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YASKAWA SGD7S-****20A Series, Product Manual

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YASKAWA SGD7S-****20A Series Product Manual Download Page 349

8.12  Additional Adjustment Functions

 8.12.2  Friction Compensation

8

T

uning

8-71

Operating Procedure for Friction Compensation 

Use the following procedure to perform friction compensation. 

CAUTION

Before you execute friction compensation, set the moment of inertia ratio (Pn103) as accu-
rately as possible. If the setting greatly differs from the actual moment of inertia, vibration 
may occur. 

Step

Operation

1

Set the following parameters related to friction compensation to their default settings. 
Friction compensation gain (Pn121): 100 
Second friction compensation gain (Pn122): 100 
Friction compensation coefficient (Pn123): 0 
Friction compensation frequency correction (Pn124): 0 
Friction compensation gain correction (Pn125): 100 

Note: Always use the default settings for the friction compensation frequency correction (Pn124) and friction com-

pensation gain correction (Pn125).

2

Gradually increase the friction compensation coefficient (Pn123) to check the effect of friction com-
pensation. 

Note: Usually, set the friction compensation coefficient (Pn123) to 95% or less.

If the effect is insufficient, increase the friction compensation gain (Pn121) by 10% increments until vibration 
stops.

Effect of Adjusted Parameters

Pn121: Friction Compensation Gain and Pn122: Second Friction Compensation Gain 

These parameters set the response to external disturbances. The higher the setting is, the better 
the response will be. If the machine has a resonance frequency, however, vibration may occur if the 
setting is too high.

Pn123: Friction Compensation Coefficient

This parameter sets the effect of friction compensation. The higher the setting is, the more effective 
friction compensation will be. If the setting is too high, however, vibration will occur more easily. 
Usually, set the value to 95% or less. 

3

Effect of Adjustments

The following graphs show the response with and without adjustment. 

Poor re

s

pon

s

e 

becau

s

e of friction

Low friction

Po

s

ition deviation

High friction

Po

s

ition reference 

s

peed

Before Friction Compen

s

ation

After Friction Compen

s

ation

Po

s

ition deviation

Re

s

pon

s

e improved by 

friction compen

s

ation

Po

s

ition reference 

s

peed

Summary of Contents for SGD7S-****20A Series

Page 1: ...ting a SERVOPACK SERVOPACK Installation Application Functions Tuning Monitoring Fully Closed Loop Control Safety Functions Maintenance Parameter Lists Appendices Basic Functions That Require Setting before Operation 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Basic Information on SERVOPACKs Wiring and Connecting SERVOPACKs Trial Operation and Actual Operation ...

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

Page 3: ...ing SERVOPACKs to power supplies and peripheral devices 5 Basic Functions That Require Set ting before Operation Describes the basic functions that must be set before you start servo system operation It also describes the setting methods 6 Application Functions Describes the application functions that you can set before you start servo system operation It also describes the setting methods 7 Trial...

Page 4: ... SERVOPACKs with Built in Controllers Σ 7C Servomotors Other Documents Built in Function Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Product Manuals such as this manual Σ 7 Series Σ 7S Σ 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK FT EX Product Manuals Option Module User s Manual Σ 7 Series Servomotor Product Manuals Σ 7 Series Σ 7C SERVOPACK...

Page 5: ...etailed information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and Σ 7 Series Σ 7C SERVO PACKs Option Module User s Manuals Machine Controller MP2000 Series Communication Module User s Manual SIEP C880700 04 Provide detailed information on the specifications and communica t...

Page 6: ... procedures for installing the Safety Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for installing the INDEXER Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installin...

Page 7: ...OPACK Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001 70 Σ 7 Series AC Servo Drive Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual SIEP S800001 29 Σ 7 Series Σ 7S Σ 7W SERVOPACK with Hardware Option Specifications ...

Page 8: ...Manual SIEP S800001 95 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 Option Module User s Manual AC Servo Drives Σ V Series Σ V Series for Large Capacity Mo...

Page 9: ...mmunications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a Σ 7 Series Servo System Σ 7 Series AC Servo Drive MECHATROLINK III Communications Standard Servo Profile Command Manual SIEP S800001 31 Provides detailed information on the MECHATROLINK III communi cations standard servo profile com mands that are used for a...

Page 10: ...Series Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a Σ 7 Series Servo System Distributed I O Module User s Manual MECHATROLINK III Compatible I O Module User s Manual SIEP C880781 04 Describes the functions specifica tions operating methods and MECHATROLINK III communica tions ...

Page 11: ...otor and SERVOPACK Servo System A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices servo ON Supplying power to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A state in which the motor is...

Page 12: ...ed Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification This is the minimum unit setting increment that you can set for the parameter Position Speed Parameter Meaning When Enabled Classification Pn002 n 0 After restart Setup n 1 n 2 Parameter number The no...

Page 13: ...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 precautions that will not result in machine damage Indicates definitions of difficult terms or terms that have not been previously explained in this manual Indicates operating or setting examples Indi...

Page 14: ...mation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss of life serious injury or fire WARNING Indicates precautions that if not heeded could result in loss of life serious injury or fire CAUTION Indicates precautions that if not heeded could result in ...

Page 15: ...dify the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Brake Resistors Servo motors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety measures such as installing covers so that hands and parts s...

Page 16: ...ny of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Loc...

Page 17: ...damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts the tapped holes may be damaged CAUTION Install the Servomotor or SERVOPACK in ...

Page 18: ...ERVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a r...

Page 19: ... SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SERVOPACK before you wire it Insert only one wire per insertion hole in the main circuit terminals When you insert a wire make sure that the conductor wire e g whiskers does not come into con tact with adjacent wi...

Page 20: ...broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of signal When overtravel occurs the power supply to the motor is turned OFF and the brake is released If you use the Servomotor to drive a vertical load set the Servomotor to enter a zero clamped state after the...

Page 21: ...ssible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a risk of electric shock or product failure CAUTION Wait for at least six minutes after turning OFF the power supp...

Page 22: ...nsert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply If a magnetic contactor is not connected when the SERVOPACK fails a large current may flow con tinuously possibly resulting in fire If an alarm occurs shut OFF the main circuit power suppl...

Page 23: ...you need a new copy of this manual because it has been lost or damaged contact your near est Yaskawa representative or one of the offices listed on the back of this manual This manual is subject to change without notice for product improvements specifications changes and improvements to the manual itself We will update the manual number of the manual and issue revisions when changes are made Any a...

