button during tuning to restore the setting to its original value The tuning level will return to the value from before when custom tuning was started To Automatically Detect the Vibration Frequency The frequency will be set To Manually Set the Vibration Frequency To Automatically Detect the Vibratio...

Page 311: ... When you use anti resonance control and increase the control gain for some mechanism vibration can occur at a higher frequency than the frequency for which vibration was sup pressed If this occurs you can suppress vibration for more than one frequency by adjusting Pn166 Anti Resonance Damping Gain 2 Parameter Name Automatic Changes Pn160 2160 hex Anti Resonance Control Related Selections Yes Pn16...

Page 312: ...ing Unit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn165 2165 hex Anti Resonance Filter Time Constant 2 Correction Setting Range Setting Unit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn166 2166 hex Anti Resonance Damping Gain 2 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 0...

Page 313: ... detection of vibration frequencies again after adjusting the setting of Pn560 Note As a guideline change the setting 10 at a time If the setting of this parameter is lowered the detection sensitivity will be increased Vibration may not be detected accurately if the setting is too small CAUTION Related parameters will be set automatically when vibration suppression is executed This may greatly aff...

Page 314: ... table lists the tools that you can use to perform vibration suppression and the applicable tool functions 8 10 4 Operating Procedure Use the following procedure to perform vibration suppression 1 Perform steps 1 to 7 of the procedure for custom tuning Refer to the following section for details 8 8 4 Operating Procedure on page 8 42 2 Click the Vib Suppress Button Tool Function Operating Procedure...

Page 315: ...e Set Button again Click the Reset Button during adjustment to restore the setting to its original value The status from before when adjustment was started will be restored Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies If a vibration frequency is not detected pro vide a means of measuring the vibratio...

Page 316: ... input Important Parameter Function When Enabled Classification Pn140 2140 hex n 0 default setting Do not use model following control and speed torque feedforward together Immediately Tuning n 1 Use model following control and speed torque feedforward together When model following control is used with the feedforward function it is used to make optimum feedforward settings in the SERVOPACK Therefo...

Page 317: ...tems for which there is not a suitable range of motion Preparations Check the following items before you set up speed ripple compensation The main circuit power supply must be ON The servo must be OFF There must be no alarms or warnings There must be no hard wire base block HWBB The parameters must not be write prohibited WARNING Speed ripple compensation requires operating the motor and therefore...

Page 318: ...he Main Window of the Sig maWin 2 Select Ripple Compensation in the Menu Dialog Box The Ripple Compensation Dialog Box will be displayed 3 Click the OK Button Tool Function Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator SigmaWin Solutions Ripple Compensation Operating Procedure on page 8 60 1 Click the Cancel Button to cancel ripple compensation Th...

Page 319: ...peed Ripple Compensation 8 11 2 Setting Up Speed Ripple Compensation 8 61 8 Tuning 4 Click the Edit Button 5 Enter the jogging speed in the Input Value Box and click the OK Button 6 Click the Servo ON Button ...

Page 320: ...graph will be displayed in the Ripple Compensation Dialog Box during jogging 8 After speed ripple measurement has been completed click the Write Button The ripple compensation value will be written to the SERVOPACK 9 After writing has been completed click the OK Button If the measurement time i e the jogging time for the speed ripple is too short speed ripple measurement will not be completed The ...

Page 321: ...d reference In speed control mode this may result in the motor moving slightly To prevent this set Pn423 n X Speed Ripple Compensation Selections and Pn427 or Pn49F Speed Ripple Compensation Enable Speed For Rotary Servomotors For Linear Servomotors To discard the setup results click the Reset Button Information Parameter Description When Enabled Classifi cation Pn423 2423 hex n 0 default setting ...

Page 322: ...o warn you You can use any of the following methods to clear A 942 Reset the speed ripple compensation value on the SigmaWin Disable speed ripple compensation Pn423 n 0 Disable detection of A 942 Pn423 n 1 Parameter Description When Enabled Classifi cation Pn423 2423 hex n 0 default setting Detect A 942 alarms After restart Setup n 1 Do not detect A 942 alarms Setting of Pn427 or Pn49F Ripple Comp...

Page 323: ... 8 68 Current Control Mode Selection Position control speed control or torque control page 8 69 Current Gain Level Setting Position control or speed control page 8 70 Speed Detection Method Selection Position control speed control or torque control page 8 70 Backlash Compensation Position Control page 8 71 Parameter Function When Enabled Classification Pn139 2139 hex n 0 default setting Disable au...

Page 324: ...witching When Enabled Classification Pn139 2139 hex n 0 default setting COIN Positioning Com pletion signal ON Gain settings 1 used Immediately Tuning n 1 COIN Positioning Com pletion signal OFF Gain settings 2 used n 2 NEAR Near signal ON Gain settings 1 used n 3 NEAR Near signal OFF Gain settings 2 used n 4 Position reference filter output is 0 and position reference input is OFF Gain settings 1...

Page 325: ...ault Setting When Enabled Classification 15 to 51 200 0 01 ms 2 000 Immediately Tuning Pn106 2106 hex Second Position Loop Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 400 Immediately Tuning Pn412 2412 hex First Stage Second Torque Reference Filter Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 0 01...

Page 326: ...08 hex n 0 default setting Disable friction compensation Immediately Setup n 1 Enable friction compensation Pn121 2121 hex Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1 000 1 100 Immediately Tuning Pn122 2122 hex Second Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1 000 1 100 Imme...

Page 327: ...rs Pn121 Friction Compensation Gain and Pn122 Second Friction Compensation Gain These parameters set the response to external disturbances The higher the setting is the better the response will be If the machine has a resonance frequency however vibration may occur if the setting is too high Pn123 Friction Compensation Coefficient This parameter sets the effect of friction compensation The higher ...

Page 328: ...g motor when the linear encoder scale pitch is large 8 12 6 Speed Feedback Filter You can set a first order lag filter for the speed feedback in the speed loop This ensures smooth changes in the feedback speed to reduce vibration If a large value is set it will increase the delay and make response slower Pn13D 213D hex Current Gain Level Setting Range Setting Unit Default Setting When Enabled Clas...

Page 329: ...the direction in which to apply backlash compensation Backlash Compensation Value Set the amount of backlash compensation to add to the position reference The amount is set in increments of 0 1 reference unit However when the amount is converted to encoder pulses it is rounded off at the decimal point Parameter Meaning When Enabled Classification Pn230 2230 hex n 0 default setting Compensate forwa...

Page 330: ...n the monitor information so it is not necessary for the host controller to consider the backlash compensation value The backlash compensation value is restricted by the following formula Backlash compensa tion is not performed if this condition is not met Refer to the following section for the encoder resolution 5 14 Setting Unit Systems on page 5 42 With fully closed loop control substitute the ...

Page 331: ...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 Position 2 to Target Position 1 CAUTION The encoder divided pulse output will output the number of encoder pulses for which driv ing was actually performed including the backlash compensation value If you ...

Page 332: ...ition control is changed to any other control method Backlash compensation is applied in the same way as when the servo is ON Operation When the Servo Is ON on page 8 73 if any other control method is changed to position con trol Related Monitoring You can monitor the following values on the operation monitor of the SigmaWin Displayed Value Unit Specification Input Reference Pulse Speed min 1 Disp...

Page 333: ...Reference pulse counter Position reference E Target position 607A hex Deviation counter E Following error actual value 60F4 hex E Position demand value 6062 hex Latch signal A T Position reference speed Output signal processing A O T Positioning completion A T Completionofpositionreferencedistribution U Position deviation O T Near A T Speed feedforward A T Position amplifier deviation U Feedback p...

Page 334: ...ERVOPACK to increase the response characteristic of the SERVOPACK For example you can reduce the positioning time for posi tion control Use manual tuning in the following cases When tuning with autotuning without a host reference or autotuning with a host reference does not achieve the desired results When you want to increase the servo gains higher than the gains that resulted from autotun ing wi...

Page 335: ...y cannot increase the position loop gain higher than the inherit vibration frequency of the machine system There fore to increase the setting of the position loop gain you must increase the rigidity of the machine to increase the inherit vibration frequency of the machine Step Description 1 Adjust the first stage first torque reference filter time constant Pn401 so that vibration does not occur 2 ...

Page 336: ...ng For machines for which a high position loop gain Pn102 cannot be set overflow alarms can occur during high speed operation If that is the case you can increase the setting of the fol lowing parameter to increase the level for alarm detection Use the following condition as a guideline for determining the setting If you use a position reference filter transient deviation will increase due to the ...

Page 337: ...cribes the notch filter Q value and notch filter depth Notch filter Q Value The setting of the notch filter Q value determines the width of the frequencies that are filtered for the notch filter 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 frequen cies that are filtered is Pn401 ...

Page 338: ...erent notch filter depths are shown below Note The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics You can enable or disable the notch filter with Pn408 Set the machine vibration frequencies in the notch filter parameters Parameter Meaning When Enabled Classification Pn408 2408 hex n 0 default setting Disable first stage ...

Page 339: ...etting Unit Default Setting When Enabled Classification 50 to 5 000 1 Hz 5 000 Immediately Tuning Pn41B 241B hex Fourth Stage Notch Filter Q Value Setting Range Setting Unit Default Setting When Enabled Classification 50 to 1 000 0 01 70 Immediately Tuning Pn41C 241C hex Fourth Stage Notch Filter Depth Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 0 001 0 Immedi...

Page 340: ...ding on the machine conditions overshooting and vibration may occur and operation may not be stable If the critical gain condition expressions are not met operation will become more unstable and there is a risk of abnormal motor shaft vibration and round trip operation with a large amplitude Always stay within the critical gain conditions If you use the torque reference filter second torque refere...

Page 341: ...he manual For example with Speed Loop Gain Pn100 Pn100 40 0 is used to indicate a setting of 40 0 Hz In the following adjusted value guidelines the decimal places are also given Model Following Control You can use model following control to improve response characteristic and shorten position ing time You can use model following control only with position control Normally the parameters that are u...

Page 342: ... Control on page 8 77 Note 1 Set the moment of inertia ratio Pn103 as accurately as possible 2 Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loop gain Pn102 Guidelines for Manually Tuning Servo Gains on page 8 82 3 Increase the model following control gain Pn141 as much as possible within the range in which overshooting and vibration do not occu...

Page 343: ...wing Control Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 500 Immediately Tuning For machines for which a high model following control gain cannot be set the size of the position deviation in model following control will be determined by the set ting of the model following control gain For a machine with low rigidity in which a high model following...

Page 344: ...nt results These functions allow you to use the same functions as for Σ III Series SERVOPACKs to adjust Σ 7 Series SERVOPACKs Feedforward The feedforward function applies feedforward compensation to position control to shorten the positioning time Note If you set the feedforward value too high the machine may vibrate As a guideline use a setting of 80 or less Pn147 2147 hex Model Following Control...

Page 345: ...e the accelera tion reference as the condition Pn10E 210E hex Pn182 2182 hex n 3 Use the position deviation as the condition Pn10F 210F hex n 4 Do not use mode switching Pn10C 210C hex Mode Switching Level for Torque Reference Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 200 Immediately Tuning Pn10D 210D hex Mode Switching Level for Speed Reference Setting Rang...

Page 346: ...C 210C hex Mode Switching Level for Force Reference Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 200 Immediately Tuning Pn181 2181 hex Mode Switching Level for Speed Reference Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 mm s 0 Immediately Tuning Pn182 2182 hex Mode Switching Level for Acceleration Setting Range Setting U...

Page 347: ... the value set for the mode switching level for position deviation Pn10F the speed loop is changed to P control This setting is enabled only for position control Position Integral The position integral is the integral function of the position loop This parameter is effective for electronic cams and electronic shafts Pn11F 211F hex Position Integral Time Constant Setting Range Setting Unit Default ...

Page 348: ... servo tuning and as reference for considering changes to the machine The performance of the servo cannot be completely utilized depend ing on the rigidity of the machine You may need to consider making changes to the machine The information can also be used as reference for servo tuning to help you adjust parameters such as the servo rigidity and torque filter time constant You can also use the i...

Page 349: ...e machine to which the torque is applied and the phase delay phase in the response for each frequency Also the machine resonance frequency can be determined from the maximum frequency of the valleys anti resonance and peaks resonance of the gain and the phase delay For a motor without a load or for a rigid mechanism the gain and phase change gradually in the bode plots Toolbar START Button Click t...

Page 350: ...ibility with previous products Normally use autotuning without a host reference for tuning Preparations Check the following settings before you execute Easy FFT The parameters must not be write prohibited The main circuit power supply must be ON The test without a motor function must be disabled Pn00C n 0 There must be no alarms There must be no hard wire base block HWBB The servo must be OFF Ther...

Page 351: ...ervo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Easy FFT in the Menu Dialog Box The Easy FFT Dialog Box will be displayed Click the Cancel Button to cancel Easy FFT You will return to the main window 3 Click the OK Button Another Easy FFT Dialog Box will be displayed 4 Click the Servo ON Button ...

Page 352: ...rection in the Measure ment condition Area and then click the Start Button The motor shaft will rotate and measurements will start When measurements have been completed the measurement results will be displayed 6 Check the results in the Measurement result Area and then click the Measurement complete Button ...

