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YASKAWA SGD7S-1R9D, Product Manual


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8.6

Autotuning without Host Reference . . . . . . . . . . . . . . . . . . . . .  8-23

8.6.1

Outline  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-23

8.6.2

Restrictions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-24

8.6.3

Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25

8.6.4

Operating Procedure  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25

8.6.5

Troubleshooting Problems in Autotuning without a Host Reference  . . . . . .8-29

8.6.6

Automatically Adjusted Function Settings  . . . . . . . . . . . . . . . . . . . . . . . . .8-31

8.6.7

Related Parameters  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-33

8.7

Autotuning with a Host Reference . . . . . . . . . . . . . . . . . . . . . .  8-34

8.7.1

Outline  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-34

8.7.2

Restrictions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-35

8.7.3

Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-35

8.7.4

Operating Procedure  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-36

8.7.5

Troubleshooting Problems in Autotuning with a Host Reference . . . . . . . . .8-39

8.7.6

Automatically Adjusted Function Settings  . . . . . . . . . . . . . . . . . . . . . . . . .8-39

8.7.7

Related Parameters  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40

8.8

Custom Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  8-41

8.8.1

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  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53

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 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-56
8.10.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-56
8.10.4 Operating Procedure  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-56
8.10.5 Setting Combined Functions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-58
8.10.6 Related Parameters  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-58

8.11

Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . .  8-59

8.11.1 Outline  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-59
8.11.2 Setting Up Speed Ripple Compensation  . . . . . . . . . . . . . . . . . . . . . . . . . .8-59
8.11.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-63

8.12

Additional Adjustment Functions . . . . . . . . . . . . . . . . . . . . . . .  8-65

8.12.1 Gain Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-65
8.12.2 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-68
8.12.3 Current Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .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

Summary of Contents for SGD7S-1R9D

Page 1: ...ation Application Functions Tuning Monitoring Fully Closed Loop Control Safety Functions EtherCAT Communications CiA402 Drive Profile Object Dictionary Maintenance Parameter and Object Lists Appendice...

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...

Page 3: ...tions 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...

Page 4: ...ers in the table on the following pages Refer to these documents as required Servo Drives 7 Series Catalog Servo Drives Manuals Catalogs Servomotors 7 Series Rotary Servomotor Product Manual 7 Series...

Page 5: ...e 7W SERVOPACK with 400 V Input Power and EtherCAT CoE Communications References Product Manual SIEP S800002 19 7 Series AC Servo Drive 7W SERVOPACK with 400 V Input Power and MECHATROLINK III Communi...

Page 6: ...he operating proce dures for a Digital Operator for a 7 Series Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the Si...

Page 7: ...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 p...

Page 8: ...it 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 numbe...

Page 9: ...sual 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...

Page 10: ...tion 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...

Page 11: ...sk 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 h...

Page 12: ...y 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...

Page 13: ...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...

Page 14: ...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 al...

Page 15: ...ACK 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 adja...

Page 16: ...en 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 th...

Page 17: ...arameter 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 suppl...

Page 18: ...ways 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 cir...

Page 19: ...f 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 not...

Page 20: ...ed 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 whic...

Page 21: ...roperty 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...

Page 22: ...GD7W 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...

Page 23: ...y 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 Danger...

Page 24: ...rpreting 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...

Page 25: ...nnector 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...

Page 26: ...etting 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...

Page 27: ...r 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 Dynami...

Page 28: ...te 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...

Page 29: ...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 t...

Page 30: ...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...

Page 31: ...itor 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 C...

Page 32: ...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 Speci...

Page 33: ...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 M...

Page 34: ...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...

Page 35: ...el 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 Displ...

Page 36: ...T 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 SERVOP...

Page 37: ...achine 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 posit...

Page 38: ...tion 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...

Page 39: ...n 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 Electrica...

Page 40: ...igned 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 str...

Page 41: ...preting 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 SERVOP...

Page 42: ...minals 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 In...