Page 24: ...ered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that aris...

Page 25: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety wit...

Page 26: ...he standards North American Safety Standards UL 1 Certification is pending 2 SGM7F B C and D Certified SGM7F A Certification is pending Product Model North American Safety Standards UL File No SERVOPACKs SGD7S UL 61800 5 1 E147823 CSA C22 2 No 274 Rotary Servomotors SGMMV SGM7A SGM7J SGM7P SGM7G UL 1004 1 UL 1004 6 E165827 Direct Drive Servomotors SGM7E 1 SGM7F 2 SGMCV UL 1004 1 UL 1004 6 E165827 ...

Page 27: ... SGMMV EMC Directive 2004 104 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 60034 1 EN 60034 5 SGM7J SGM7A SGM7P SGM7G EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Category C2 Second envi ronment Low Voltage Directive 2014 35 EU EN 60034 1 EN 60034 5 Direct Drive Servomotors SGM7E 1 SGM7F SGMCV SGMCS B C D E Small ...

Page 28: ...FH 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg Medium Stop Category IEC 60204 1 Stop category 0 Safety Function IEC 61800 5 2 STO Mission Time IEC 61508 10 years Hardware Fault Tolerance IEC 61508 HFT 1 Subsystem IEC 61508 B ...

Page 29: ... 1 9 1 5 2 Combinations of Direct Drive Servomotors and SERVOPACKs 1 10 1 5 3 Combinations of Linear Servomotors and SERVOPACKs 1 11 1 6 Functions 1 13 Selecting a SERVOPACK 2 2 1 Ratings and Specifications 2 2 2 1 1 Ratings 2 2 2 1 2 SERVOPACK Overload Protection Characteristics 2 5 2 1 3 Specifications 2 6 2 2 Block Diagrams 2 9 2 2 1 SGD7S R70A R90A and 1R6A 2 9 2 2 2 SGD7S 2R8A 2 9 2 2 3 SGD7S...

Page 30: ... 10 4 3 Wiring the Power Supply to the SERVOPACK 4 12 4 3 1 Terminal Symbols and Terminal Names 4 12 4 3 2 Wiring Procedure for Main Circuit Connector 4 15 4 3 3 Power ON Sequence 4 16 4 3 4 Power Supply Wiring Diagrams 4 17 4 3 5 Wiring Regenerative Resistors 4 23 4 3 6 Wiring Reactors for Harmonic Suppression 4 25 4 4 Wiring Servomotors 4 26 4 4 1 Terminal Symbols and Terminal Names 4 26 4 4 2 P...

Page 31: ...Single phase AC Power Supply Input Three phase AC Power Supply Input Setting 5 14 5 4 Automatic Detection of Connected Motor 5 15 5 5 Motor Direction Setting 5 16 5 6 Setting the Linear Encoder Pitch 5 17 5 7 Writing Linear Servomotor Parameters 5 18 5 8 Selecting the Phase Sequence for a Linear Servomotor 5 22 5 9 Polarity Sensor Setting 5 24 5 10 Polarity Detection 5 25 5 10 1 Restrictions 5 25 ...

Page 32: ...coder 5 51 5 18 Setting the Regenerative Resistor Capacity 5 54 5 19 Σ V Compatible Function and Settings 5 55 5 19 1 Setting the Communications Interface Compatibility Selection 5 55 5 19 2 Setting the Encoder Resolution Compatibility Selection 5 55 Application Functions 6 6 1 I O Signal Allocations 6 4 6 1 1 Input Signal Allocations 6 4 6 1 2 Output Signal Allocations 6 6 6 1 3 ALM Servo Alarm S...

Page 33: ...43 6 9 2 Structure of the Position Data of the Absolute Linear Encoder 6 43 6 9 3 Output Ports for the Position Data from the Absolute Linear Encoder 6 44 6 9 4 Reading the Position Data from the Absolute Linear Encoder 6 44 6 9 5 Transmission Specifications 6 45 6 9 6 Calculating the Current Position in Machine Coordinates 6 46 6 9 7 Alarm Output from the Output Ports for the Position Data from t...

Page 34: ...ng Trial Operation 7 14 7 6 1 Program Jogging 7 14 7 6 2 Origin Search 7 19 7 6 3 Test without a Motor 7 21 7 7 Operation Using MECHATROLINK III Commands 7 26 Tuning 8 8 1 Overview and Flow of Tuning 8 4 8 1 1 Tuning Functions 8 5 8 1 2 Diagnostic Tool 8 6 8 2 Monitoring Methods 8 7 8 3 Precautions to Ensure Safe Tuning 8 8 8 3 1 Overtravel Settings 8 8 8 3 2 Torque Limit Settings 8 8 8 3 3 Settin...

Page 35: ...on Settings 8 40 8 7 7 Related Parameters 8 41 8 8 Custom Tuning 8 42 8 8 1 Outline 8 42 8 8 2 Preparations 8 42 8 8 3 Applicable Tools 8 43 8 8 4 Operating Procedure 8 43 8 8 5 Automatically Adjusted Function Settings 8 49 8 8 6 Tuning Example for Tuning Mode 2 or 3 8 49 8 8 7 Related Parameters 8 50 8 9 Anti Resonance Control Adjustment 8 51 8 9 1 Outline 8 51 8 9 2 Preparations 8 51 8 9 3 Appli...

Page 36: ...ring Product Information 9 2 9 1 1 Items That You Can Monitor 9 2 9 1 2 Operating Procedures 9 2 9 2 Monitoring SERVOPACK Status 9 3 9 2 1 Servo Drive Status 9 3 9 2 2 Monitoring Status and Operations 9 3 9 2 3 I O Signal Monitor 9 5 9 3 Monitoring Machine Operation Status and Signal Waveforms 9 6 9 3 1 Items That You Can Monitor 9 6 9 3 2 Using the SigmaWin 9 7 9 3 3 Using the Analog Monitors 9 8...