Page 353: ...e settings of these parameters during execution of Easy FFT Yes The parameter is automatically set No The parameter is not automatically set but the setting is read during execution Parameter Name Automatic Changes Pn408 2408 hex Torque Related Function Selections Yes Pn409 2409 hex First Stage Notch Filter Frequency Yes Pn40A 240A hex First Stage Notch Filter Q Value No Pn40C 240C hex Second Stag...

Page 354: ...oring Status and Operations 9 3 9 2 3 I O Signal Monitor 9 5 9 3 Monitoring Machine Operation Status and Signal Waveforms 9 6 9 3 1 Items That You Can Monitor 9 6 9 3 2 Using the SigmaWin 9 7 9 3 3 Using a Measuring Instrument 9 9 9 4 Monitoring Product Life 9 13 9 4 1 Items That You Can Monitor 9 13 9 4 2 Operating Procedure 9 14 9 4 3 Preventative Maintenance 9 15 9 5 Alarm Tracing 9 16 9 5 1 Da...

Page 355: ...d Monitor Items Information on SERVOPACKs Model Type Serial Number Manufacturing Date Software version SW Ver Remarks Information on Servomotors Model Type Serial Number Manufacturing Date Remarks Information on Encoders Model Type Serial Number Manufacturing Date Software version SW Ver Remarks With the Digital Operator you can use Fn011 Fn012 and Fn01E to monitor this information Refer to the fo...

Page 356: ...oment of Inertia Identi fication Polarity Detection in Progress Completion of Polarity Detection Ripple Compensation in Progress Input Signal Status P CON Proportional Control Input Signal P OT Forward Drive Prohibit Input Signal N OT Reverse Drive Prohibit Input Signal P CL Forward External Torque Limit Signal N CL Reverse External Torque Limit Signal ALM RST Alarm Reset Input Signal Probe1 Probe...

Page 357: ...ounter Total Operating Time Current Backlash Compensation Value Backlash Compensation Value Setting Limit Position Amplifier Deviation Feedback Position APOS Current Reference Position CPOS Position Deviation PERR Target Position TPOS Latched Position 1 LPOS1 Latched Position 2 LPOS2 Latched Position 3 LPOS3 Target Speed TSPD Feedback Speed FSPD Current Position Command Speed CSPD Torque Limit TRQ...

Page 358: ... Button You can also use the above window to check wiring Checking Input Signal Wiring Change the signal status at the host controller If the input signal status on the window changes accordingly then the wiring is correct Checking Output Signal Wiring Click the Force Output Mode Button This will force the output signal status to change If the signal status at the host controller changes according...

Page 359: ...p Electronic gear Motor speed Electronic gear Deviation counter Motor load position deviation Fully closed Speed conversion Deviation counter Completion of position reference distribution Positioningcompletion Position deviation Deviation counter Speed loop Speed conversion External encoder speed Current loop Load External encoder Electronic gear Backlash compen sation Torque feedforward Torque re...

Page 360: ...e Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Trace in the Menu Dialog Box The Trace Dialog Box will be displayed Trace Objects You can trace the following items Data Tracing Trace Objects Torque Reference Feedback Speed Reference Speed Position Reference Speed Position Error Deviation Position Amplifier Error Deviation Motor Load Position Deviation Speed Feedf...

Page 361: ...t Signals ALM Servo Alarm Output Signal COIN Positioning Completion Output Signal V CMP Speed Coincidence Detection Output Signal TGON Rotation Detection Output Sig nal S RDY Servo Ready Output Signal CLT Torque Limit Detection Output Sig nal VLT Speed Limit Detection Output Sig nal BK Brake Output Signal WARN Warning Output Signal NEAR Near Output Signal PAO Encoder Divided Pulse Output Phase A S...

Page 362: ...1 Speed Reference Rotary Servomotor 1 V 1 000 min 1 Linear Servomotor 1 V 1 000 mm s n 02 default setting of Pn006 2006 hex Torque Reference 1 V 100 rated torque n 03 Position Deviation 0 05 V Reference unit 0 V for speed or torque control n 04 Position Amplifier Devi ation 0 05 V encoder pulse unit Position deviation after electronic gear conversion n 05 Position Command Speed Rotary Servomotor 1...

Page 363: ... Default Setting When Enabled Classification 10 000 to 10 000 0 1 V 0 Immediately Setup Pn552 2552 hex Analog Monitor 1 Magnification Setting Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 01 100 Immediately Setup Pn553 2553 hex Analog Monitor 2 Magnification Setting Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 01 100 Immediat...

Page 364: ...nt Value to 125 100 125 0 4 150 Therefore the monitor output voltage goes to 150 of the original value The adjustment values do not use parameters so they will not change even if the parame ter settings are initialized Adjust the offset with the measuring instrument connected so that the analog monitor out put value goes to zero The following setting example achieves a zero output While power is n...

Page 365: ...Adjust the Analog Monitor Output Dialog Box will be displayed 3 Click the Zero Adjustment or Gain Adjustment Tab 4 While watching the analog monitor use the 1 and 1 Buttons to adjust the offset There are two channels CH1 and CH2 If necessary click the down arrow on the Channel Box and select the channel This concludes adjusting the analog monitor output Tool Function Operating Procedure Reference ...

Page 366: ... supply is turned ON and each time the servo is turned OFF Use a monitor value of 0 as a guideline for the replacement period Refer to the following section for part replace ment guidelines 15 1 2 Guidelines for Part Replacement on page 15 2 Surge Prevention Circuit Ser vice Life Prediction The unused status of the SERVOPACK is treated as the 100 value The value decreases each time the main circui...

Page 367: ... Drive Button in the workspace 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 monitor this information Information A value of 100 indicates that the SERVOPACK has not yet been used The percentage decreases as the SERVOPACK is used and reaches 0 when it is time to ...

Page 368: ...ilt in fan life capacitor life inrush current limiting circuit life dynamic brake circuit life and built in brake relay life The PM Pre ventative Maintenance Output signal must be allocated Even if detection of preventive maintenance warnings is disabled Pn00F n 0 the PM signal will still be output as long as it is allocated Note You must allocate the PM signal to use it Use Pn514 n X PM Preventat...

Page 369: ...Alarms that occur when the power supply is turned ON are not recorded Alarms that occur during the recording of alarm trace data are not recorded Alarms that occur while utility functions are being executed are not recorded Information Numeric Data ON OFF Data Torque reference ALM Feedback speed Servo ON command S ON Reference speed Proportional control command P CON Position command speed Forward...

Page 370: ...ction 10 6 10 3 3 Setting the Number of External Encoder Scale Pitches 10 6 10 3 4 Setting the PAO PBO and PCO Encoder Divided Pulse Output Signals 10 7 10 3 5 External Absolute Encoder Data Reception Sequence 10 8 10 3 6 Setting Unit Systems 10 8 10 3 7 Alarm Detection Settings 10 8 10 3 8 Analog Monitor Signal Settings 10 9 10 3 9 Setting to Use an External Encoder for Speed Feedback 10 9 10 4 M...

Page 371: ... cause vibration or oscillation resulting in unstable positioning The following figure shows an example of the system configuration The connected devices and cables depend on the type of external linear encoder that is used Note Refer to the following section for details on connections that are not shown above such as connections to power supplies and peripheral devices 2 4 Examples of Standard Co...

Page 372: ...t 2701 hex Pn50A Pn50B Pn511 and Pn516 Input Signal Selections Pn50E Pn50F Pn510 and Pn514 Output Sig nal Selections SERVO PACK or host con troller 2 Check operation with the Servomotor connected to the machine with semi closed loop control Items to Check Initial response of the system connected to the machine Movement direction travel distance and movement speed as specified by the refer ences fr...

Page 373: ...ogram jog ging start from a low speed and gradually increase the speed Pn530 to Pn536 program jogging related parame ters SERVO PACK 5 Operate the SERVO PACK Items to Check Does the fully closed system operate correctly including the host con troller Input a position reference and con firm that the SERVOPACK oper ates correctly Start from a low speed and gradu ally increase the speed Host con trol...

Page 374: ...0 6 Pn002 2002 hex n X External encoder usage method Pn20A 220A hex Number of external scale pitches page 10 6 Pn281 2281 hex Encoder divided pulse output signals PAO PBO and PCO from the SERVO PACK page 10 7 External absolute encoder data reception sequence page 6 42 Position User Unit 2701 hex Electronic gear ratio page 5 42 Pn51B 251B hex Excessive deviation level between Servo motor and load p...

Page 375: ...ence direction Forward reference Reverse reference Forward reference Reverse reference Motor direction CCW CW CCW CW External encoder Forward movement Reverse movement Reverse movement Forward movement n 1 Reference direction Forward reference Reverse reference Forward reference Reverse reference Motor direction CW CCW CW CCW External encoder Reverse movement Forward movement Forward movement Reve...

Page 376: ...ing would be 40 The encoder divided pulse output would have the following waveform if the setting is 20 indicates the edge positions In this example the set value is 20 and therefore the number of edges is 20 Note The upper limit of the encoder signal output frequency multiplied by 4 is 6 4 Mpps Do not set a value that would cause the output to exceed 6 4 Mpps If the output exceeds the upper limit...

Page 377: ...tion of the motor encoder and the feedback load position of the external encoder for fully closed loop control If the detected difference exceeds the setting an A d10 alarm Motor Load Position Error Over flow will be output Note If you set this parameter to 0 A d10 alarms will not be output and the machine may be damaged Pn52A Multiplier per One Fully closed Rotation Set the coefficient of the dev...

Page 378: ...t to n 0 Do not use external encoder Pn52A 252A hex Multiplier per One Fully closed Rotation Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100 1 20 Immediately Setup Pn52A 0 Pn52A 100 Pn52A 20 Deviation between motor and external encoder Large Motor speed 4th rotation 3rd rotation 1st rotation 2nd rotation Small Position Parameter Name Meaning When Enabled Classifi ca...

Page 379: ...nstallation Guide Fully closed Module Manual No TOBP C720829 03 Note You cannot use a Safety Module SGDV OSA01A if you install a Fully closed Module 10 4 2 Related Parameters The parameter that is used to monitor the external encoder as the current value of the machine is given below Set Pn002 to n 0 Do not use external encoder if you will not use fully closed loop con trol 10 4 3 Block Diagrams A...

Page 380: ... code 605A hex Controlword 6040 hex Position control Position demand internal value 60FC hex Following error window comparator Position user unit 2701 hex 2 2701 hex 1 Velocity user unit 2702 hex 2 2702 hex 1 Position reached window comparator Position user unit 2701 hex 2 2701 hex 1 Position window time 6068 hex Following window time out 6066 hex Position actual value 6064 hex Velocity actual val...

Page 381: ...rrors in HWBB Signal 11 7 11 2 6 HWBB Input Signal Specifications 11 8 11 2 7 Operation without a Host Controller 11 8 11 2 8 S RDY Servo Ready Output Signal 11 9 11 2 9 BK Brake Output Signal 11 9 11 2 10 Stopping Methods 11 10 11 2 11 ALM Servo Alarm Signal 11 10 11 3 EDM1 External Device Monitor 11 11 11 3 1 EDM1 Output Signal Specifications 11 11 11 4 Applications Examples for Safety Functions...

Page 382: ...ule optional must be connected to use this function Refer to the following manual for application procedures Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide Safety Module Manual No SIEP C720829 06 Refer to the following section for information on the safety function and safety parameters Compliance with UL Standards EU Directives and Other Safety Standards on page xxi...

Page 383: ...vement of the motor will not result in a hazardous condition Incorrect use of the safety function may cause injury The dynamic brake and the brake signal are not safety related elements You must design the system so that SERVOPACK failures will not cause a hazardous condition while the HWBB function is operating Incorrect use of the safety function may cause injury Connect devices that satisfy the...

Page 384: ... the EDM1 signal must be mon itored by the host controller If the EDM1 signal is not monitored by the host controller the level will be safety performance level c Plc and SIL1 The following hazards exist even when the HWBB is operating These hazards must be included in the risk assessment The Servomotor will move if an external force is applied to it for example gravity on a vertical axis Implemen...

Page 385: ... Wire 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 Statusword 6041 hex Controlword 6040 hex Disable Operation Enable Operation 0 1 Digital inputs 60FD hex bits 24 and 25 0 1 Statusword 6041 hex bit 15 Switched on Switched on Disabled Operation enabled St...

Page 386: ... ON Send the Shutdown command to place the SERVOPACK in the BB state and then send the Servo ON command Enable Operation command Note If the SERVOPACK is placed in the BB state while the main circuit power supply is OFF the HWBB state will be maintained until the Shutdown command is received Controlword 6040 hex Statusword 6041 hex Ready to Switch on Operation enabled Shutdown 0 0 1 Switch on Enab...

Page 387: ...l Operator Operating Manual Manual No SIEP S800001 33 Recovery Procedure 1 Specify Shutdown in controlword 6040 hex bits 0 to 3 to reset the Servo Drive 2 Specify Switch ON and the Servo ON command Enable Operation command in con trolword 6040 hex bits 0 to 3 Power will be supplied to the motor 11 2 5 Detecting Errors in HWBB Signal If only the HWBB1 or the HWBB2 signal is input an A Eb1 alarm Saf...