Page 43: ...vice 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 torq...

Page 44: ...E 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 Specificati...

Page 45: ...nertia 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...

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...

Page 47: ...200 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 90...

Page 48: ...n 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 Spe...

Page 49: ...nt 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 50: ...ction 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...

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 Regen...

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 characteri...

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 Othe...

Page 54: ...t 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 Si...

Page 55: ...Distributed Clocks Free Run Mode and DC Mode Can be switched Applicable DC cycles 125 s to 4 ms in 125 s increments Slave Information Interface 256 bytes read only Indicators EtherCAT communications i...

Page 56: ...D 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 req...

Page 57: ...2 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 Digi...

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...

Page 59: ...odule 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 p...

Page 60: ...urrent 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 CN1...

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...

Page 62: ...tage 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 su...

Page 63: ...tor 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 CN...

Page 64: ...102 BLZ 7 62IT 04 180MF4 SN BK BX PRT 4 Weidm ller 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 Weidm ller In...

Page 65: ...rox 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...

Page 66: ...D 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 termina...

Page 67: ...als 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 Cabl...

Page 68: ...ontroller 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 SERVOPAC...

Page 69: ...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 Contr...

Page 70: ...eat 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 t...

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...

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...

Page 73: ...VOPACK 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 abov...

Page 74: ...itor 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 lo...

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...

Page 76: ...3 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 Ter...

Page 77: ...erminal 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 Communicati...

Page 78: ...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 SERVOPA...

Page 79: ...coder 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 b...

Page 80: ...uit 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...

Page 81: ...m2 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 Fi...

Page 82: ...r 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 w...

Page 83: ...e 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 t...

Page 84: ...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...

Page 85: ...ccording 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...

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...

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 co...

Page 88: ...7S 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 o...

Page 89: ...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...

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...

Page 91: ...SA 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...

Page 92: ...a branch circuit protective device at the power supply input section to each SERVOPACK Refer to the following document for details 7 Series 7S SERVOPACK with 400 V Input Power Safety Precautions Manu...

Page 93: ...istor 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 Reacto...

Page 94: ...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...

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...

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 I...

Page 97: ...wisted 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 li...

Page 98: ...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 Connecto...

Page 99: ...wing 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 Lin...

Page 100: ...er 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...

Page 101: ...CKs 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 sup...

Page 102: ...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...

Page 103: ...ive 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...

Page 104: ...s 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 105: ...quence 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 pu...

Page 106: ...ignals of the CN1 connector If the power supply is shared the I O signals may malfunction 4 7 k General purpose sequence input 0 Forward Drive Prohibit input prohibited when OFF Sequence input signal...

Page 107: ...lfunction 24 V 2 1 3 3 3 4 7 k General purpose sequence input 0 Forward Drive Prohibit input prohibited when OFF Linear Servomotor overheat protection input Reverse Drive Prohibit input prohibited whe...

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...

Page 109: ...d 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 cir...

Page 110: ...F 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 VOP...

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 k Operating Voltage Range 24 V 20 Maximum Delay T...

Page 112: ...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 conn...

Page 113: ...ect 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...

Page 114: ...e 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 sign...

Page 115: ...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 b...

Page 116: ...er 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 Com...

Page 117: ...PACK 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 Pi...

Page 118: ...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 f...

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...

Page 120: ...fault 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 numb...

Page 121: ...e 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 ed...

Page 122: ...ith a Digital Operator 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...

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...

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 conclud...

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...

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 Joggin...

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...

Page 128: ...ed 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 SERV...

Page 129: ...cify 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...

Page 130: ...ng 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 w...

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...

Page 132: ...ting 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 t...

Page 133: ...kspace 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 Canc...

Page 134: ...mation 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 C...

Page 135: ...ck 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 H...

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 enco...

Page 137: ...he 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 pit...

Page 138: ...olarity 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 Par...

Page 139: ...tion 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 polarit...