Page 37: ...11 2 Hard Wire Base Block HWBB 11 3 11 2 1 Risk Assessment 11 4 11 2 2 Hard Wire Base Block HWBB State 11 5 11 2 3 Resetting the HWBB State 11 6 11 2 4 Related Commands 11 7 11 2 5 Detecting Errors in HWBB Signal 11 7 11 2 6 HWBB Input Signal Specifications 11 7 11 2 7 Operation without a Host Controller 11 8 11 2 8 S RDY Servo Ready Output Signal 11 8 11 2 9 BK Brake Output Signal 11 9 11 2 10 St...

Page 38: ...s 13 13 1 List of Servo Parameters 13 2 13 1 1 Interpreting the Parameter Lists 13 2 13 1 2 List of Servo Parameters 13 3 13 2 List of MECHATROLINK III Common Parameters 13 42 13 2 1 Interpreting the Parameter Lists 13 42 13 2 2 List of MECHATROLINK III Common Parameters 13 43 13 3 Parameter Recording Table 13 51 Appendices 14 14 1 Interpreting Panel Displays 14 2 14 1 1 Interpreting Status Displa...

Page 39: ...odel Designations 1 6 1 4 1 Interpreting SERVOPACK Model Numbers 1 6 1 4 2 Interpreting Servomotor Model Numbers 1 7 1 5 Combinations of SERVOPACKs and Servomotors 1 9 1 5 1 Combinations of Rotary Servomotors and SERVOPACKs 1 9 1 5 2 Combinations of Direct Drive Servomotors and SERVOPACKs 1 10 1 5 3 Combinations of Linear Servomotors and SERVOPACKs 1 11 1 6 Functions 1 13 Basic Information on SERV...

Page 40: ... require frequent high speed and high precision positioning The SERVOPACK will make the most of machine performance in the shortest time possible thus contributing to improving productivity The Σ 7 series SERVOPACKs include Σ 7S SERVOPACKs for single axis control and Σ 7W SERVOPACKs for two axis control ...

Page 41: ...3 1 Basic Information on SERVOPACKs 1 2 Interpreting the Nameplate The following basic information is provided on the nameplate SERVOPACK model Order number Serial number Degree of protection Surrounding air temperature BTO information ...

Page 42: ...1 3 Part Names 1 4 1 3 Part Names on side of SERVOPACK Main circuit terminals Motor terminals With Front Cover Open L2 L1 L3 L1C L2C B1 B2 B3 1 2 U V W 25 11 12 13 14 18 19 20 15 16 17 21 22 23 24 ...

Page 43: ... 4 43 Serial Communications Con nector CN3 Connects to the Digital Operator a peripheral device or a computer RS 422 page 4 44 Computer Connector CN7 A USB connector to connect a computer page 4 44 Safety Option Module Con nector Connects to a Safety Option Module page 4 34 I O Signal Connector CN1 Connects to sequence I O signals page 4 34 Feedback Option Module Connector Connects to a Feedback O...

Page 44: ... 4th digit 1st 2nd 3rd digits 5th 6th digits 8th 9th 10th digits 7th digit 20 A Interface 3 Code Specification MECHATROLINK III communications reference Design Revision Order 5th 6th digits 7th digit A 200 VAC Maximum Applicable Motor Capacity Voltage Code Specification 1st 2nd 3rd digits 4th digit R70 1 R90 1 1R6 1 2R8 1 3R8 5R5 1 7R6 120 2 180 200 330 470 550 590 780 R70 R90 2R1 2R8 0 05 kW 0 1 ...

Page 45: ...w inertia ultra small capacity Medium inertia high speed Low inertia high speed Medium inertia low speed high torque Medium inertia flat 200 VAC 17 bit absolute encoder 24 bit batteryless absolute encoder 24 bit absolute encoder 24 bit incremental encoder 1st 2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 1st 2nd digits 3rd digit 4th digit 5th digit 7th digit 6th digit Series Code Sp...

Page 46: ...omotor Type 1st digit 3rd digit on SGL 30 A 050 C P G F T Coreless models Models with F type iron core Models with T type iron core Moving Coil Magnetic Way Code Specification W W2 M M2 Moving Coil Magnetic Way Series Series 1st digit 2nd digit 2nd digit 3rd digit on The specifications for the 3rd digit on depend on the Servomotor type ...

Page 47: ...8F SGM7J 06A 600 W 5R5A SGM7J 08A 750 W SGM7A Low Inertia Small Capacity 3 000 min 1 SGM7A A5A 50 W R70A or R70F SGM7A 01A 100 W R90A or R90F SGM7A C2A 150 W 1R6A or 2R1F SGM7A 02A 200 W SGM7A 04A 400 W 2R8A or 2R8F SGM7A 06A 600 W 5R5A SGM7A 08A 750 W SGM7A 10A 1 0 kW 120A SGM7A 15A 1 5 kW SGM7A 20A 2 0 kW 180A SGM7A 25A 2 5 kW 200A SGM7A 30A 3 0 kW SGM7A 40A 4 0 kW 330A SGM7A 50A 5 0 kW SGM7A 70...

Page 48: ...E 35 105 SGM7F Small Capacity With Core Inner Rotor SGM7F 02A 2 6 2R8A or 2R1F SGM7F 05A 5 15 SGM7F 07A 7 21 2R8A or 2R8F SGM7F 04B 4 12 SGM7F 10B 10 30 SGM7F 14B 14 42 5R5A SGM7F 08C 8 24 2R8A or 2R8F SGM7F 17C 17 51 5R5A SGM7F 25C 25 75 7R6A SGM7F 16D 16 48 5R5A SGM7F 35D 35 105 7R6A or 120A SGM7F Medium Capacity With Core Inner Rotor SGM7F 45M 45 135 7R6A SGM7F 80M 80 240 120A SGM7F 80N 80 240 ...

Page 49: ...10 330 180A SGMCS 1EN 150 450 200A SGMCS 2ZN 200 600 Continued from previous page Direct Drive Servomotor Model Rated Torque N m Instantaneous Maximum Torque N m SERVOPACK Model SGD7S Linear Servomotor Model Rated Force N Instantaneous Maximum Force N SERVOPACK Model SGD7S SGLG Coreless Used with Standard Force Magnetic Way SGLGW 30A050C 12 5 40 R70A or R70F SGLGW 30A080C 25 80 R90A or R90F SGLGW ...