Page 388: ...execution of the following functions leave the execution mode for the function and then enter it again to restart operation Operation will not be restarted simply by turning OFF the HWBB1 and HWBB2 signals HWBB1 HWBB2 8 ms max ON normal operation OFF motor current shut OFF request HWBB state SERVOPACK Status Normal operating status Applicable Functions Resetting the HWBB State Jogging Origin searc...

Page 389: ...at time the setting in Pn506 Brake Reference Servo OFF Delay Time will be disabled Therefore the Servomotor may be moved by external force until the actual brake becomes effective after the BK signal turns OFF Controlword 6040 hex Enable Operation Shutdown HWBB1 HWBB2 OFF ON normal operation SERVOPACK Status S RDY Servo Ready Output Signal Operating Status ON HWBB state BB state ON OFF motor curre...

Page 390: ...Alarm signal is not output in the HWBB state CAUTION The dynamic brake is not a safety related element You must design the system so that a hazardous condition does not occur even if the Servomotor coasts to a stop in the HWBB state Normally we recommend that you use a sequence that returns to the HWBB state after stopping for a reference If the application frequently uses the HWBB stopping with t...

Page 391: ... The relationship between the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 signal circuit can be achieved by using the four status of the EDM1 signal in the following table A failure can be detected by checking the failure status e g when the power supply is turned ON 11 3 1 EDM1 Output Signal Specifications If an HWBB is requested by turning OFF the two HWBB input...

Page 392: ...tput Connect the EDM1 so that the current flows from EMD1 to EMD1 11 4 2 Failure Detection Method If a failure occurs e g the HWBB1 or the HWBB2 signal remains ON the Safety Unit is not reset when the guard is closed because the EDM1 signal remains OFF Therefore starting is not possible and a failure is detected In this case the following must be considered an error in the external device disconne...

Page 393: ...s operating a stop command is received from the host controller the motor stops and the servo is turned OFF The guard is opened The worker leaves the guarded area after completing work The guard is closed Send the Servo ON command Enable Operation command from the host controller The HWBB1 and HWBB2 signals turn OFF and the HWBB operates Working inside the guard is enabled ...

Page 394: ...and that the Servomotor does not operate Monitor the ON OFF status of the HWBB1 and HWBB2 signals If the ON OFF status of the signals do not coincide with the display the following must be considered an error in the external device disconnection of the external wiring short circuit ing in the external wiring or a failure in the SERVOPACK Find the cause and correct the problem Refer to the followin...

Page 395: ...ector for the safety function device CN8 Note If you do not connect a safety function device leave the Safety Jumper Connector connected to the connec tor for the safety function device CN8 If the SERVOPACK is used without the Safety Jumper Connector connected to CN8 no current will be supplied to the Servomotor and no motor torque will be output In this case Hbb will be displayed on the Digital O...

Page 396: ...ons Settings 12 5 12 3 1 Normal Device Recognition Process at Startup 12 5 12 3 2 Application Example 12 5 12 3 3 Device Recognition with Station Aliases 12 5 12 4 PDO Mappings 12 6 12 4 1 Setting Procedure for PDO Mappings 12 7 12 4 2 Default PDO Mappings 12 7 12 5 Synchronization with Distributed Clocks 12 8 12 6 Emergency Messages 12 11 EtherCAT Communications 12 ...

Page 397: ...e information files XML format to configure the EtherCAT master The XML file contains general information on EtherCAT communications settings that are related to the SERVOPACK settings The following file is provided for the SERVOPACK SERVOPACK File Name SGD7S DA0 Yaskawa_SGD7S xxxDA0xxxxF64 xml ...

Page 398: ...initialized correctly PRE OPERATIONAL PREOP Mailbox communications are possible Process data communications are not possible PREOP SAFEOP The master sets the Sync Manager channels and FMMU channels for process data The master uses SDOs to set the PDO mappings and the Sync Manager PDO Assignment parameters The master requests the Safe Operational state The slaves check whether the Sync Manager chan...

Page 399: ...ommunications through the EtherCAT data link layer the FMMUs and Sync Managers must be set as follows Sync Manager Assignment Fixed Size Start Address Fixed Sync Manager 0 Assigned to Receive Mailbox 128 bytes fixed 0x1000 Sync Manager 1 Assigned to Transmit Mailbox 128 bytes fixed 0x1080 Sync Manager 2 Assigned to Receive PDOs 0 to 256 bytes 0 to 200 bytes 0x1100 Sync Manager 3 Assigned to Transm...

Page 400: ...etwork topologies 12 3 2 Application Example With a machining center there may be two identical drives for operation in the X and Y direc tions When a device is replaced there is a chance that the cable may be connected in the wrong order To prevent the drives from receiving incorrect process data you can use station aliases to use explicit addresses for the drives 12 3 3 Device Recognition with S...

Page 401: ...e PDOs and the Sync Managers The following figure shows an example of a Sync Manager and the PDO mappings CAUTION The PDO mapping objects indexes 1600 hex to 1603 hex and 1A00 hex to 1A03 hex and the Sync Manager PDO assignment objects index 1C12 hex and 1C13 hex can be written only in Pre Operation state Object Dictionary Index Subindex Object Contents 0x1A00 1 2 3 8 8 16 0x1A00 0x1A00 0x6TTT 0x6...

Page 402: ... file XML format 1st PDO Mapping Position Velocity Torque Torque Limit and Touch Probe 2nd PDO Mapping Cyclic Synchronous Position Default PDO Assignments 3rd PDO Mapping Cyclic Synchronous Velocity 4th PDO Mapping Cyclic Synchronous Torque RxPDO 1600 hex Controlword 6040 hex Target position 607A hex Target velocity 60FF hex Target torque 6071 hex Maxtorque 6072 hex Mode of operation 6060 hex Padd...

Page 403: ...egisters 0x980 and 0x981 Free Run ESC register 0x980 0x0000 In Free Run mode the local cycle is independent from the communications cycle and master cycle DC Mode ESC register 0x980 0x0300 In this mode the SERVOPACK is synchronized with the host controller master on the Sync0 event The following figure gives a timing chart for DC synchronization Frame U S0 Frame U S0 S0 Master application task Mas...

Page 404: ... UDINT 125 000 ns fixed The time between the Sync0 event and Outputs Valid i e the time from Sync0 until the output data is input to the SER VOPACK 6 Calc and copy time RO No UDINT 62 500 ns fixed The time from the Sync0 event until the output data from Sync Manager 2 is read 1C33 hex Sync manager channel 3 synchronization 3 Shift time RW No UDINT 125 000 n n 1 to 32 ns Range 0 to Sync0 event cycl...

Page 405: ...Master user shift time Calc and copy time 62 μs Cycle time 1C32 hex 02 1 ms Cycle time 1 ms Input delay 500 μs Sync0 shift time Shift time 1C33 hex 03 500 μs Frame Frame Sync0 event Sync0 event Sync0 event Frame U S0 Frame U U S0 S0 Master application task Master application task Master application task S0 Calc and copy time 62 μs Inputs Latch Output delay 125 μs Outputs Valid Sync0 event Sync0 ev...

Page 406: ...es of data as shown in the following table 1 The manufacturer specific error code is always FF00 hex 2 For details on SERVOPACK alarms and warnings refer to the following sections 15 2 2 Troubleshooting Alarms on page 15 11 15 3 2 Troubleshooting Warnings on page 15 46 Byte 0 1 2 3 4 5 6 7 Descrip tion Emergency error code FF00 hex 1 Error reg ister object 1001 hex Reserved Manufacturer specific e...

Page 407: ...3 1 Profile Position Mode 13 6 13 3 2 Interpolated Position Mode 13 9 13 3 3 Cyclic Synchronous Position Mode 13 12 13 4 Homing 13 14 13 4 1 Related Objects 13 14 13 4 2 Homing Method 6098 Hex 13 14 13 5 Velocity Control Modes 13 17 13 5 1 Profile Velocity Mode 13 17 13 5 2 Cyclic Synchronous Velocity Mode 13 18 13 6 Torque Control Modes 13 19 13 6 1 Profile Torque Mode 13 19 13 6 2 Cyclic Sync To...

Page 408: ...13 8 Digital I O Signals 13 22 13 9 Touch Probe 13 23 13 9 1 Related Objects 13 23 13 9 2 Example of Execution Procedure for a Touch Probe 13 24 13 10 Fully Closed Loop Control 13 25 ...

Page 409: ...ignal was input Note 1 The states are shown in white boxes 2 STW indicates the statusword 6041 hex 3 ___________ Underlines indicate control commands in the controlword 6040 hex Not Ready to Switch ON STW xxxx xxxx x0xx 0000 Switch ON Disabled STW xxxx xxxx x1xx 0000 Ready to Switch ON STW xxxx xxxx x01x 0001 Switched ON STW xxxx xx1x x011 0011 Operation Enabled STW xxxx xx1x x011 0111 Quick Stop ...

Page 410: ...r to the following section for details 14 6 Device Control on page 14 21 1 Switched ON 2 Operation Enabled 3 Fault 4 Voltage Enabled 5 Quick Stop 6 Switch ON Disabled 7 Warning 8 Active Mode Stop 9 Remote 10 Target Reached 11 Internal Limit Active 12 Operation Mode Specific 13 14 Torque Limit Active 15 Safety Active Index Subindex Name Access PDO Mapping Unit Data Type 6040 hex 0 Controlword RW Ye...

Page 411: ... Data Type 6060 hex 0 Modes of operation RW Yes SINT 6061 hex 0 Modes of operation display RO Yes SINT 6502 hex 0 Supported drive modes RO No UDINT New Operation Mode Operation When Operation Mode Is Changed Profile Position Mode Controlword bit 4 0 The motor is stopped in the current position control mode Controlword bit 4 1 A new positioning operation is started immediately Homing Mode Controlwo...

Page 412: ...701 hex 2 Position trajectory generator Target position 607A hex Software position limit 607D hex Velocity limit function Velocity user unit 2702 hex 1 2702 hex 2 Profile velocity 6081 hex Max profile velocity 607F hex Acceleration limit function Acceleration user unit 2703 hex 1 2703 hex 2 Profile acceleration 6083 hex Quick stop deceleration 6085 hex Profile deceleration 6084 hex Pos unit Vel un...

Page 413: ...Bit in Controlword Is 0 When a new command is input in the New Set Point bit bit 4 in controlword during position ing positioning for the new command is started as soon as the current positioning operation is completed The dotted line in the following figure shows the actual speed if the Change of Set Point bit bit 9 is set to 1 Motor speed New Set Point bit 4 Set Point Acknowledge bit 12 Target R...

Page 414: ...hex do so either while positioning is stopped or while positioning at a constant speed 2 Set the S curve acceleration deceleration time in Profile jerk 60A4 hex Taj Taj Tdj Tdj Tdec Tacc Profile velocity 6081 hex Time Speed Acceleration time Tacc Profile velocity 6081 hex Profile acceleration 6083 hex S curve acceleration time Taj Tacc Profile jerk 60A4 hex Deceleration time Tdec Profile velocity ...

Page 415: ...n Position user unit 2701hex 1 2701hex 2 Software position limit 607D hex Acceleration user unit 2703hex 1 2703hex 2 Quick stop deceleration 6085 hex or profile deceleration 6084 hex Pos unit Acc unit inc Quick stop option code 605A hex Controlword 6040 hex Interpolation data 60C1 hex Input buffer Interpolation time Period 60C2 hex Motor Encoder 104 inc s2 Position trajectory generator Position de...

Page 416: ...x Following error in statusword 6041 hex Following error window 6065 hex Following error actual value 60F4 hex Following error window comparator Position reached window comparator Position window time 6068 hex Following window time out 6066 hex Position demand value 6062 hex Position user unit 2701hex 1 2701hex 2 Velocity user unit 2702hex 1 2702hex 2 Position user unit 2701 hex 1 2701 hex 2 Outpu...

Page 417: ... data record RO No USINT 6 Buffer clear RO No USINT 7 Position data definition RW Yes USINT 8 Position data polarity RW Yes USINT 9 Behavior after reaching buffer position RW Yes USINT 2732 hex 0 Interpolation profile select RW Yes USINT 27C0 hex 1 254 Interpolation data record for 1st profile RW No Pos unit DINT 27C1 hex 1 254 Interpolation data record for 2nd profile RW No Pos unit DINT 2741 hex...

Page 418: ...tor Target position 607A hex Software position limit 607D hex Velocity user unit 2702 hex 1 2702 hex 2 Quick stop deceleration 6085 hex Pos unit Vel unit Quick stop option code 605A hex or profile deceleration 6084 hex Interpolation time period 60C2 hex Velocity offset 60B1 hex Torque offset 60B2 hex Position limit function 104 inc s2 inc s inc Position user unit 2701 hex 1 2701 hex 2 Acceleration...

Page 419: ...le 60B1 hex 0 Velocity offset RW Yes Vel unit DINT 60B2 hex 0 Torque offset RW Yes Trq unit INT 60C2 hex Interpolation time period 1 Interpolation time period value RO No USINT 2 Interpolation time index RO No SINT Continued from previous page Index Subindex Name Access PDO Mapping Unit Data Type ...

Page 420: ...d value 6062 hex Index Subindex Name Access PDO Mapping Unit Data Type 6040 hex 0 Controlword RW Yes UINT 6041 hex 0 Statusword RO Yes UINT 607C hex 0 Home offset RW No Pos unit DINT 6098 hex 0 Homing method RW Yes SINT 6099 hex Homing speeds 1 Speed during search for switch RW Yes Vel unit UDINT 2 Speed during search for zero RW Yes Vel unit UDINT 609A hex 0 Homing acceleration RW Yes Acc unit UD...