Page 140: ...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 chang...

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...

Page 142: ...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 s...

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 infor...

Page 144: ...rvomotor 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...

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 P...

Page 146: ...et 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 whil...

Page 147: ...hod 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 si...

Page 148: ...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...

Page 149: ...or 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 Exampl...

Page 150: ...gnal 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 connecto...

Page 151: ...83 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...

Page 152: ...ven 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 S...

Page 153: ...N 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 inp...

Page 154: ...hod 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 se...

Page 155: ...d 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...

Page 156: ...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...

Page 157: ...ms 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...

Page 158: ...r 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 electroni...

Page 159: ...ach 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...

Page 160: ...nit or Model of Interpolator Resolution Resolution Incre mental Heidenhain Corporation LIDA48 20 JZDP H003 E 2 256 0 078 m JZDP J003 E 2 4 096 0 0049 m LIF48 4 JZDP H003 E 2 256 0 016 m JZDP J003 E 2...

Page 161: ...L 51 2 512 0 1 m ST784 ST784AL 51 2 512 0 1 m ST788A ST788AL 51 2 512 0 1 m ST789A ST789AL 25 6 512 0 05 m ST1381 5 12 512 0 01 m ST1382 0 512 512 0 001 m Renishaw PLC EL36Y 050F 12 8 256 0 05 m EL36Y...

Page 162: ...ne 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...

Page 163: ...e 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 Mapping...

Page 164: ...t 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...

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 lis...

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 enco...

Page 167: ...VOPACK 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 Resettin...

Page 168: ...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 wri...

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...

Page 170: ...near 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...

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 Regener...

Page 172: ...ese 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...

Page 173: ...cidence 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 1...

Page 174: ...ut 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...

Page 175: ...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 Ap...

Page 176: ...fety 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...

Page 177: ...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 an...

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 defaul...

Page 179: ...N 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 r...

Page 180: ...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 ti...

Page 181: ...idence 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 t...

Page 182: ...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...

Page 183: ...ination 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 de...

Page 184: ...tion 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 l...

Page 185: ...ervomotor 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 t...

Page 186: ...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 y...

Page 187: ...orque 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 i...

Page 188: ...mentary 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 f...

Page 189: ...n 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 be...

Page 190: ...pe 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 resoluti...

Page 191: ...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 r...

Page 192: ...se 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 phas...

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 t...

Page 194: ...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 wil...

Page 195: ...e 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 limit...

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...

Page 197: ...oftware 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 th...

Page 198: ...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 h...

Page 199: ...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 Allocat...

Page 200: ...ting 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 Enable...

Page 201: ...orward 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...

Page 202: ...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 Outpu...

Page 203: ...O 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 Para...

Page 204: ...ded 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 c...

Page 205: ...hin 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 kpp...

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 ind...

Page 207: ...he 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 en...

Page 208: ...een 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...

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...

Page 210: ...ve 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 Butt...

Page 211: ...ll 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 B...

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 SE...

Page 213: ...ta 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 statu...

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 Mo...

Page 215: ...nications 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 c...

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 controll...

Page 217: ...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...

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 P...

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...

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...

Page 221: ...aWin 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 E...

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...

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...

Page 224: ...al 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 a...

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 wi...

Page 226: ...duces 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 of...

Page 227: ...or 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 forc...

Page 228: ...ting 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...

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 the...

Page 230: ...e 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...

Page 231: ...F 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...

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...

Page 233: ...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...

Page 234: ...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...

Page 235: ...tion 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...

Page 236: ...n 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 wi...

Page 237: ...n 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...

Page 238: ...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...

Page 239: ...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...

Page 240: ...s 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...

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 Imme...

Page 242: ...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...

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 powe...

Page 244: ...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 cont...

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 W...

Page 246: ...ing 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 Com...

Page 247: ...ogging 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 conditio...

Page 248: ...e 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 Wa...

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...

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 Clas...