Page 50: ... 170 500 2R8A or 2R8F SGLFW2 45A200A 280 840 5R5A SGLFW2 45A380A 560 1680 180A 1500 120A SGLFW2 90A200A 560 1680 SGLFW2 90A380A 1120 3360 200A SGLFW2 1DA380A 1680 5040 SGLT With T type Iron Cores SGLTW 20A170A 130 380 3R8A SGLTW 20A320A 250 760 7R6A SGLTW 20A460A 380 1140 120A SGLTW 35A170A 220 660 5R5A SGLTW 35A170H 300 600 SGLTW 35A320A 440 1320 120A SGLTW 35A320H 600 1200 SGLTW 35A460A 670 2000...

Page 51: ...unction and Settings page 5 28 Holding Brake page 5 32 Motor Stopping Methods for Servo OFF and Alarms page 5 37 Resetting the Absolute Encoder page 5 48 Setting the Origin of the Absolute Encoder page 5 51 Setting the Regenerative Resistor Capacity page 5 54 Operation for Momentary Power Interruptions page 6 16 SEMI F47 Function page 6 17 Setting the Motor Maximum Speed page 6 19 Software Limits ...

Page 52: ...Detection Level Initialization page 6 51 Alarm Reset page 12 43 Replacing the Battery page 12 3 Setting the Position Deviation Overflow Alarm Level page 8 8 Function Reference Tuning less Function page 8 12 Autotuning without a Host Reference page 8 24 Autotuning with a Host Reference page 8 35 Custom Tuning page 8 42 Anti Resonance Control Adjustment page 8 51 Vibration Suppression page 8 56 Gain...

Page 53: ...ce Function Reference Write Prohibition Setting for Parameters page 5 7 Initializing Parameter Settings page 5 10 Automatic Detection of Connected Motor page 5 15 Monitoring Product Information page 9 2 Monitoring Product Life page 9 2 Alarm History Display page 12 44 Alarm Tracing page 9 16 ...

Page 54: ...GD7S R70A R90A and 1R6A 2 9 2 2 2 SGD7S 2R8A 2 9 2 2 3 SGD7S 3R8A 5R5A and 7R6A 2 10 2 2 4 SGD7S 120A 2 11 2 2 5 SGD7S 180A and 200A 2 13 2 2 6 SGD7S 330A 2 14 2 2 7 SGD7S 470A and 550A 2 15 2 2 8 SGD7S 590A and 780A 2 16 2 2 9 SGD7S R70F R90F and 2R1F 2 16 2 2 10 SGD7S 2R8F 2 17 2 3 External Dimensions 2 18 2 3 1 Front Cover Dimensions and Connector Specifications 2 18 2 3 2 SERVOPACK External Di...

Page 55: ...0 50 Hz 60 Hz Input Current Arms 0 4 0 8 1 3 2 5 3 0 4 1 5 7 7 3 10 15 25 Con trol Power Supply 200 VAC to 240 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 0 2 0 2 0 2 0 2 0 2 0 2 0 2 0 2 0 25 0 25 0 3 Power Supply Capacity kVA 0 2 0 3 0 5 1 0 1 3 1 6 2 3 3 2 4 0 5 9 7 5 Power Loss Main Circuit Power Loss W 5 0 7 0 11 9 22 5 28 5 38 9 49 2 72 6 104 2 114 2 226 6 Control Circuit Power Loss W 12 12 1...

Page 56: ...wer Loss W 292 7 347 9 393 3 529 4 External Regenera tive Resistor Unit External Regenera tive Resistor Unit Resistance Ω 6 25 2 3 13 3 3 13 3 3 13 3 Capacity W 880 2 1760 3 1760 3 1760 3 Minimum Allowable External Resistance Ω 5 8 2 9 2 9 2 9 Overvoltage Category III Model SGD7S R70A R90A 1R6A 2R8A 5R5A 120A Maximum Applicable Motor Capacity kW 0 05 0 1 0 2 0 4 0 75 1 5 Continuous Output Current ...

Page 57: ...0 3 0 5 0 6 0 7 5 11 0 15 0 Continuous Output Current Arms 18 5 19 6 32 9 46 9 54 7 58 6 78 0 Instantaneous Maximum Output Current Arms 42 0 56 0 84 0 110 130 140 170 Main Circuit Power Supply 270 VDC to 324 VDC 15 to 10 Input Current Arms 14 20 34 36 48 68 92 Control Power Supply 270 VDC to 324 VDC 15 to 10 Input Current Arms 0 25 0 25 0 3 0 3 0 3 0 4 0 4 Power Supply Capacity kVA 4 0 5 9 7 5 10 ...

Page 58: ...s duty operation with an output of 100 or higher For a Yaskawa specified combination of SERVOPACK and Servomotor maintain the effective torque within the continuous duty zone of the torque motor speed characteristic of the Servomotor SGD7S 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A and 780A Note The above overload protection characteristics do not mean that you can perform continuous duty o...

Page 59: ...ity max with no freezing or condensation Vibration Resistance 4 9 m s2 Shock Resistance 19 6 m s2 Degree of Protection I 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 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following section for derating specificatio...

Page 60: ...turn Deceleration Switch signal EXT1 to EXT3 External Latch Input 1 to 3 signals FSTP Forced Stop Input signal A signal can be allocated and the positive and negative logic can be changed Sequence Output Signals Fixed Output Allowable voltage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 3...

Page 61: ...andard servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 10 VDC effective linearity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs o...

Page 62: ...ve Gate drive overcurrent protection Temperature sensor Safety function signals Main circuit power supply Control power supply MECHATROLINK III communications Status display L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W CN3 CN7 CN2 ENC CN5 M CHARGE CN8 CN11 CN12 I O I F CN1 CN6A CN6B Processor PWM control position speed calculations etc Control power supply Digital Operator Computer Option Module Option Mod...

Page 63: ...ocessor PWM control position speed calculations etc Control power supply Digital Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Gate drive Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Gate drive overcurrent protection Temperature sensor Safety function signals M...

Page 64: ... calculations etc Control power supply Digital Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Gate drive Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan Gate drive Overhea...

Page 65: ...ed calculations etc Control power supply Digital Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan Gate drive Overheat overcur...

Page 66: ... Control power supply Digital Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan Gate drive Overheat overcurrent protection Sta...

Page 67: ...al Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Thyristor drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan 1 Gate drive Overheat overcurrent protection Status display MECHATROL...

Page 68: ...ower supply Digital Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Thyristor drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan 1 Gate drive Overheat overcurrent protection Status ...