Page 421: ...ng direction depends on the required edge The home position will be the index pulse on either the rising or falling edge side of the Home signal If the initial movement direction is away from the Home signal the motor will reverse direction when the limit switch in the movement direc tion is input 11 to 14 Homing with the home switch input Home signal and index pulse and starting in the negative d...

Page 422: ...e as method 12 except that the home position does not depend on the index pulse Here it depends only on changes in the relevant Home signal or limit switch 33 34 Homing with the index pulse 35 Homing with the cur rent position With this method the current position is defined as the home position You can execute this method even if the Servo Drive is not in the Opera tion Enabled state Note The ind...

Page 423: ...it 2702hex 1 2702hex 2 Target velocity 60FF hex Max profile velocity 607F hex Acceleration limit function Acceleration user unit 2703hex 1 2703hex 2 Profile acceleration 6083 hex Quick stop deceleration 6085 hex Profile deceleration 6084 hex Vel unit Acc unit inc s 104 inc s2 Quick stop option code 605A hex Speed control Torque control Velocity demand value 606D hex Motor Encoder Multiplier Multip...

Page 424: ...0B1 hex Torque offset 60B2 hex Velocity user unit 2702 hex 1 2702 hex 2 Target velocity 60FF hex inc s Position user unit 2701 hex 1 2701 hex 2 Velocity user unit 2702 hex 1 2702 hex 2 Velocity reached window comparator Velocity window time 606E hex Target velocity Position actual value 6064 hex Velocity actual value 606C hex Velocity window 606D hex Target reached in statusword 6041 hex Motor Enc...

Page 425: ...lope RW Yes 0 1 s UDINT 6074 hex 0 Torque demand value RO Yes 0 1 INT 6077 hex 0 Torque actual value RO Yes 0 1 INT 6072 hex 0 Max torque RW Yes 0 1 UINT 60E0 hex 0 Positive torque limit value RW Yes 0 1 UINT 60E1 hex 0 Negative torque limit value RW Yes 0 1 UINT Torque trajectory generator Target torque 6071 hex Torque slope 6087 hex Torque control Torque demand value 6074 hex Position user unit ...

Page 426: ...ctual value RO Yes 0 1 INT 60B2 hex 0 Torque offset RW Yes 0 1 INT 6072 hex 0 Max torque RW Yes 0 1 UINT 60E0 hex 0 Positive torque limit value RW Yes 0 1 UINT 60E1 hex 0 Negative torque limit value RW Yes 0 1 UINT Torque limit function Target torque 6071 hex Torque demand value 6074 hex Position user unit 2701 hex 1 2701 hex 2 Velocity user unit 2702 hex 1 2702 hex 2 Position actual value 6064 he...

Page 427: ...r torque is 100 Index Subindex Name Access PDO Mapping Unit Data Type 6072 hex 0 Max torque RW Yes 0 1 UINT 60E0 hex 0 Positive torque limit value RW Yes 0 1 UINT 60E1 hex 0 Negative torque limit value RW Yes 0 1 UINT Speed control Torque control Position demand value Torque offset Torque control Motor Torque 0x60E0 Positive torque limit value 0x60E1 Negative torque limit value 0x6072 Max torque P...

Page 428: ...puts and digital outputs are used to control the I O signals of the CN1 connector on the SERVOPACK Index Subindex Name Access PDO Mapping Unit Data Type 60FD hex 0 Digital inputs RO Yes UDINT 60FE hex Digital outputs 1 Physical outputs RW Yes UDINT 2 Bit mask RW No UDINT ...

Page 429: ...Probe1 signal Touch Probe 2 Latch Latch control object 60B8 hex bits 8 to 15 Latch status object 60B9 hex bits 8 to 15 The latched position is always stored in touch probe 2 position value 60BC hex Trigger signal Probe2 signal You can change the connector pin assignments and the Probe1 and Probe2 signal logic in the Probe 1 Latch Input Signal parameter Pn511 X and the Probe 2 Latch Input Signal pa...

Page 430: ... 1 or bit 9 1 60B8 hex bit 0 bit 8 60B8 hex bit 4 bit 12 60B9 hex bit 0 bit 8 60B9 hex bit 1 bit 9 60BA hex 60BC hex Probe input Latching started Latching started 1 2 3 Latched position 1 Latched position 3 60B8 hex bit 0 bit 8 60B8 hex bit 4 bit 12 60B9 hex bit 0 bit 8 60B9 hex bit 1 bit 9 60B9 hex bit 7 bit 15 60BA hex 60BC hex Probe input Latching started Latched position 1 Latched position 2 1...

Page 431: ...20A hex FS S Unit Pn20A 220A hex Velocity offset or Velocity demand value Motor S FS Option Module SERVOPACK Multiplier Multiplier Multiplier Multiplier Multiplier Multiplier Step Description Parameter Setting 1 Set the speed feedback method to use during fully closed loop control Fully closed Control Selections Pn22A 222A hex 2 Set the motor rotation direction Rotation Direction Selection Pn000 2...

Page 432: ...ager Communications Objects 14 13 14 5 Manufacturer Specific Objects 14 17 14 6 Device Control 14 21 14 7 Profile Position Mode 14 29 14 8 Homing Mode 14 31 14 9 Position Control Function 14 33 14 10 Interpolated Position Mode 14 35 14 11 Cyclic Synchronous Position Mode 14 41 14 12 Profile Velocity Cyclic Synchronous Velocity Mode 14 42 14 13 Profile Torque Cyclic Synchronous Torque Mode 14 43 Ob...

Page 433: ...14 14 Torque Limit Function 14 44 14 15 Touch Probe Function 14 45 14 16 Digital Inputs Outputs 14 47 14 17 Dual Encoder Feedback 14 49 ...

Page 434: ...meters 2000 hex to 26FF hex 14 5 User parameter configuration 2700 hex 14 5 Position user unit 2701 hex 14 5 Velocity user unit 2702 hex 14 5 Acceleration user unit 2703 hex 14 5 SERVOPACK adjusting command object 2710 hex 14 5 Device Control Error code 603F hex 14 6 Controlword 6040 hex 14 6 Statusword 6041 hex 14 6 Quick stop option code 605A hex 14 6 Shutdown option code 605B hex 14 6 Disable o...

Page 435: ...4 10 Interpolation data read write pointer position 2741 hex 14 10 Cyclic Synchronous Position Mode Velocity offset 60B1 hex 14 11 Torque offset 60B2 hex 14 11 Profile Velocity Cyclic Synchronous Velocity Mode Velocity demand value 606B hex 14 12 Velocity actual value 606C hex 14 12 Velocity window 606D hex 14 12 Velocity window time 606E hex 14 12 Target velocity 60FF hex 14 12 Profile Torque Cyc...

Page 436: ...Data Description The following string is saved xxxx D oooo xxxx Software version of EtherCAT CoE oooo Software version of the SERVOPACK Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1000 hex 0 Device type UDINT RO No 0x00020192 No Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1001 hex 0 Error register USINT RO No 0x00 No Bit Data Description 0 ...

Page 437: ...e 2 If you read the object entry data while parameters are being saved 0 will be returned 3 Subindex 1 and subindex 4 can be written only in the Switch ON Disabled state servo OFF 4 After storing parameters with subindex 1 or subindex 4 you must turn the power supply OFF and ON again to move to the Operation Enabled state Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 101...

Page 438: ...s written the SERVOPACK refuses to restore the default values and returns an SDO abort code 2 Subindex 1 and subindex 4 can be written only in the Switch ON Disabled state servo OFF 3 If you read this object while the default values are being restored 0 will be returned 4 The default values are enabled after the SERVOPACK is reset or after the power supply to the SERVO PACK is turned OFF and ON ag...

Page 439: ...major version has to be increased The minor version number identifies different versions with the same operating specifications 3 Serial number is not used It is always 0 Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1018 hex 0 Number of entries USINT RO No 4 No 1 Vendor ID UDINT RO No 0x00000539 No 2 Product code UDINT RO No 0x02200401 1 No 3 Revision number 2 UDINT RO ...

Page 440: ...be changed only when the EtherCAT CoE Network Mod ule is in the Pre Operational state Set the mapping entries subindexes 1 to 8 only after you write 0 to subindex 0 Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1600 hex 0 Number of objects in this PDO USINT RW No 0 to 8 default 8 Yes 1 Mapping entry 1 UDINT RW No 0 to 0xFFFFFFFF default 0x60400010 Yes 2 Mapping entry 2 U...

Page 441: ...ccess PDO Mapping Value Saving to EEPROM 1602 hex 0 Number of objects in this PDO USINT RW No 0 to 8 default 2 Yes 1 Mapping entry 1 UDINT RW No 0 to 0xFFFFFFFF default 0x60400010 Yes 2 Mapping entry 2 UDINT RW No 0 to 0xFFFFFFFF default 0x60FF0020 Yes 3 to 8 Mapping entry 3 to Mapping entry 8 UDINT RW No 0 to 0xFFFFFFFF default 0 Yes Index Subin dex Name Data Type Access PDO Mapping Value Saving ...

Page 442: ...ng entry 4 UDINT RW No 0 to 0xFFFFFFFF default 0x60F40020 Yes 5 Mapping entry 5 UDINT RW No 0 to 0xFFFFFFFF default 0x60610008 Yes 6 Mapping entry 6 UDINT RW No 0 to 0xFFFFFFFF default 0x00000008 Yes 7 Mapping entry 7 UDINT RW No 0 to 0xFFFFFFFF default 0x60B90010 Yes 8 Mapping entry 8 UDINT RW No 0 to 0xFFFFFFFF default 0x60BA0020 Yes Index Subin dex Name Data Type Access PDO Mapping Value Saving...

Page 443: ...default 0x60640020 Yes 3 to 8 Mapping entry 3 to Mapping entry 8 UDINT RW No 0 to 0xFFFFFFFF default 0 Yes Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1A03 hex 0 Number of objects in this PDO USINT RW No 0 to 8 default 3 Yes 1 Mapping entry 1 UDINT RW No 0 to 0xFFFFFFFF default 0x60410010 Yes 2 Mapping entry 2 UDINT RW No 0 to 0xFFFFFFFF default 0x60640020 Yes 3 Mappin...

Page 444: ...tion type sync manager 1 USINT RO No 2 Mailbox send slave to master No 3 Communication type sync manager 2 USINT RO No 3 Process data output master to slave No 4 Communication type sync manager 3 USINT RO No 4 Process data input slave to master No Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1C10 hex 0 Sync manager PDO assignment 0 USINT RO No 0 No 1C11 hex 0 Sync manag...

Page 445: ...ync0 DC used No 2 Cycle time UDINT RO No Sync0 event cycle ns No 3 Shift time UDINT RO No 125 000 ns No 4 Synchronization types supported UINT RO No Bit 0 1 Free Run supported Bits 2 to 4 001 DC Sync0 sup ported Bits 5 and 6 00 Output shift not supported No 5 Minimum cycle time UDINT RO No 62 500 ns No 6 Calc and copy time UDINT RO No 62 500 ns No 7 Reserved UDINT RO No No 8 Reserved UINT RO No No...

Page 446: ...internal error counter operation is shown below Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1C33 hex 0 Number of synchroni zation parameters USINT RO No 10 No 1 Synchronization type UINT RO No Same as 1C32 hex 01 No 2 Cycle time UDINT RO No Same as 1C32 hex 02 No 3 Shift time UDINT RW No 125 000 n ns n 1 2 3 Range 0 to Sync0 event cycle 125 000 Yes 4 Synchronization ty...

Page 447: ...c Error Counter Limit is suitable for the requirements of the application With the default value of 9 network frames will be lost SM2 reception events will not occur three times consecutively before an alarm occurs in the SERVOPACK If the setting of the Sync Error Counter Limit is too small alarms will occur even when there is no problem in the application 3 Noise may cause communications errors i...

Page 448: ...settings Procedure 1 Change the SERVOPACK to the Switch ON Disabled state 2 Set the new parameter settings 3 Set user parameter configuration 2700 hex to 1 The parameter settings will be enabled After execution object 2700 hex will automatically be reset to 0 Position User Unit 2701 Hex This object sets the user defined position reference unit Pos unit The user defined position reference unit is c...

Page 449: ... Denominator 1 Alarm A A20 will be detected if the setting exceeds the setting range The objects that are related to the user defined torque reference unit setting are given in the fol lowing table The reference unit for the following objects is 0 1 Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 2702 hex 0 Number of entries USINT RO No 2 No 1 Numerator UDINT RW No 1 to 1 ...

Page 450: ... n Service Request Data The command is executed when command data is written No 2 Status USINT RO No 0 Command com pleted no errors and no response data 1 Command com pleted no errors and response data provided 2 Command com pleted error and no response data 3 Command com pleted error response data provided 255 Command is being executed No 3 Reply STRING RO No Byte 0 Subindex 2 Byte 1 Not used 2 t...

Page 451: ... an error occurs perform step 4 to stop execution 3 Send the following data to execute the adjustment service CCMD 0001 hex CSIZE 02 hex CADDRESS 00002001 hex CDATA 0001 hex If the slave station receives the command normally the status field will be set to 1 If an error occurs perform step 4 to stop execution 4 Send the following data to stop execution CCMD 0001 hex CSIZE 02 hex CADDRESS 00002000 ...