Page 251: ...ogram 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 t...

Page 252: ...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 m...

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 list...

Page 254: ...ow 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...

Page 255: ...etup 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...

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...

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 Disagr...

Page 258: ...ERVOPACK 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 Displ...

Page 259: ...tion 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 Re...

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...

Page 261: ...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...

Page 262: ...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 S...

Page 263: ...osition 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 lo...

Page 264: ...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 c...

Page 265: ...eform 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 To...

Page 266: ...ition 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 excessiv...

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...

Page 268: ...ow 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 Over...

Page 269: ...low 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...

Page 270: ...ment 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...

Page 271: ...s 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 proce...

Page 272: ...ment 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 s...

Page 273: ...ngs 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 he...

Page 274: ...es 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...

Page 275: ...ertia 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 t...

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 Bu...

Page 277: ...cceleration 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 suitab...

Page 278: ...led 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...

Page 279: ...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 display...

Page 280: ...ameter 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 Ca...

Page 281: ...n 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...

Page 282: ...nertia 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 bee...

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 But...

Page 284: ...cute 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...

Page 285: ...ward 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 pre...

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 r...

Page 288: ...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 Calculatio...

Page 289: ...140 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 use...

Page 290: ...ecution 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...

Page 291: ...t 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...

Page 292: ...ng 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 pre...

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 cust...

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 Selec...

Page 295: ...med 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 esp...

Page 296: ...n 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 de...

Page 297: ...idth 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 A...

Page 298: ...on 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 Frequenc...

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 Posi...

Page 300: ...s 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 t...

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...

Page 302: ...ting 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...

Page 303: ...on 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 Fu...

Page 304: ...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 w...

Page 305: ...matic 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 not...

Page 306: ...eased 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...

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 Fi...

Page 308: ...owing 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...

Page 309: ...wing 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 respon...

Page 310: ...stment 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...

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...

Page 312: ...ng 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 Setti...

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...

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 Per...

Page 315: ...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...

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 mo...

Page 317: ...ems 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...

Page 318: ...e 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 Y...

Page 319: ...eed 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...

Page 320: ...raph 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...

Page 321: ...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 Spe...

Page 322: ...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...

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 P...

Page 324: ...itching 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 s...

Page 325: ...ult 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...

Page 326: ...8 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 Ena...

Page 327: ...s 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 t...

Page 328: ...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 feedba...

Page 329: ...he 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 referen...

Page 330: ...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 comp...

Page 331: ...rom 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 Positi...

Page 332: ...tion 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...

Page 333: ...eference 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 spee...

Page 334: ...RVOPACK 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 autotun...

Page 335: ...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...

Page 336: ...g 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 paramete...

Page 337: ...ribes 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 freque...

Page 338: ...rent 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...

Page 339: ...tting 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 Enable...

Page 340: ...ending 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 the...

Page 341: ...e 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...

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 ga...

Page 343: ...ing 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 s...

Page 344: ...ent results These functions allow you to use the same functions as for III Series SERVOPACKs to adjust 7 Series SERVOPACKs Feedforward The feedforward function applies feedforward compensation to posi...

Page 345: ...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 L...

Page 346: ...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 Spee...

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...

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 makin...

Page 349: ...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 an...

Page 350: ...bility 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 prohibi...

Page 351: ...rvo 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...

Page 352: ...ection 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...

Page 353: ...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 Auto...

Page 354: ...ring 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 Usi...

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 Inf...

Page 356: ...ment 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...

Page 357: ...unter Total Operating Time Current Backlash Compensation Value Backlash Compensation Value Setting Limit Position Amplifier Deviation Feedback Position APOS Current Reference Position CPOS Position De...

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...

Page 359: ...Electronic gear Motor speed Electronic gear Deviation counter Motor load position deviation Fully closed Speed conversion Deviation counter Completion of position reference distribution Positioningco...

Page 360: ...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 Da...

Page 361: ...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...