Page 69: ...in circuit power supply Control power supply Fan 1 Gate drive Overheat overcurrent protection Status display MECHATROLINK III communications I O signals Fan 2 Fan 3 Fan 4 Processor PWM control position speed calculations etc Control power supply B1 B2 L1C L2C U V W Digital Operator Computer CN3 CN7 Current sensor Dynamic brake circuit CN2 Servomotor ENC Gate drive Analog voltage converter CN5 Anal...

Page 70: ...e circuit CN2 Servomotor ENC Gate drive Analog voltage converter CN5 Analog monitor output Varistor M Gate drive overcurrent protection Temperature sensor Safety function signals CN8 Control power supply L1 L2 Voltage sensor Voltage sensor Varistor Relay drive CHARGE Main circuit power supply Option Module CN11 Option Module CN12 Status display I O I F CN1 CN6A CN6B MECHATROLINK III communications...

Page 71: ...ble Front Cover Dimensions Connector Specifications Note The above connectors or their equivalents are used for the SERVOPACKs Connec tor No Model Number of Pins Manufacturer CN1 10226 59A3MB 26 3M Japan Limited CN2 3E106 0220KV 6 3M Japan Limited CN3 HDR EC14LFDTN SLD PLUS 14 Honda Tsushin Kogyo Co Ltd CN6A CN6B 1981386 1 8 Tyco Electronics Japan G K CN7 2172034 1 5 Tyco Electronics Japan G K CN8...

Page 72: ...0 168 8 40 140 18 168 5 25 40 75 4 Ground terminals 2 M4 160 0 5 mounting pitch Exterior 10 0 5 mounting pitch Mounting Hole Diagram Unit mm Approx mass 0 8 kg Two sets of terminals Ground terminals 2 M4 160 0 5 mounting pitch Exterior 20 0 5 mounting pitch Mounting Hole Diagram Unit mm Approx mass 1 0 kg Two sets of terminals 160 168 8 40 170 18 4 75 168 5 2 M4 40 5 160 168 8 70 180 18 70 6 168 3...

Page 73: ...unting pitch Exterior 80 0 5 mounting pitch Mounting Hole Diagram Unit mm Approx mass 2 2 kg 3 M4 180 100 12 5 4 75 188 5 Exterior 180 0 5 mounting pitch 82 5 0 5 mounting pitch 75 0 5 mounting pitch Mounting Hole Diagram Unit mm Approx mass 2 7 kg Ground terminals 2 M4 Terminals 14 M4 Terminal Details 180 8 100 188 13 M4 250 258 110 210 5 75 4 M5 258 6 13 110 8 Ground terminals 2 M4 Exterior 84 0...

Page 74: ...Ground terminals 2 M5 Unit mm Approx Mass 8 2 kg 302 5 0 5 mounting pitch 142 0 5 mounting pitch 4 M6 Exterior Mounting Hole Diagram 210 75 390 260 30 260 390 7 5 Ground terminals 2 M6 Terminals 4 M6 Terminals 8 M6 Unit mm Approx Mass 15 5 kg 375 0 5 mounting pitch 200 0 5 mounting pitch 4 M6 Exterior Mounting Hole Diagram 25 75 140 18 40 160 168 24 5 2 195 17 5 2 36 20 7 5 7 195 40 Unit mm Approx...

Page 75: ...kg 2 M4 Exterior Mounting Hole Diagram Ground terminals 2 M4 180 0 5 mounting pitch Two sets of terminals Unit mm Approx mass 1 6 kg Exterior Mounting Hole Diagram Ground terminals 2 M4 180 0 5 mounting pitch Two sets of terminals 166 min 195 36 5 70 2 M4 7 5 7 25 18 24 5 2 160 168 70 195 18 5 36 17 5 75 180 17 5 15 5 65 93 3 13 160 168 195 90 70 75 180 18 25 24 5 2 195 7 7 5 23 166 min 93 4 M4 Ex...

Page 76: ...0 5 mounting pitch 50 0 5 mounting pitch Unit mm Approx mass 2 7 kg Ground terminals 2 M4 Mounting Hole Diagram 285 7 7 7 5 30 5 256 min 116 75 210 2 6 24 5 116 111 2 5 2 5 250 17 5 285 4 M5 Exterior 270 0 5 mounting pitch 50 0 5 mounting pitch Unit mm Approx mass 4 9 kg Ground terminals 2 M4 Mounting Hole Diagram Approx mass 8 4 kg Mounting Hole Diagram Unit mm Terminals 4 M5 Terminals 8 M5 Groun...

Page 77: ...ee phase 200 VAC SGD7S 590A and 780A Terminals 4 M6 Terminals 8 M6 Ground terminals 2 M6 390 260 390 7 5 30 330 min mounting pitch 235 0 5 4 5 244 min 8 260 4 M6 Exterior Cutout Approx mass 13 8 kg Mounting Hole Diagram Unit mm 375 0 5 mounting pitch 136 75 75 292 5 64 ...

Page 78: ...the I O signals of the CN1 connector If the power supply is shared the I O signals may malfunction Servomotor Main Circuit Cable Encoder Cable Battery Case Holding brake power supply unit 3 Magnetic Contactor Wires required for a Servomotor with a Brake External Regenerative Resistor 2 Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable SERVOPACK Rotary Servomotor Direct D...

Page 79: ...e Linear Encoder Cable Serial Converter Unit Serial Converter Unit Cable External Regenerative Resistor 2 Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable SERVOPACK Power supply Three phase 200 VAC 1 Computer Computer Cable External Regenerative Resistor Cable Control Power Supply Cable Digital Operator Digital Operator cable Host controller Analog Monitor Cable Safety ...

Page 80: ... and Orientation 3 3 3 3 Mounting Hole Dimensions 3 4 3 4 Mounting Interval 3 6 3 4 1 Installing One SERVOPACK in a Control Panel 3 6 3 4 2 Installing More Than One SERVOPACK in a Control Panel 3 6 3 5 Monitoring the Installation Environment 3 7 3 6 Derating Specifications 3 8 3 7 EMC Installation Conditions 3 9 SERVOPACK Installation 3 ...

Page 81: ...heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions Installation Near Sources of Vibration Install a vibration absorber on the installation surface of the SERVOPACK so that the SERVO PACK will not be subjected to vibration Other Precautions Do not install the SERVOPACK in a location subject to high temperatures high humidity water drops cutting oil ...