Page 452: ...ault 0 No Bit Function Description 0 Switch on Refer to Details on Bits 0 to 3 1 Enable voltage 2 Quick stop 3 Enable operation 4 to 6 Operation mode specific Refer to Details on Bits 4 to 9 7 Fault reset 0 1 Alarm warning reset 8 Halt Refer to Details on Bits 4 to 9 9 Operation mode specific 10 Reserved 11 Positive torque limit 0 Disables torque limit parameter object 2404 hex 1 Enables torque li...

Page 453: ... relative value Treats it as the move ment distance from the current target position 8 Halt 0 Executes or continues positioning 1 Stops axis according to halt option code 605D hex Bit Function Value Description 4 Homing operation start 0 Does not start homing 1 Starts or continues homing 5 0 Reserved 6 0 Reserved 8 Halt 0 Enables bit 4 1 Stops the axis according to halt option code 605D hex 9 0 Re...

Page 454: ...its 0 to 7 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 Active mode stop 1 Active mode function execution is in progress 9 Remote Controlword 6040 hex is being processed 10 Operation mode specific Refer to Details on Bits 10 12 and 13 11 Internal limit active Refer to Details on Bit 11 12 13 Operation mode specific Refer to Details on Bi...

Page 455: ...ained Target reached 0 0 0 Homing is in progress 0 0 1 Homing was interrupted or has not yet started 0 1 0 Home has been defined but the operation is still in progress 0 1 1 Homing was completed normally 1 0 0 A homing error occurred and the speed is not 0 1 0 1 A homing error occurred and the speed is 0 Bit State Value Description 10 Target reached 0 The target position speed or torque has not be...

Page 456: ... The axis is decelerating 1 Halt bit 8 in controlword 0 The target speed was reached Halt bit 8 in controlword 1 The axis is stopped 12 Speed 0 The speed is not 0 1 The speed is 0 13 0 Reserved Bit State Value Description 10 Target reached 0 Halt bit 8 in controlword 0 The target torque has not been reached Halt bit 8 in controlword 1 The axis is decelerating 1 Halt bit 8 in controlword 0 The targ...

Page 457: ...lue is reduced to zero 2 The deceleration rate for decelerating to a stop is defined in the following object Profile Position Interpolated Position Cyclic Position or Cyclic Velocity Mode 6084 Hex Homing Mode 609A Hex 3 Quick stop deceleration 6085 hex is the deceleration rate for a quick stop Value Description 0 Disables the Servo Drive moves to the Switch ON Disabled state 1 Decelerates at the d...

Page 458: ...x Name Data Type Access PDO Mapping Value Saving to EEPROM 605E hex 0 Fault reaction option code INT RW No 0 Yes Value Description 0 Disables the Servo Drive Turns OFF the servo Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6060 hex 0 Modes of operation SINT RW Yes 0 to 10 default 0 Yes Value Description 0 There is no mode change or no mode assigned 1 Profile Position Mo...

Page 459: ...modes UDINT RO No 03ED hex No Bit Applicable Mode Definition 0 Pp Profile position mode 1 Supported 1 Vl Velocity mode 0 Not supported 2 Pv Profile velocity mode 1 Supported 3 Tq Torque profile mode 1 Supported 4 Reserved 0 5 Hm Homing mode 1 Supported 6 Ip Interpolated position mode 1 Supported 7 Csp Cyclic sync position mode 1 Supported 8 Csv Cyclic sync velocity mode 1 Supported 9 Cst Cyclic sy...

Page 460: ...ith the corrected values Corrected minimum position limit Min position limit Home offset 607C hex Corrected maximum position limit Max position limit Home offset 607C hex The software position limits are enabled at the following times When homing is completed When an absolute encoder is connected The software limits are disabled if they are set as follows Min position limit Max position limit Max ...

Page 461: ...5A hex is set to 2 and the Quick Stop command is given Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6081 hex 0 Profile velocity UDINT RW Yes 0 to 4 294 967 295 default 0 Vel unit Yes Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6083 hex 0 Profile acceleration UDINT RW Yes 0 to 4 294 967 295 default 1 000 Acc unit Yes Index Subin dex Name Data...

Page 462: ...es the homing method Refer to the following section for details on the oper ations that are performed 13 4 Homing on page 13 14 Data Description Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 607C hex 0 Home offset DINT RW No 536 870 912 to 536 870 911 default 0 Pos unit Yes Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6098 hex 0 Homing method ...

Page 463: ...ion reference units Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6099 hex 0 Number of entries USINT RO No 2 No 1 Speed during search for switch UDINT RW Yes 0 to 4 294 967 295 default 500 000 Vel unit Yes 2 Speed during search for zero UDINT RW Yes 0 to 4 294 967 295 default 100 000 Vel unit Yes Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60...

Page 464: ...en the Servo Drive is blocked when the profile speed is too high or when the gain settings are not correct Following Error Time Out 6066 Hex If the position deviation exceeds the following error window for the time specified in this object bit 13 in statusword changes to 1 to indicate following error Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6062 hex 0 Position deman...

Page 465: ...ow Time 6068 Hex When the Servo Drive has completed outputting the reference to the target position and the time specified in this object has passed after the distance between the target position and the position actual value is within the position window 6067 hex bit 10 target reached in sta tusword changes to 1 Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60F4 hex 0 F...

Page 466: ...n dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60C0 hex 0 Interpolation sub mode select INT RW No 3 to 0 default 0 No Value Method Description 0 Selects mode 1 with no position refer ence filter Interpolation data record 60C1 hex is used as the interpolation position reference 1 Selects mode 1 with a position reference filter 2 Selects mode 2 with no position refer ence filter Inte...

Page 467: ... in interpolation data record for 1st profile 27C0 hex 2730 Hex 3 Buffer Organization Note Do not change this value while enable interpolation 6040 hex bit 4 is 1 Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60C2 hex 0 Number of entries USINT RO No 2 No 1 Interpolation time period value USINT RW No 1 to 250 default 125 No 2 Interpolation time index SINT RW No 6 to 3 def...

Page 468: ...ference input buffer Value Method Description 0 Uses the value in the reference input buffer as an absolute value 1 Uses the value in the reference input buffer as a relative value Value Method Description 0 Multiplies the value in the reference input buffer by 1 1 Multiplies the value in the reference input buffer by 1 Value Method Description 0 Holds the value of the read pointer 2741 hex 1 when...

Page 469: ...after Reaching Buffer Position This value is valid when buffer organization 2731 hex 3 is 0 Value Method Description 0 Uses the reference input buffer as a FIFO buffer 1 Uses the reference input buffer is as a ring buffer Value Method Description 0 Disables the reference input buffer 1 Enables the reference input buffer Value Method Description 0 Uses the value in the reference input buffer as an ...

Page 470: ...profile in Buffer Strat egies for the Interpolated Position Mode Set this object only after setting all of the items in manufacturer interpolation data configuration for 2nd profile 2731 hex After you set this object set enable interpolation 6040 hex bit 4 to 1 Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 2732 hex 0 Interpolation profile select USINT RW Yes 0 or 1 defau...

Page 471: ...rrent value of the read pointer for the reference input buffer in the Ether CAT CoE Network Module 2741 Hex 2 Interpolation Data Write Pointer Position This object gives the current value of the write pointer for the reference input buffer in the Eth erCAT CoE Network Module Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 2741 hex 0 Number of entries USINT RO No 2 No 1 Int...

Page 472: ... Hex In Cyclic Synchronous Position Mode or Cyclic Synchronous Velocity Mode this object con tains the torque feedforward value In Cyclic Synchronous Torque Mode this object contains the offset value to add to the torque reference Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60B1 hex 0 Velocity offset DINT RW Yes 2 147 483 648 to 2 147 483 647 default 0 Vel unit No Inde...

Page 473: ...etween the target speed target velocity and the velocity actual value is within the setting of the velocity window bit 10 target reached in statusword is set to 1 Target Velocity 60FF Hex This object specifies the target speed for Profile Velocity Mode or Cyclic Synchronous Velocity Mode in user defined speed reference units Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM ...

Page 474: ...force for a Linear Servomotor The value is given in m Nm for a Rotary Servomotor and in m N for a Linear Servomotor Torque Actual Value 6077 Hex For a SERVOPACK this object contains the same value as the torque reference output value Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6071 hex 0 Target torque INT RW Yes 32 768 to 32 767 default 0 0 1 No Index Subin dex Name Da...

Page 475: ...rated torque Negative Torque Limit Value 60E1 Hex This object sets the negative torque limit Set the value in units of 0 1 of the motor rated torque Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6072 hex 0 Max torque UINT RW Yes 0 to 65 535 default maximum motor torque 0 1 No Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60E0 hex 0 Positive tor...

Page 476: ...8 hex 0 Touch probe func tion UINT RW Yes 0 to 0xFFFF default 0 No Bit Value Description 0 0 Disables touch probe 1 1 Enables touch probe 1 1 0 Single Trigger Mode Latches the position at the first trigger event 1 Continuous Trigger Mode Latches the position every trigger event 2 0 Triggers on probe 1 input SERVOPACK CN1 Probe 1 SI4 signal 1 Triggers on encoder zero signal phase C 3 Reserved 4 0 S...

Page 477: ...touch probe 1 1 A latch position is stored for touch probe 1 2 to 6 Reserved 7 0 or 1 Saving the latched position for Continuous Trigger Mode for touch probe 1 was completed Status toggles every time a position is latched 8 0 Touch probe 2 is disabled 1 Touch probe 2 is enabled 9 0 No latched position is stored for touch probe 2 1 A latch position is stored for touch probe 2 10 to 14 Reserved 15 1...

Page 478: ...es No Bit Signal Description 0 N OT Negative limit switch 0 OFF 1 ON 1 P OT Positive limit switch 0 OFF 1 ON 2 Home switch 0 OFF 1 ON 3 to 15 Reserved 16 SI0 0 OFF open 1 ON closed 17 SI1 0 OFF open 1 ON closed 18 SI2 0 OFF open 1 ON closed 19 SI3 0 OFF open 1 ON closed 20 SI4 0 OFF open 1 ON closed 21 SI5 0 OFF open 1 ON closed 22 SI6 0 OFF open 1 ON closed 23 Reserved 24 HWBB1 Hardwired base blo...

Page 479: ...als so that the signals are not duplicated 1 Data Description of Physical Outputs 2 Data Description of Bit Masks Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60FE hex 0 Number of entries USINT RO No 2 No 1 Physical outputs 1 UDINT RW Yes 0 to 0xFFFFFFFF default 0 No 2 Bit mask 2 UDINT RW No 0 to 0xFFFFFFFF default 0x000C0000 Yes Bit Signal Description 0 to 16 Reserved ...

Page 480: ...der Feedback You can monitor the position of the external encoder in dual encoder feedback 60E4 hex Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60E4 hex 0 Number of entries USINT RO No 1 No 1 External encoder position DINT RO Yes Default 0 Yes ...

Page 481: ... 15 2 15 1 3 Replacing the Battery 15 3 15 2 Alarm Displays 15 5 15 2 1 List of Alarms 15 5 15 2 2 Troubleshooting Alarms 15 11 15 2 3 Resetting Alarms 15 39 15 2 4 Displaying the Alarm History 15 40 15 2 5 Clearing the Alarm History 15 41 15 2 6 Resetting Alarms Detected in Option Modules 15 42 15 2 7 Resetting Motor Type Alarms 15 43 15 3 Warning Displays 15 45 15 3 1 List of Warnings 15 45 15 3...

Page 482: ...r the part should be replaced Item Frequency Inspection Correction Exterior At least once a year Check for dust dirt and oil on the surfaces Clean with compressed air or a cloth Loose Screws Check for loose terminal block and connector screws and for other loose parts Tighten any loose screws or other loose parts Part Standard Replace ment Period Remarks Cooling Fan 4 to 5 years The standard repla...

Page 483: ...he specified value after these four seconds Pn008 n 1 The ALM Servo Alarm signal is output for up to five seconds when the control power supply is turned ON and then the battery voltage is monitored continuously Battery Replacement Procedure When Installing a Battery on the Host Controller 1 Turn ON only the control power supply to the SERVOPACK 2 Remove the old battery and mount a new battery 3 T...

Page 484: ...urn OFF the power supply to the SERVOPACK to clear the A 830 alarm Absolute Encoder Battery Error 6 Turn ON the power supply to the SERVOPACK 7 Make sure that the alarm has been cleared and that the SERVOPACK operates normally If you remove the battery or disconnect the Encoder Cable while the control power supply to the SERVOPACK is OFF the absolute encoder data will be lost Important Mount a lit...

Page 485: ...ow Example Alarm A 020 Digital Operator The alarm code will be displayed Statusword 6041 hex Bit 3 fault in the statusword will change to 1 Bit 3 is 0 during normal operation Error Code 603F hex A current alarm code is stored in object 603F hex Emergency message The Controller is notified of any alarm that occurs Notification may not be possible if EtherCAT communications are unstable Status displ...