Page 362: ...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 Referenc...

Page 363: ...g Range Setting Unit 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 Whe...

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 settin...

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...

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 Guid...

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...

Page 368: ...lt 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 det...

Page 369: ...larms 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 exe...

Page 370: ...tion 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...

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 linea...

Page 372: ...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 th...

Page 373: ...gram 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...

Page 374: ...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 pa...

Page 375: ...nce 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...

Page 376: ...ng 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 edge...

Page 377: ...ion 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 Ov...

Page 378: ...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...

Page 379: ...llation 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...

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 2 270...

Page 381: ...rors 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...

Page 382: ...odule optional must be connected to use this function Refer to the following manual for application procedures V Series V Series for Large Capacity Models 7 Series Installation Guide Safety Module Man...

Page 383: ...ement 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...

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 exi...

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 Stat...

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 p...

Page 387: ...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 Enab...

Page 388: ...xecution 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 sig...

Page 389: ...t 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 t...

Page 390: ...larm 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 coa...

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 t...

Page 392: ...put 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...

Page 393: ...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 clo...

Page 394: ...nd 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 a...

Page 395: ...ctor 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 SERV...

Page 396: ...ns 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 Proc...

Page 397: ...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 fi...

Page 398: ...nitialized 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...

Page 399: ...mmunications 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 1...

Page 400: ...twork 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 cabl...

Page 401: ...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 S...

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 4t...

Page 403: ...gisters 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...

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...

Page 405: ...Master user shift time Calc and copy time 62 s Cycle time 1C32 hex 02 1 ms Cycle time 1 ms Input delay 500 s Sync0 shift time Shift time 1C33 hex 03 500 s Frame Frame Sync0 event Sync0 event Sync0 ev...

Page 406: ...s 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 Troubleshootin...

Page 407: ...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...

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: ...gnal 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...

Page 410: ...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 Rem...

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 C...

Page 412: ...01 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...

Page 413: ...it 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 opera...

Page 414: ...ex 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 veloci...

Page 415: ...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...

Page 416: ...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...

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 Inter...

Page 418: ...or 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 dece...

Page 419: ...e 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 ind...

Page 420: ...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...

Page 421: ...g 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...

Page 422: ...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 w...

Page 423: ...t 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 deceleratio...

Page 424: ...B1 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...

Page 425: ...ope 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...

Page 426: ...tual 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...

Page 427: ...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...

Page 428: ...uts 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...

Page 429: ...robe1 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 Tri...

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 posit...

Page 431: ...0A 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...

Page 432: ...ger 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 I...

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: ...eters 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 co...

Page 435: ...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 Veloc...

Page 436: ...ata 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...

Page 437: ...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 param...

Page 438: ...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...

Page 439: ...ajor 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...

Page 440: ...e 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 Acces...

Page 441: ...cess 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...

Page 442: ...g 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...

Page 443: ...efault 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...

Page 444: ...ion 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...

Page 445: ...nc0 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...

Page 446: ...nternal 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 Synchroniza...

Page 447: ...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...

Page 448: ...ettings 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...

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...

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...

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 receiv...

Page 452: ...ult 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 re...

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 De...

Page 454: ...ts 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 Controlwor...

Page 455: ...ined 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 normal...

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 Sta...

Page 457: ...ue 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 Homi...

Page 458: ...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 Da...

Page 459: ...odes 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...

Page 460: ...th 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 a...

Page 461: ...A 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...

Page 462: ...s 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...

Page 463: ...on 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 2...

Page 464: ...n 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...

Page 465: ...w 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 t...

Page 466: ...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 en...

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...

Page 468: ...erence 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 Descrip...

Page 469: ...fter 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...

Page 470: ...rofile 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...

Page 471: ...rent 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...

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 t...

Page 473: ...tween 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 s...

Page 474: ...orce 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 t...

Page 475: ...ated 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 Va...

Page 476: ...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 tri...

Page 477: ...ouch 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...