Page 82: ...SERVOPACK vertically as shown in the following figures Also mount the SERVOPACK so that the front panel is facing toward the operator Note Prepare two to four mounting holes for the SERVOPACK and mount it securely in the mounting holes The number of mounting holes depends on the capacity of the SERVOPACK Base mounted SERVOPACK Rack mounted SERVOPACK Duct ventilated SERVOPACK Airflow SERVOPACK Base...

Page 83: ...PACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S R70A R90A 1R6A 168 5 160 0 5 40 35 25 M4 2 2R8A R70F R90F 2R1F 168 5 160 0 5 40 5 25 M4 2 3R8A 5R5A 7R6A 2R8F 168 5 160 0 5 70 6 58 0 5 64 M4 3 120A 168 5 160 0 5 90 5 80 0 5 12 5 M4 3 180A 200A 120A 008 188 5 180 0 5 100 95 12 5 75 0 5 M4 3 330A 258 6 250 0 5 110 5 100 0 5 13 84 0 5 M5 4 470A 550A 315 6 302 5 0 5 170 14 14...

Page 84: ...wing table SERVOPACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S R70A R90A 1R6A 168 5 150 0 5 40 35 35 M4 2 2R8A R70F R90F 2R1F 168 5 150 0 5 40 5 35 M4 2 3R8A 5R5A 7R6A 2R8F 168 5 150 0 5 70 6 58 0 5 6 M4 3 120A 168 5 150 0 5 90 5 80 0 5 5 M4 3 180A 200A 120A 008 188 5 170 0 5 100 95 5 90 0 5 M4 3 330A 250 6 238 5 0 5 110 5 100 0 5 5 100 0 5 M5 4 470A 550A 590A 780A A sp...

Page 85: ... at the SERVOPACK from the front depends on the SERVOPACK models Refer to the following table 30 mm min 30 mm min 40 mm min 40 mm min SERVOPACK Install cooling fans above the SERVOPACKs so that hot spots do not occur around the SERVO PACKs Provide sufficient intervals and spaces as shown in the following figure to enable cooling by the fans and natural convection SERVOPACK Model Space on Right Sid...

Page 86: ...t Monitor SERVOPACK Panel Operator or Digital Operator Un025 Installation Environment Monitor Implement one or more of the following actions if the monitor value exceeds 100 Lower the surrounding temperature Decrease the load The value of the SERVOPACK Installation Environment Monitor parameter will increase by about 10 for each 10 C increase in the ambient temperature Always observe the surroundi...

Page 87: ...S 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A and 780A 100 80 2000 m 100 1000 m 80 0 0 0 m 2000 m 1000 m 0 m 100 0 64 5 C 55 C 60 C 5 C 55 C 60 C Effective torque Surrounding air temperature Altitude Surrounding air temperature and altitude Effective torque Effective torque 80 2000 m 1000 m 0 m 2000 m 1000 m 0 m 5 C 55 C 60 C 5 C 55 C 60 C Surrounding air temperature Altitude Surrounding air...

Page 88: ...or 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 200 VAC Symbol Cable Name Specification I O Signal Cable Shielded cable Safety Function Device Cable Shielded cable Servomotor Main Circuit Cable Shielded cable Encoder Cable Shielded cable Main Circuit Power Cable Shielded cable MECHATROL...

Page 89: ... Cable Shielded cable Main Circuit Power Cable Shielded cable MECHATROLINK III Communications Cable Shielded cable CN1 CN2 L1C and L2C CN6A and CN6B L1 and L2 U V and W Noise filter Surge absorber Clamp Brake Servomotor Encoder Brake power supply SERVOPACK Safety function device I O controller PE PE Shield box Power supply Single phase 200 VAC Clamp Clamp Clamp Clamp Clamp Clamp MECHATROLINK III C...

Page 90: ...cable Encoder Cable Shielded cable Main Circuit Power Cable Shielded cable MECHATROLINK III Communications Cable Shielded cable CN1 CN2 L1C and L2C CN6A and CN6B L1 and L2 U V and W Noise filter Surge absorber Clamp Brake Servomotor Encoder Brake power supply SERVOPACK Safety function device I O controller PE PE Shield box Power supply Single phase 100 VAC Clamp Clamp Clamp Clamp Clamp Clamp MECHA...

Page 91: ... 4 3 3 Power ON Sequence 4 16 4 3 4 Power Supply Wiring Diagrams 4 17 4 3 5 Wiring Regenerative Resistors 4 23 4 3 6 Wiring Reactors for Harmonic Suppression 4 25 4 4 Wiring Servomotors 4 26 4 4 1 Terminal Symbols and Terminal Names 4 26 4 4 2 Pin Arrangement of Encoder Connector CN2 4 26 4 4 3 Wiring the SERVOPACK to the Encoder 4 27 4 4 4 Wiring the SERVOPACK to the Holding Brake 4 33 4 5 I O Si...

Page 92: ...afety Function Signals CN8 4 41 4 6 2 I O Circuits 4 41 4 7 Connecting MECHATROLINK Communications Cables 4 43 4 8 Connecting the Other Connectors 4 44 4 8 1 Serial Communications Connector CN3 4 44 4 8 2 Computer Connector CN7 4 44 4 8 3 Analog Monitor Connector CN5 4 44 ...

Page 93: ...re occurs as a result of any of these causes the holding brake will not work This could damage the machine or cause an accident that may result in death or injury Connect the AC and DC power supplies to the specified SERVOPACK terminals Connect an AC power supply to the L1 L2 and L3 terminals and the L1C and L2C terminals on the SERVOPACK Connect a DC power supply to the B1 and 2 terminals and the...

Page 94: ...cuit terminals Turn ON the power supply to the SERVOPACK only after all wiring including the main circuit ter minals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SERVOPACK 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 whisker...

Page 95: ...SERVOPACK connects directly to a commercial power supply it is not isolated through a transformer or other device Always use a molded case circuit breaker 1QF or fuse to protect the servo sys tem from accidents involving different power system voltages or other accidents Install an earth leakage breaker The SERVOPACK does not have a built in ground fault protec tive circuit To configure a safer sy...

Page 96: ...ncoder Cables Do not share the power supply with an electric welder or electrical discharge machine If the SERVOPACK is placed near a high frequency generator install Noise Filters on the input side on the Main Circuit Power Supply Cable and Control Power Supply Cable even if the same power supply is not shared with the high frequency generator Refer to the following section for information on con...