Page 486: ...s 100 hex Overcurrent Detected An overcurrent flowed through the power trans former or the heat sink overheated Gr 1 No 101 hex Motor Overcurrent Detected The current to the motor exceeded the allowable current Gr 1 No 231 hex Built in Brake Relay Answer Error The built in brake relay malfunctioned Gr 1 No 232 hex Built in Brake Relay Life Alarm The number of built in brake relay operations exceed...

Page 487: ...Gr 2 No 7Ab hex SERVOPACK Built in Fan Stopped The fan inside the SERVOPACK stopped Gr 1 Yes 810 hex Encoder Backup Alarm The power supplies to the encoder all failed and the position data was lost Gr 1 No 820 hex Encoder Checksum Alarm There is an error in the checksum results for encoder memory Gr 1 No 830 hex Encoder Battery Alarm The battery voltage was lower than the specified level after the...

Page 488: ...PACK Gr 1 No bF3 hex System Alarm 3 Internal program error 3 occurred in the SERVO PACK Gr 1 No bF4 hex System Alarm 4 Internal program error 4 occurred in the SERVO PACK Gr 1 No C10 hex Servomotor Out of Control The Servomotor ran out of control Gr 1 Yes C20 hex Phase Detection Error The detection of the phase is not correct Gr 1 No C21 hex Polarity Sensor Error An error occurred in the polarity ...

Page 489: ...en the servo is turned ON This alarm occurs if a position reference is input and the setting of Pn520 2520 hex Exces sive Position Deviation Alarm Level is exceeded before the limit is cleared Gr 2 Yes d10 hex 2 Motor Load Position Devi ation Overflow There was too much position deviation between the motor and load during fully closed loop con trol Gr 2 Yes d30 hex Position Data Overflow The posit...

Page 490: ...2 Yes F50 hex Servomotor Main Circuit Cable Disconnection The Servomotor did not operate or power was not supplied to the Servomotor even though the Servo ON command Enable Operation com mand was input when the Servomotor was ready to receive it Gr 1 Yes FL 1 3 System Alarm An internal program error occurred in the SER VOPACK No FL 2 3 FL 3 3 FL 4 3 FL 5 3 CPF00 Digital Operator Commu nications Er...

Page 491: ...entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK 021 hex Parameter For mat Error There is an erro...

Page 492: ...2212 hex Encoder Output Pulses or Pn281 2281 hex Encoder Output Res olution is outside of the setting range or does not satisfy the setting conditions Check the setting of Pn212 2212 hex or Pn281 2281 hex Set Pn212 2212 hex or Pn281 2281 hex to an appropriate value page 6 23 042 hex Parameter Com bination Error The speed of program jogging went below the setting range when Pn533 2533 hex or Pn585 ...

Page 493: ...com bination of models 070 hex Motor Type Change Detected The connected motor is a differ ent type of motor from the previ ously connected motor A Rotary Servomotor was removed and a Linear Servomotor was connected Set the parameters for a Linear Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again page 15 43 A Linear Servomotor was removed and a ...

Page 494: ...age 4 18 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload alarm A 730 or A 731 has occurred Change the SERVOPACK model operating meth ods or the mechanisms so that the dynamic brake does n...

Page 495: ... The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the SERVOPACK Check for short circuits across the Servomotor connection terminals U V and W on the SER VOPACK or between the ground and termi nals U V or W The SERVOPACK may be faulty Replace the SER VOPACK A heavy load was applied while the Ser vomotor was stopped or running at a low speed Check ...

Page 496: ...is too small or there has been a continuous regeneration state Check the operating conditions or the capacity Change the regenerative resistance value or capac ity Reconsider the operating conditions 2 There was a continu ous regeneration state because a negative load was continu ously applied Check the load applied to the Servomotor during operation Reconsider the system including the servo machi...

Page 497: ...sure the power supply voltage Set the AC DC power supply voltage within the specified range The power supply is not stable or was influenced by a light ning surge Measure the power supply voltage Improve the power sup ply conditions install a Surge Absorber and then turn the power supply OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SER VOPACK The voltage for AC...

Page 498: ...e SERVO PACK 510 hex Overspeed The motor exceeded the maximum speed The order of phases U V and W in the motor wiring is not correct Check the wiring of the Servomotor Make sure that the Servo motor is correctly wired A reference value that exceeded the over speed detection level was input Check the input refer ence Reduce the reference value Or adjust the gain The motor exceeded the maximum speed...

Page 499: ...corrections page 8 41 page 8 92 550 hex Maximum Speed Setting Error The setting of Pn385 2385 hex Maximum Motor Speed is greater than the maxi mum speed Check the setting of Pn385 2385 hex and the upper limits of the maximum motor speed setting and the encoder output resolution set ting Set Pn385 2385 hex to a value that does not exceed the maximum motor speed page 6 17 710 hex Instantaneous Overl...

Page 500: ... failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK 7A1 hex Internal Tempera ture Error 1 Control Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK in...

Page 501: ...pera ture Sensor Error An error occurred in the temperature sen sor circuit A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK 7A4 hex Power Transistor Overheated Abnormal power transistor tem perature The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation enviro...

Page 502: ...te encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK 820 hex Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm still occurs the Servomotor may be faulty Replace the Serv...

Page 503: ...ensor failed Replace the polarity sen sor 850 hex 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 power supply was turned ON Check the motor speed when the power supply is turned ON Reduce the Servomotor speed to a value less than 200 min 1 and turn ON the control power supply Line...

Page 504: ... load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the Sig maWin Operate the Servo Drive so that the motor load remains within the speci fied range page 9 3 A failure occurred in the Serial Converter Unit Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Serial Con verter Unit may be faulty Replace the Serial Con verter Unit A ...

Page 505: ...al state during motor opera tion Reset the alarm and then re establish communica tions A12 hex EtherCAT Output Data Synchroni zation Error Noise caused an error in EtherCAT commu nications Check the EtherCAT wir ing and implement noise countermeasures The controller did not update the process data during the fixed period Check the process data specified by the control ler Correct the controller so...

Page 506: ...the SERVO PACK A48 hex EEPROM Param eter Data Error The power supply was shut OFF while writing parameter set tings Check the timing of shutting OFF the power supply Initialize the parameter settings restore default parameters 1011 hex and then set the parame ters again The number of times that parameters were written exceeded the limit Repair or replace the SERVOPACK Recon sider the method for wr...

Page 507: ...till occurs the SERVOPACK may be faulty Replace the SERVOPACK C10 hex Servomotor Out of Control Detected when the servo is turned ON The order of phases U V and W in the motor wiring is not correct Check the Servomotor wiring Make sure that the Servo motor is correctly wired There is an error in the setting of Pn080 2080 hex n X Motor Phase Selec tion Check the setting of Pn080 2080 hex n X Set Pn...

Page 508: ...gainst noise for the polarity sensor wiring The setting of Pn282 Linear Encoder Scale Pitch is not correct Check the setting of Pn282 Linear Encoder Scale Pitch Check the specifications of the linear encoder and set a correct value page 5 15 A C21 Polarity Sensor Error The polarity sensor is protruding from the Magnetic Way of the motor Check the polarity sen sor Correctly reinstall the Moving Coi...

Page 509: ...l force was applied to the Moving Coil of the motor The polarity cannot be properly detected if the detection reference is 0 and the speed feedback is not 0 because of an external force such as cable tension applied to the Moving Coil Imple ment measures to reduce the external force so that the speed feedback goes to 0 If the external force cannot be reduced increase the setting of Pn481 2481 hex ...

Page 510: ...Pn48E 248E hex Polar ity Detection Range Or increase the setting of Pn481 2481 hex Polarity Detection Speed Loop Gain C54 hex Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increase the setting of Pn495 2495 hex Polarity Detection Confirmation Force Reference Increase the setting of Pn498 2498 hex Polarity Detection Allowable Error Range Increasing the allowable err...

Page 511: ... encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder page 4 5 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK C91 hex Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the sig...

Page 512: ... faulty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK CA0 hex Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder ma...

Page 513: ...e vibration or shock was applied to the encoder Check the operating conditions Reduce machine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may be faulty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Tur...

Page 514: ...re occurred in the Serial Converter Unit Replace the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK d00 hex Position Devia tion Overflow The setting of Pn520 2520 hex Excessive Posi tion Error Alarm Level was exceeded by the position devia tion while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit...

Page 515: ... the external encoder in the opposite direction or change the setting of Pn002 2002 hex n X External Encoder Usage to reverse the direction page 10 6 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mechanical coupling d30 hex Position Data Overflow The position data exceeded 1 879 048 192 Check the in...

Page 516: ...onfiguration error and turn the power supply to the SERVOPACK OFF and ON again page 15 42 A failure occurred in the Feedback Option Module Replace the Feedback Option Module A failure occurred in the SERVOPACK Replace the SERVO PACK E74 hex Unsupported Safety Option Module Alarm A failure occurred in the Safety Option Module Replace the Safety Option Module An unsupported Safety Option Module was ...

Page 517: ...RVOPACK Replace the SERVO PACK EC8 hex Gate Drive Error 1 An error occurred in the gate drive circuit A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK EC9 hex Gate Drive Error 2 An error occurred in the gate drive cir cuit Ed1 hex Command Exe cution Timeout A timeout error occurred...

Page 518: ...OPACK may be faulty Replace the SERVOPACK FL 2 3 System Alarm FL 3 3 System Alarm FL 4 3 System Alarm FL 5 3 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was caused by noise Keep the Digital Operator or...

Page 519: ...fer to the following section for details on the Fault Reset command Controlword Bits on page 14 21 Resetting Alarms Using the Digital Operator Press the ALARM RESET Key on the Digital Operator Refer to the following manual for details on resetting alarms Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 Be sure to eliminate the cause of an alarm before you reset the alarm If y...

Page 520: ...following display will appear and you can check the alarms that occurred in the past This concludes the procedure to display the alarm history Tool Function Reference Digital Operator Fn000 Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Alarm Display Alarm Operating Procedure on page 15 40 1 If the same alarm occurs consecutively within one hour it is not saved in ...

Page 521: ...table lists the tools that you can use to clear the alarm history and the applicable tool functions Operating Procedure Use the following procedure to reset the alarm history 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Display Alarm in the Menu Dialog Box The Alarm Display Dialog Box will be displayed 3 Click the Alarm History Tab 4 Click the Clear ...

Page 522: ...following procedure to reset alarms detected in Option Modules 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Reset Option Module Configuration Error in the Menu Dialog Box The Reset Option Module Configuration Error Dialog Box will be displayed 3 Select the Clear Check Box for the Option Modules from which to clear alarms and the click the Execute But...

Page 523: ...t Motor Type Alarm utility function Preparations Always check the following before you clear a motor type alarm The parameters must not be write prohibited Applicable Tools The following table lists the tools that you can use to clear the motor type alarm and the appli cable tool functions S S 1 This utility function is the only way to reset an A 070 alarm Motor Type Change Detected The errors are...

Page 524: ... Motor Type alarm 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Reset Motor Type Alarm in the Menu Dialog Box The Reset Motor Type Alarm Dialog Box will be displayed 3 Click the Clear Button The alarm will be cleared This concludes the procedure to reset Motor Type alarms ...

Page 525: ... 901 hex Position Deviation Overflow Alarm at Servo ON The position deviation exceeded the parameter settings Pn526 2526 hex Pn528 2528 hex 100 when the servo was turned ON 910 hex Overload This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and operation is continued an alarm may occur 911 hex Vibration Abnormal vibration was detected during motor operatio...

Page 526: ...Speed Ripple Compensation Information Disagreement Warning Detection Selection page 8 59 971 hex Pn008 2008 hex n X Function Selection for Undervoltage Not affected by the setting of Pn008 2008 hex n X page 6 15 9A0 hex Pn00D 200D hex n X Overtravel Warning Detection Selection Not affected by the setting of Pn008 2008 hex n X page 5 29 9b0 hex Pn00F 200F hex n X Preventative Maintenance Selection ...

Page 527: ...ed Remove the mechanical problem The overload warning level Pn52B 252B hex is not suit able Check that the overload warning level Pn52B 252B hex is suitable Set a suitable overload warning level Pn52B 252B hex page 5 40 A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK 911 hex Vibration Abnormal vibra tion was detected during motor operation Check for abnormal...

Page 528: ...n the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK 913 hex Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPACK installa tion conditi...

Page 529: ...th the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the Dynamic Brake Resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mass Reduce the frequency of stopping with the dynamic brake A failure occurred in the SERVO PACK The S...

Page 530: ...tion occurred Measure the power supply voltage If you have changed the setting of Pn509 2509 hex Momentary Power Inter ruption Hold Time decrease the setting page 6 14 The SERVOPACK fuse is blown out Replace the SERVOPACK and connect a reactor page 4 18 A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK 9A0 hex Overtravel Over travel status was detected Overtra...

Page 531: ...or with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 2002 hex n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 2002 hex n X Set Pn002 2002 hex n X according to the type of the encoder that is being used page 6 31 There is a mistake in the input signal allocations Pn50A 250A hex Pn50B 250B hex Pn511 2511...

Page 532: ...ing an absolute linear encoder execute polarity detection page 5 23 Servomotor Moves Instanta neously and Then Stops There is a mistake in the Ser vomotor wiring Turn OFF the Servo Sys tem Check the wiring Wire the Servomotor correctly There is a mistake in the wir ing of the encoder or Serial Converter Unit Turn OFF the Servo Sys tem Check the wiring Wire the Serial Con verter Unit correctly Ther...