Page 478: ...s 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...

Page 479: ...ls 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 Num...

Page 480: ...er 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...

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 1...

Page 482: ...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...

Page 483: ...e 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 co...

Page 484: ...rn 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 SE...

Page 485: ...w 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 curr...

Page 486: ...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 allowabl...

Page 487: ...r 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...

Page 488: ...ACK 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...

Page 489: ...n 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...

Page 490: ...r 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 in...

Page 491: ...ntered 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 pow...

Page 492: ...212 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...

Page 493: ...om 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...

Page 494: ...ge 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...

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...

Page 496: ...s 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...

Page 497: ...ure 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 Impro...

Page 498: ...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...

Page 499: ...orrections 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 uppe...

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 Chec...

Page 501: ...era 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 Ab...

Page 502: ...e 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 Che...

Page 503: ...nsor 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 wh...

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 failur...

Page 505: ...l 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 Et...

Page 506: ...he 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 r...

Page 507: ...ill 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 Che...

Page 508: ...ainst 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 e...

Page 509: ...al 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...

Page 510: ...n48E 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 mo...

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 an...

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 Replac...

Page 513: ...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 p...

Page 514: ...e 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...

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 loa...

Page 516: ...nfiguration 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 S...

Page 517: ...VOPACK 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 a...

Page 518: ...PACK 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 betwee...

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 t...

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 7 Series D...

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 B...

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 t...

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 t...

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 b...

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 warnin...

Page 526: ...peed 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 527: ...d 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...

Page 528: ...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...

Page 529: ...h 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...

Page 530: ...ion 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 R...

Page 531: ...r 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...

Page 532: ...ng 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 wi...

Page 533: ...etection 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 para...

Page 534: ...nufacturer 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...

Page 535: ...e 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 o...

Page 536: ...riate 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 appropria...

Page 537: ...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 corr...

Page 538: ...coder 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 con...

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...

Page 540: ...m 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...

Page 541: ...les 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...

Page 542: ...ters 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...

Page 543: ...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 wh...

Page 544: ...on 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 Serv...

Page 545: ...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 Al...

Page 546: ...ear 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...

Page 547: ...der 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 setti...

Page 548: ...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 controll...

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...

Page 550: ...ion 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...

Page 551: ...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...

Page 552: ...B 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 Appli...

Page 553: ...ing 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...

Page 554: ...c 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 Su...

Page 555: ...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 Fol...

Page 556: ...ued 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...

Page 557: ...e 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...

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 2...

Page 559: ...12 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 N...

Page 560: ...th 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...

Page 561: ...ion 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...

Page 562: ...age 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 Re...

Page 563: ...nput 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 op...

Page 564: ...l 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 Serv...

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...

Page 566: ...l 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...

Page 567: ...uning 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 rest...

Page 568: ...etection 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 Leve...

Page 569: ...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 Polari...

Page 570: ...n 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...

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...

Page 572: ...F 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 0...

Page 573: ...ects 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...

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 su...

Page 575: ...ta 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...

Page 576: ...s 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 un...

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 R...

Page 578: ...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 o...

Page 579: ...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...

Page 580: ...r 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 do...

Page 581: ...rt 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...

Page 582: ...ching 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 L...

Page 583: ...n182 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 22...

Page 584: ...ed 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 Imm...

Page 585: ...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...

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 Inter...

Page 587: ...gram 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 10...

Page 588: ...diately 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 Bra...

Page 589: ...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...

Page 590: ...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 S...

Page 591: ...ions 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 bein...

Page 592: ...ed 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 n...

Page 593: ...n 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 Moto...

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...

Page 595: ...e 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 e...

Page 596: ...tting 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 Pn08...

Page 597: ...rs 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...

Page 598: ...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...

Page 599: ...cautions 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 1...

Page 600: ...ctions 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...

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 Communica...

Page 602: ...d 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 S...

Page 603: ...7 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 E...

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