Page 97: ... with a thickness of at least 2 0 mm2 preferably flat braided copper wire 2 Whenever possible use twisted pair wires to wire all connections marked with 3 Refer to the following section for precautions when using Noise Filters Noise Filter Wiring and Connection Precautions on page 4 8 U W V L2 L1 L3 L2C L1C CN2 CN1 SERVOPACK Servomotor Operation relay sequence User signal generators DC power suppl...

Page 98: ...put lines and other signal lines in the same duct or bundle them together Connect the Noise Filter ground wire directly to the grounding plate Do not connect the Noise Filter ground wire to other ground wires Noise Filter Noise Filter Noise Filter Noise Filter Separate the circuits Correct Incorrect Grounding plate Grounding plate Grounding plate Grounding plate It is OK if the ground wire is clos...

Page 99: ...r directly if the Servomotor is insulated from the machine Motor Frame Ground or Motor Ground If you ground the Servomotor through the machine switching noise current can flow from the main circuit of the SERVOPACK through the stray capacitance of the Servomotor To prevent this always connect the motor frame terminal FG or ground terminal FG of the Servomotor to the ground terminal on the SERVOPAC...

Page 100: ...it input OFF to prohibit drive Sequence input signal power supply input General purpose sequence input 4 External Latch Input 1 ON for latch General purpose sequence input 3 Origin Return Deceleration Switch input ON at limit switch General purpose sequence input 5 External Latch Input 2 ON for latch General purpose sequence input 6 External Latch Input 3 ON for latch Battery for absolute encoder ...

Page 101: ...he SO1 SO2 and SO3 output signals Refer to the following section for details 6 1 I O Signal Allocations on page 6 4 2 If you use a 24 V brake install a separate power supply for the 24 VDC power supply from other power supplies such as the one for the I O signals of the CN1 connector If the power supply is shared the I O signals may malfunction 3 Default settings are given in parentheses ...

Page 102: ...hree phase 200 VAC to 240 VAC 15 to 10 50 Hz 60 Hz L1C L2C Control power supply termi nals Single phase 200 VAC to 240 VAC 15 to 10 50 Hz 60 Hz B1 B2 B3 Regenerative Resistor termi nals 4 3 5 Wiring Regenerative Resistors on page 4 23 For SGD7S R70A R90A 1R6A and 2R8A If the regenerative capacity is insufficient connect an Exter nal Regenerative Resistor between B1 and B2 The External Regenerative...

Page 103: ...r termi nals 4 3 5 Wiring Regenerative Resistors on page 4 23 For SGD7S R70A R90A 1R6A and 2R8A If the regenerative capacity is insufficient connect an Exter nal Regenerative Resistor between B1 and B2 The External Regenerative Resistor is not included Obtain it separately For SGD7S 5R5A and 120A 0A008 If the internal regenerative resistor is insufficient remove the lead or short bar between B2 an...

Page 104: ...Reference L1 L2 Main circuit power supply input terminals for AC power supply input Single phase 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz L1C L2C Control power supply termi nals Single phase 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz B1 B2 Regenerative Resistor termi nals 4 3 5 Wiring Regenerative Resistors on page 4 23 If the regenerative capacity is insufficient connect an External Regenerative Resi...

Page 105: ...iver 5 Make all other connections in the same way 6 When you have completed wiring attach the connectors to the SERVOPACK Required Item Remarks Spring Opener or Flat blade Screwdriver Spring Opener SERVOPACK accessory You can also use model 1981045 1 from Tyco Electronics Japan G K Flat blade screwdriver Commercially available screwdriver with tip width of 3 0 mm to 3 5 mm Using a Spring Opener Us...

Page 106: ...6 1 6 S RDY Servo Ready Signal on page 6 10 Turn ON the control power supply and the main circuit power supply at the same time or turn ON the control power supply before the main circuit power supply Turn OFF the main circuit power supply first and then turn OFF the control power supply WARNING Even after you turn OFF the power supply a high residual voltage may still remain in the SERVOPACK To p...

Page 107: ...A 2SA 1KM 1Ry 1KM ALM ALM 1Ry SERVOPACK For servo alarm display Servo power ON Servo power OFF 1QF Molded case circuit breaker 1FLT Noise Filter 1KM Magnetic Contactor for control power supply 2KM Magnetic Contactor 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 L2 CN1 1KM L1C L3 L2C 1QF...

Page 108: ...not connect them 2KM L1 0 V 1Ry 3 4 1D B2 B3 L2 CN1 1KM L1C L3 L2C 1QF R T 1FLT 24 V 1 2 3SA B1 1PL 1KM 2KM 1SA 2SA 1KM 1Ry 1KM ALM ALM 1Ry SERVOPACK For servo alarm display Servo power ON Servo power OFF 1QF Molded case circuit breaker 1FLT Noise Filter 1KM Magnetic Contactor for control power supply 2KM Magnetic Contactor for main circuit power supply 1Ry Relay 1PL Indicator lamp 1SA Surge Absor...

Page 109: ...and SGD7S 2R8A Do not connect them SERVOPACK For servo alarm display Servo power ON Servo power OFF 1QF Molded case circuit breaker 1FLT Noise Filter 1KM Magnetic Contactor for control power supply 2KM Magnetic Contactor for main circuit power supply 1FU Fuse 2FU Fuse 1Ry Relay 1PL Indicator lamp 1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode 1PL 1KM 2KM 1SA 2SA L1C L2C...

Page 110: ...1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 4SA Surge Absorber 5SA Surge Absorber 1D Flywheel diode 1R External inrush current suppression resistor SERVOPACK For servo alarm display Servo power ON Servo power OFF 1QF Molded case circuit breaker 1FLT Noise Filter 1KM Magnetic Contactor for control power supply 2KM Magnetic Contactor for main circuit power supply auxiliary contact 1FU F...

Page 111: ...OPACK 0 V 1Ry 3 4 1D B2 L2 CN1 1KM L1C L2C 1QF R T 1FLT 24 V 3SA B1 1QF 1FLT 1KM 2KM Molded case circuit breaker Noise Filter Magnetic Contactor for control power supply Magnetic Contactor for main circuit power supply 1Ry 1PL 1SA 2SA 3SA 1D Relay Indicator lamp Surge Absorber Surge Absorber Surge Absorber Flywheel diode For servo alarm display 1PL 1KM 2KM 1SA Servo power ON Servo power OFF 2SA 1K...