Page 533: ...detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Correct the settings for the polarity detection related parameters Dynamic Brake Does Not Operate The setting of Pn001 2001 hex n X Servo OFF or Alarm Group 1 Stopping Method is not suitable Check the setting of Pn001 2001 hex n X Set Pn001 2001 hex n X corre...

Page 534: ...anufacturer Noise interference occurred because of incorrect I O Sig nal Cable specifications Turn OFF the Servo Sys tem Check the I O Signal Cables to see if they sat isfy specifications Use shielded twisted pair wire cables or screened twisted pair cables with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O Signal Cable is too...

Page 535: ...ce precision securing state and alignment Check the linear encoder installation mounting sur face precision and secur ing method Reduce machine vibra tion Improve the mounting state of the Servomotor or linear encoder A failure occurred in the encoder Turn OFF the Servo System Replace the Servomotor A failure occurred in the Serial Converter Unit Turn OFF the Servo System Replace the Serial Conver...

Page 536: ...priate value The setting of Pn101 2101 hex Speed Loop Integral Time Constant is not appro priate Check the setting of Pn101 2101 hex The default setting is Ti 20 0 ms Set Pn101 2101 hex to an appropriate value The setting of Pn103 2103 hex Moment of Inertia Ratio or Mass Ratio is not appro priate Check the setting of Pn103 2103 hex Set Pn103 2103 hex to an appropriate value The torque reference is...

Page 537: ...h Noise interference occurred because the Encoder Cable is damaged Turn OFF the Servo Sys tem Check the Encoder Cable to see if it is pinched or the sheath is damaged Replace the Encoder Cable and correct the cable installation envi ronment The Encoder Cable was subjected to excessive noise interference Turn OFF the Servo Sys tem Check to see if the Encoder Cable is bundled with a high current lin...

Page 538: ...ncoder A failure occurred in the encoder Turn OFF the Servo System Replace the Servomotor or linear encoder A failure occurred in the SER VOPACK Turn OFF the Servo System Replace the SERVOPACK Host controller multiturn data or absolute encoder position data reading error Check the error detec tion section of the host controller Correct the error detec tion section of the host controller Check to s...

Page 539: ... for cable damage and loose screws Correct the wiring of the overtravel limit switches There is a mistake in the allo cation of the P OT or N OT Forward Drive Prohibit or Reverse Drive Prohibit sig nal in Pn50A 250A hex n X or Pn50B 250B hex n X Check to see if the P OT signal is allocated in Pn50A 250A hex n X If another signal is allo cated in Pn50A 250A hex n X allo cate the P OT signal instead...

Page 540: ...em Check the Encoder Cable to see if it is pinched or the sheath is damaged Replace the Encoder Cable and correct the cable installation envi ronment The Encoder Cable was sub jected to excessive noise interference Turn OFF the Servo Sys tem Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is app...

Page 541: ...bles that satisfy the specifications Noise interference occurred because an I O Signal Cable is too long Turn OFF the Servo Sys tem Check the lengths of the I O Signal Cables The I O Signal Cables must be no longer than 3 m An encoder fault occurred The pulse count does not change Turn OFF the Servo System Replace the Servomotor or linear encoder A failure occurred in the SER VOPACK Turn OFF the S...

Page 542: ...eters and objects 16 1 List of Parameters 16 2 16 1 1 Interpreting the Parameter Lists 16 2 16 1 2 List of Parameters 16 3 16 2 Object List 16 30 16 3 SDO Abort Code List 16 39 16 4 Parameter Recording Table 16 40 Parameter and Object Lists 16 ...

Page 543: ...i Indicates when a change to the parameter will be effective n X Rotation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction page 5 14 Use the direction in which the linear encoder counts up as the for ward direction 1 Use CW as the forward direction Reverse Rotation Mode Use the direction in which the linear encoder counts down as the forward direction R...

Page 544: ...ion When Encoder Is Not Con nected Reference 0 When an encoder is not connected start as SERVOPACK for Rotary Servomotor page 5 13 1 When an encoder is not connected start as SERVOPACK for Lin ear Servomotor n X Motor Stopping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake page 5 37 1 Stop the motor by the applying dynamic brake and then release th...

Page 545: ...o not use 3 Reserved setting Do not use n X EtherCAT CoE Module Speed Limit Command Usage Selection Applicable Motors Reference 0 Disable speed limit commands from EtherCAT CoE during torque control All 1 Reserved setting Do not use n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All page 6 31 1 Use the encoder as an incremental encoder 2 Use th...

Page 546: ...gear 0 05 V encoder pulse unit Position amplifier deviation after electronic gear 0 05 V linear encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 Position reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 m...

Page 547: ...oder pulse unit Position amplifier deviation after electronic gear 0 05 V linear encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 Position reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feed...

Page 548: ...2 1 Output warning A 930 for low battery voltage n X Function Selection for Undervoltage Reference 0 Do not detect undervoltage page 6 15 1 Detect undervoltage warning and limit torque at host controller 2 Detect undervoltage warning and limit torque with Pn424 2424 hex and Pn425 2425 hex i e only in the SERVOPACK n X Warning Detection Selection Reference 0 Detect warnings page 15 45 1 Do not dete...

Page 549: ... time set in Pn30A 230A hex 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 the stopping method set in Pn001 2001 hex n X page 6 55 1 Decelerate the motor to a stop using the torque set in Pn406 2406 hex as the maximum torque Use the setting of Pn001 2001 hex n X for the status after stopping 2 Decelerate the mo...

Page 550: ...tion Selection for Test without a Motor Applicable Motors 0 Disable tests without a motor All 1 Enable tests without a motor n X Encoder Resolution for Tests without a Motor Applicable Motors 0 Use 13 bits Rotary 1 Use 20 bits 2 Use 22 bits 3 Use 24 bits n X Encoder Type Selection for Tests without a Motor Applicable Motors 0 Use an incremental encoder All 1 Use an absolute encoder n X Reserved pa...

Page 551: ...r N OT signal is input and the current position of the workpiece is separated from the P OT sig nal or N OT signal n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X Built in Brake Relay Usage Selection Reference 0 Use the built in brake relay page 5 30 1 Do not use the built in brake relay n X Reserved parameter Do not change n X Res...

Page 552: ...0B hex 2 Gain Application Selec tions 0000 hex to 5334 hex 0000 hex All Setup Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Phase C Pulse Output Selection 0 Output phase C pulses only in the forward direction 1 Output phase C pulses in both the forward and reverse d...

Page 553: ...ning page 8 65 Pn132 2132 hex 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning page 8 65 Pn135 2135 hex 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning page 8 65 Pn136 2136 hex 2 Gain Switching Waiting Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning page 8 65 Pn139 2139 hex 2 Automatic Gain Switch ing Selections 1 0000 hex to 0052 hex 0000 hex All Imm...

Page 554: ...ec tion 500 to 2 000 0 1 1000 All Immedi ately Tuning page 8 65 Pn14A 214A hex 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning page 8 55 Pn14B 214B hex 2 Vibration Suppression 2 Correction 10 to 1 000 1 100 All Immedi ately Tuning page 8 55 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applic...

Page 555: ...g page 8 50 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type Selection Reference 0 Use model following control type 1 page 8 86 1 Use model following control type 2 n X Tuning less Type Selection Reference 0 Use tuning less type 1 page 8 13...

Page 556: ...nued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence 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 Enabled 0 Use for speed control After restart 1 Use for speed control and use host co...

Page 557: ...ime 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn306 2306 hex 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn308 2308 hex 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup page 8 76 Pn30A 230A hex 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 All Immedi ately Setup page 5 28 Pn30C 230C hex 2 Speed Feedforward A...

Page 558: ... First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 8 79 Pn402 2402 hex 2 Forward Torque Limit 0 to 800 1 1 800 Rotary Immedi ately Setup page 6 26 Pn403 2403 hex 2 Reverse Torque Limit 0 to 800 1 1 800 Rotary Immedi ately Setup page 6 26 Pn404 2404 hex 2 Forward External Torque Limit 0 to 800 1 1 100 All Immedi ately Setup page 6 27 Pn405 2405 hex 2 R...

Page 559: ...412 2412 hex 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 8 65 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled Reference 0 Disable first stage notch filter Immedi ...

Page 560: ...fth Stage Notch Filter Depth 0 to 1 000 0 001 0 All Immedi ately Tuning page 8 80 Pn423 2423 hex 2 Speed Ripple Compen sation Selections 0000 hex to 1111 hex 0000 hex Rotary Setup page 8 59 Pn424 2424 hex 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 1 50 All Immedi ately Setup page 6 15 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit...

Page 561: ...tion Time 0 to 100 1 ms 25 Linear Immedi ately Tuning Pn487 2487 hex 2 Polarity Detection Con stant Speed Time 0 to 300 1 ms 0 Linear Immedi ately Tuning Pn488 2488 hex 2 Polarity Detection Refer ence Waiting Time 50 to 500 1 ms 100 Linear Immedi ately Tuning Pn48E 248E hex 2 Polarity Detection Range 1 to 65 535 1 mm 10 Linear Immedi ately Tuning Pn490 2490 hex 2 Polarity Detection Load Level 0 to...

Page 562: ...page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X P OT Forward Drive Prohibit Signal Allocation Reference 0 Enable forward drive when CN1 13 input signal is ON closed page 5 26 ...

Page 563: ...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 reverse drive when CN1 11 input signal is OFF open F Enable reverse drive when CN1 12 input signal is OFF open n X Reserved parameter Do not change n X P CL Forward External Torque Limit Input Signal Allocation Reference 0 Active when CN1 13 input...

Page 564: ...al allocations page 6 9 n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 6 8 n X S RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 6 8 n X CLT Torque Limit Detection Output Signal Allocation Referen...

Page 565: ... from the CN1 27 or CN1 28 output terminal 5 Output the signal from the CN1 29 or CN1 30 output terminal 6 Reserved setting Do not use n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X Probe1 Probe 1 Latch Input Signal Allocation 4 Active when CN1 10 input signal is ON closed 5 Active when CN1 11 ...

Page 566: ...al Inversion for CN1 25 and CN1 26 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 27 and CN1 28 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 29 and CN1 30 Terminals Reference 0 The signal is not inverted page 5 23 1 The signal is inverted n X Reserved parameter Do not change n X Reserved par...

Page 567: ...Tuning page 10 8 Pn52B 252B hex 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup page 5 40 Pn52C 252C hex 2 Base Current Derating at Motor Overload Detection 10 to 100 1 100 All After restart Setup page 5 40 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X...

Page 568: ...Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup page 8 55 Pn561 2561 hex 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup page 8 23 page 8 34 Pn581 2581 hex 2 Zero Speed Level 1 to 10 000 1 mm s 20 Linear Immedi ately Setup page 6 8 Pn582 2582 hex 2 Speed Coincidence Detection Signal Output Width 0 to 100 1 mm s 10 Linear Immedi ately Setup page 6 9 Continued on next pag...

Page 569: ...r restart Setup Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Polarity Detection Selection for Absolute Linear Encoder Reference 0 Do not detect polarity page 5 23 1 Detect polarity n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserv...

Page 570: ...on 2 0000 hex to 0005 hex 0000 hex All After restart Setup Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X nZONE nZONE Signal Output Signal Allocation Reference 0 Disabled the above signal output is not used page 6 61 1 Output the signal from the CN1 1 or CN1 2 output terminal 2 Output the ...

Page 571: ... 0x00000001 0x00000000 0xFFFFFFFF PnC0A 3 3 Restore application default parameters UDINT RW No No 0x00000001 0x00000000 0xFFFFFFFF PnC0C 3 4 Restore manufac turer defined default parameters UDINT RW No No 0x00000001 0x00000000 0xFFFFFFFF PnC0E 3 1018 hex Identity object 0 Number of entries USINT RO No No 4 1 Vendor ID UDINT RO No No 0x539 2 Product code UDINT RO No No 0x02200401 4 3 Revision numbe...

Page 572: ...FF PnC4E 1603 hex 4th receive PDO mapping 0 Number of objects in this PDO USINT RW No Yes 2 0 8 PnCA3 1 Mapping entry 1 UDINT RW No Yes 0x60400010 0 0xFFFFFFFF PnC50 2 Mapping entry 2 UDINT RW No Yes 0x60710010 0 0xFFFFFFFF PnC52 3 Mapping entry 3 UDINT RW No Yes 0 0 0xFFFFFFFF PnC54 4 Mapping entry 4 UDINT RW No Yes 0 0 0xFFFFFFFF PnC56 5 Mapping entry 5 UDINT RW No Yes 0 0 0xFFFFFFFF PnC58 6 Map...

Page 573: ...jects in this PDO USINT RW No Yes 3 0 8 PnCA7 1 Mapping entry 1 UDINT RW No Yes 0x60410010 0 0xFFFFFFFF PnC90 2 Mapping entry 2 UDINT RW No Yes 0x60640020 0 0xFFFFFFFF PnC92 3 Mapping entry 3 UDINT RW No Yes 0x60770010 0 0xFFFFFFFF PnC94 4 Mapping entry 4 UDINT RW No Yes 0 0 0xFFFFFFFF PnC96 5 Mapping entry 5 UDINT RW No Yes 0 0 0xFFFFFFFF PnC98 6 Mapping entry 6 UDINT RW No Yes 0 0 0xFFFFFFFF PnC...

Page 574: ... synchro nization parameters USINT RO No No 10 1 Synchronization type UINT RO No No 2 Cycle time UDINT RO No No 3 Shift time UDINT RW No Yes 0 0 Sync0event cycle 12 500 PnCCA 4 Synchronization types supported UINT RO No No 0x0025 5 Minimum cycle time UDINT RO No No 62500 6 Calc and copy time UDINT RO No No 62500 7 Reserved UDINT RO No No 0 8 Reserved UINT RO No No 0 9 Delay time UDINT RO No No 0 1...

Page 575: ...ata polarity USINT RW Yes No 0 0 1 PnCEF 9 Behavior after reach ing buffer position USINT RW Yes No 0 0 1 PnCF0 2731 hex Interpolation data configuration for 2nd profile 0 Number of entries USINT RO No No 9 1 Maximum buffer size UDINT RO No No 254 2 Actual buffer size UDINT RW No No 254 3 Buffer organization USINT RW No No 0 0 1 PnCF1 4 Buffer position UINT RW Yes No 1 1 254 PnCF2 5 Size of data r...

Page 576: ...os unit PnA18 8 ZONE ID7 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA1C 9 ZONE ID8 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA20 10 ZONE ID9 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA24 11 ZONE ID10 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA28 12 ZONE ID11 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA2C 13 ZONE ID12 DINT RW No Yes 0 2147483648 2147483647 Pos ...

Page 577: ... PnA3A 16 ZONE ID15 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA3E 2752 hex 0 ZONE output signal selection 1 USINT RW No Yes 0 0000 0xFFFF PnBA0 2753 hex 0 ZONE output signal selection 2 USINT RW No Yes 0 0000 0x000F PnBA1 27C0 hex Interpolation data record for 1st profile 0 Number of entries USINT RO No No 254 1 to 254 1st set point to 254 set point DINT RW No No 0 2147483648 2147483647 27...

Page 578: ...0 Motor rated torque UDINT RO No No mN m mN PnB3C 6077 hex 0 Torque actual value INT RO Yes No 0 1 PnB3E 607A hex 0 Target position DINT RW Yes No 0 2147483648 2147483647 Pos unit PnB40 607C hex Home offset DINT RW No Yes 0 536870912 536870911 Pos unit PnB46 607D hex Software position limit 0 Number of entries USINT RO No No 2 1 Min position limit DINT RW No Yes 0 536870912 536870911 Pos unit PnB4...

Page 579: ...s unit PnB68 60BC hex 0 Touch probe pos2 pos value DINT RO Yes No Pos unit PnB6A 60C0 hex 0 Interpolation sub mode select INT RW No No 0 3 0 PnB92 60C1 hex Interpolation data record 0 Number of entries USINT RO No No 1 1 Interpolation data record DINT RW Yes No 0 2147483648 2147483647 Pos unit PnB70 60C2 hex Interpolation time period 0 Number of entries USINT RO No No 2 1 Interpolation time period...

Page 580: ...er incompatibility 0x06 04 00 47 General internal incompatibility in the device 0x06 06 00 00 Access failed due to a hardware error 0x06 07 00 10 Data type does not match length of service parameter does not match 0x06 07 00 12 Data type does not match service parameter too long 0x06 07 00 13 Data type does not match service parameter too short 0x06 09 00 11 Subindex does not exist 0x06 09 00 30 V...

Page 581: ...art Pn00C 200C hex 0000 hex Application Function Selec tions C After restart Pn00D 200D hex 0000 hex Application Function Selec tions D After restart Pn00F 200F hex 0000 hex Application Function Selec tions F After restart Pn022 2022 hex 0000 hex Application Function Selec tion 22 After restart Pn023 2023 hex 0000 hex Application Function Selec tion 23 After restart Pn080 2080 hex 0000 hex Applica...

Page 582: ...tching Waiting Time 1 Immediately Pn136 2136 hex 0 Gain Switching Waiting Time 2 Immediately Pn139 2139 hex 0000 hex Automatic Gain Switching Selections 1 Immediately Pn13D 213D hex 2000 Current Gain Level Immediately Pn140 2140 hex 0100 hex Model Following Control Related Selections Immediately Pn141 2141 hex 500 Model Following Control Gain Immediately Pn142 2142 hex 1000 Model Following Control...

Page 583: ...Pn182 2182 hex 0 Mode Switching Level for Acceleration Immediately Pn205 2205 hex 65535 Multiturn Limit After restart Pn207 2207 hex 0010 hex Position Control Function Selections After restart Pn20A 220A hex 32768 Number of External Scale Pitches After restart Pn20E 220E hex 1 Electronic Gear Ratio Numerator After restart Pn210 2210 hex 1 Electronic Gear Ratio Denominator After restart Pn212 2212 ...

Page 584: ...eed After restart Pn401 2401 hex 100 First Stage First Torque Reference Filter Time Con stant Immediately Pn402 2402 hex 800 Forward Torque Limit Immediately Pn403 2403 hex 800 Reverse Torque Limit Immediately Pn404 2404 hex 100 Forward External Torque Limit Immediately Pn405 2405 hex 100 Reverse External Torque Limit Immediately Pn406 2406 hex 800 Emergency Stop Torque Immediately Pn407 2407 hex ...

Page 585: ...E hex 70 Fifth Stage Notch Filter Q Value Immediately Pn41F 241F hex 0 Fifth Stage Notch Filter Depth Immediately Pn423 2423 hex 0000 hex Speed Ripple Compensa tion Selections Pn424 2424 hex 50 Torque Limit at Main Circuit Voltage Drop Immediately Pn425 2425 hex 100 Release Time for Torque Limit at Main Circuit Voltage Drop Immediately Pn426 2426 hex 0 Torque Feedforward Aver age Movement Time Imm...

Page 586: ... OFF Delay Time Immediately Pn507 2507 hex 100 Brake Reference Output Speed Level Immediately Pn508 2508 hex 50 Servo OFF Brake Com mand Waiting Time Immediately Pn509 2509 hex 20 Momentary Power Interrup tion Hold Time Immediately Pn50A 250A hex 1881 hex Input Signal Selections 1 After restart Pn50B 250B hex 8882 hex Input Signal Selections 2 After restart Pn50E 250E hex 0000 hex Output Signal Se...

Page 587: ...ogram Jogging Travel Distance Immediately Pn533 2533 hex 500 Program Jogging Move ment Speed Immediately Pn534 2534 hex 100 Program Jogging Accelera tion Deceleration Time Immediately Pn535 2535 hex 100 Program Jogging Waiting Time Immediately Pn536 2536 hex 1 Program Jogging Number of Movements Immediately Pn550 2550 hex 0 Analog Monitor 1 Offset Voltage Immediately Pn551 2551 hex 0 Analog Monito...

Page 588: ...ediately Pn587 2587 hex 0000 hex Polarity Detection Execu tion Selection for Absolute Linear Encoder Immediately Pn600 2600 hex 0 Regenerative Resistor Capacity Immediately Pn601 2601 hex 0 Dynamic Brake Resistor Allowable Energy Con sumption Immediately Pn603 2603 hex 0 Regenerative Resistance Immediately Pn604 2604 hex 0 Dynamic Brake Resistance Immediately PnBA0 2752 hex 0000 hex Zone Output Si...

Page 589: ...s 17 2 17 1 2 Alarm and Warning Displays 17 2 17 1 3 Hard Wire Base Block Active Display 17 2 17 1 4 Overtravel Display 17 2 17 1 5 Forced Stop Display 17 2 17 1 6 EtherCAT Communications Indicators 17 3 17 2 Corresponding SERVOPACK and SigmaWin Function Names 17 5 17 2 1 Corresponding SERVOPACK Utility Function Names 17 5 17 2 2 Corresponding SERVOPACK Monitor Display Function Names 17 6 Appendic...

Page 590: ...l has occurred the display will change in the following order 17 1 5 Forced Stop Display During a forced stop the following display will appear Display Meaning Display Meaning TGON Rotation Detection Signal Display Lit if the Servomotor speed is higher than the setting of Pn502 or Pn581 and not lit if the speed is lower than the setting The default set ting is 20 min 1 or 20 mm s Reference Input D...

Page 591: ...tions are in OPERATIONAL state Flickering EtherCAT CoE communications have been started but are not yet in INIT state Indicator Description Status Pattern Off Never lit EtherCAT communications are being performed Flickering A boot error occurred Blinking A change in state requested by the master could not be made due to register or object settings Single flash A synchronization error occurred and ...

Page 592: ...ted to the CN6A and CN6B connectors and whether communications are active Indicator Description Status Pattern Off Never lit A Communications Cable is not connected and the EtherCAT CoE controller is not running Flickering Data communications are in progress On Always lit A Communications Cable is connected but data communications are not being performed 50 ms On Off ...

Page 593: ...on Module Configuration Error Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Level Set Origin Fn020 Set Absolute Linear Encoder Origin Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Software Reset Fn030 Software Reset Polarity Detection Fn080 Polarity Detection Tuning less Level Setting Fn200 Tuning less Level Setting Easy FFT Fn206 Easy FFT Parameters Initialize Fn...

Page 594: ... polarity origin displayed in decimal Rotary Servomotors Rotational Angle 2 deg electrical angle from origin within one encoder rotation Linear Servomotors Electrical Angle 2 deg electrical angle from polarity ori gin Un004 Rotary Servomotors Rotational Angle 2 deg electrical angle from polarity origin Linear Servomotors Electrical Angle 2 deg electrical angle from polarity origin Input Reference ...

Page 595: ...te Encoder Multiturn Data Position within One Rotation of Absolute Encoder encoder pulses Un041 Position within One Rotation of Absolute Encoder encoder pulses Lower Bits of Absolute Encoder Position encoder pulses Un042 Lower Bits of Absolute Encoder Position encoder pulses Upper Bits of Absolute Encoder Position encoder pulses Un043 Upper Bits of Absolute Encoder Position encoder pulses Status M...

Page 596: ...etting Select which signal to monitor with Pn080 n X Calculation Method for Maximum Speed or Divided Out put Pulses If Pn080 n 0 the encoder output resolution Pn281 that can be set is displayed If Pn080 n 1 the maximum motor speed Pn385 that can be set is displayed in mm s 2 This applies to the following motors The display will show 0 for all other models SGM7J SGM7A SGM7P SGM7G and SGMCV Product ...

Page 597: ...ers 8 31 autotuning with a host reference 8 34 autotuning without a host reference 8 23 B backlash compensation 8 71 base block BB vii battery replacement 15 3 block diagram 2 8 C CCW 5 14 CiA402 drive profile 2 6 13 3 clearing alarm history 15 41 CN1 4 28 CN2 4 19 CN3 4 41 CN5 4 41 CN6A 4 39 CN6B 4 39 CN7 4 41 CN8 4 35 coasting 5 37 coasting to a stop 5 37 coefficient of speed fluctuation 2 7 com...

Page 598: ...n compensation 8 32 8 68 fully closed system 10 2 G gain switching 8 65 grounding 4 8 group 1 alarms 5 38 group 2 alarms 5 38 H Halt Option Code 605D hex 14 26 hard wire base block HWBB 11 4 detecting errors in HWBB signal 11 7 HWBB input signal specifications 11 8 hard wire base block HWBB state 11 5 resetting 11 6 holding brake 5 32 Home Offset 607C hex 14 31 homing 13 14 14 31 Homing Accelerati...

Page 599: ...ecautions 4 7 N OT 5 26 N OT Reverse Drive Prohibit signal 5 26 notch filters 8 79 O object dictionary 12 6 object dictionary list 14 3 object list 16 30 operation for momentary power interruptions 6 14 operation modes 13 5 14 27 origin search 7 19 output phase form 6 19 overload warnings 5 40 overtravel 5 26 release method selection 5 30 warnings 5 29 P PAO 6 18 10 7 parameter settings recording ...

Page 600: ...ections and part replacement 15 2 part names 1 7 ratings 2 2 specifications 2 4 status displays 17 2 setting the origin 5 52 setting the position deviation overflow alarm level 8 8 setting the position deviation overflow alarm level at servo ON 8 10 setting the vibration detection level 8 10 setup parameters 5 3 SG 4 29 Shutdown Option Code 605B hex 14 25 SigmaWin vii signal allocations 6 4 sink c...

Page 601: ... Probe 2 Position Value 60BC hex 14 46 touch probe function 14 45 Touch Probe Function 60B8 hex 14 45 Touch Probe Status 60B9 hex 14 45 Transmit PDO Mapping 14 11 trial operation EtherCAT CoE Communications 7 10 trigger events 13 23 troubleshooting alarms 15 11 troubleshooting warnings 15 46 tuning parameters 5 4 tuning less load level 8 14 rigidity level 8 14 tuning less function 8 12 U UDINT 1 5...

Page 602: ...ed March 2016 2 Preface Revision Information on Servomotor UL standards and EU Directives 1 2 6 Revision Information on torque user unit 1 5 1 1 5 2 Revision Information on interpreting SERVOPACK and Servomotor model numbers 1 7 9 5 Addition Information on alarm tracing 2 1 1 Revision Information on control power supply 2 2 Addition Connector numbers CN101 CN102 CN115 and CN201 3 4 2 Revision Info...

Page 603: ...17 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN...

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