Page 112: ...ply capacity of all the SERVOPACKs Be sure to consider the load conditions R S T 1QF 2KM 1Ry 24 V L1 L2 L3 L1C 0 V L2C M L1 L2 L3 L1 L2 L3 L1C 1D L2C M M L1C L2C 3SA 1PL 1KM 2KM 1SA 2SA 3 4 CN1 1KM 1Ry 1KM ALM ALM 3 4 CN1 ALM 3 4 CN1 ALM 1Ry ALM ALM 2FLT 3FLT 4FLT Power supply SERVOPACK Servomotor Servomotor Servomotor SERVOPACK SERVOPACK Relay terminal Relay terminal Relay terminal Relay terminal...

Page 113: ...001 32 Connecting Regenerative Resistors SERVOPACK Models SGD7S R70A R90A 1R6A 2R8A R70F R90F 2R1F and 2R8F 1 Connect the External Regenerative Resistor between the B1 and B2 terminals on the SERVOPACK 2 Set Pn600 Regenerative Resistor Capacity and Pn603 Regenerative Resistance Refer to the following section for details on the settings 5 18 Setting the Regenerative Resistor Capacity on page 5 54 W...

Page 114: ...ove the lead from between the B2 and B3 terminals on the SERVOPACK 2 Connect the External Regenerative Resistor between the B1 and B2 terminals 3 Set Pn600 Regenerative Resistor Capacity and Pn603 Regenerative Resistance Refer to the following section for details on the settings 5 18 Setting the Regenerative Resistor Capacity on page 5 54 Enlarged View ...

Page 115: ...ng the Regenerative Resistor Capacity on page 5 54 4 3 6 Wiring Reactors for Harmonic Suppression You can connect a reactor for harmonic suppression to the SERVOPACK when power supply harmonic suppression is required Refer to the following manual for details on reactors for har monic suppression Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 Refer to the following figures ...

Page 116: ...marks U V and W Servomotor terminals Refer to the following section for the wiring proce dure 4 3 2 Wiring Procedure for Main Circuit Connector on page 4 15 Ground terminal CN2 Encoder connector Pin No Signal Function 1 PG5V Encoder power supply 5 V 2 PG0V Encoder power supply 0 V 3 BAT Battery for absolute encoder 4 BAT Battery for absolute encoder 5 PS Serial data 6 PS Serial data Shell Shield P...

Page 117: ...r Cable with a Battery Case 1 The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use 2 represents a shielded twisted pair cable Wiring Example When Installing a Battery on the Host 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 ENC 3 4 CN2 2 1 5 6 1 2 PG...

Page 118: ...fied by Yaskawa Refer to the following manual for details Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow Important Circuit Example Battery Required Component Specifications Schottky Diode Reverse Voltage Vr 40 V Forward Voltage Vf 0 37 V Reverse current Ir 5 μA ...

Page 119: ...air cable Connections to Absolute Linear Encoder from Magnescale Co Ltd SR77 SR87 SQ47 and SQ57 represents a shielded twisted pair cable Absolute linear encoder from Renishaw PLC PS PS PG5V PG0V Shield Connector shell 5 6 1 2 Connector shell SERVOPACK CN2 U V W M PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Absolute linear encoder from Magnescale Co Ltd Shield Connector shell Connector shell SERVOPACK ...

Page 120: ...ed pair cable Serial Converter Unit Linear encoder from Heidenhain Corporation 1 9 3 7 4 2 11 14 1 PG5V PG0V 2 6 1 5 5 6 1 2 CN2 9 3 7 4 2 11 14 Shield Shield Connector shell Connector shell Connector shell Connector shell SERVOPACK CN2 CN1 COS SIN REF REF 5V 0V SIN COS PS PS U V W M Serial Converter Unit Linear encoder from Renishaw PLC 9 1 10 11 4 12 2 3 9 1 10 11 4 12 2 3 COS PS PS PG5V PG0V SI...

Page 121: ...rpolator The following table gives the Linear Encoder and Interpolator combinations 1 This is the model of the Head with Interpolator 2 This is the model of the Interpolator represents a shielded twisted pair cable Linear Encoder Model Interpolator Model SL700 SL710 SL720 and SL730 PL101 RY 1 SQ10 MQ10 FLA 2 MQ10 GLA 2 PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Linear encoder from Magnescale Co Ltd Shiel...

Page 122: ...00 SL710 SL720 and SL730 MJ620 T13 Interpolator represents a shielded twisted pair cable PS PS PG0V 5 6 5 6 2 2 1 12 14 16 CN2 5 V 0 V U V W M External power supply Interpolator Linear encoder Shield Connector shell Head Cable from Magnescale Co Ltd Connector shell SERVOPACK ...

Page 123: ...ake operation delay time Configure the relay circuit to activate the holding brake for an emergency stop You can change the output signal allocation of the BK signal Refer to the following section for details Allocating the BK Brake Signal on page 5 34 If you use a 24 V brake install a separate power supply for the 24 VDC power supply from other power supplies such as the one for the I O signals o...

Page 124: ...e Sequence Input 3 Ori gin Return Deceleration Switch Input You can allocate the input signal to use with a parameter Connects the deceleration limit switch for origin return SI4 EXT1 10 General purpose Sequence Input 4 Exter nal Latch Input 1 You can allocate the input signals to use with parameters Connect the external signals that latch the current feedback pulse counter SI5 EXT2 11 General pur...

Page 125: ...ke 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 SO2 24 SO3 25 General purpose Sequence Output 3 SO3 26 PAO 17 Encoder Divided Pulse Output Phase A Output the encoder divided pulse output sig nals with a 90 phase differential page 6 33 page 6 43 PAO 18 PBO 1...

Page 126: ...eat Protection Input 18 PAO Encoder Divided Pulse Out put Phase A 6 24VIN Sequence Input Sig nal Power Supply Input 19 PBO Encoder Divided Pulse Out put Phase B 7 SI1 P OT General purpose Sequence Input 1 20 PBO Encoder Divided Pulse Out put Phase B 8 SI2 N OT General purpose Sequence Input 2 21 PCO Encoder Divided Pulse Out put Phase C 9 SI3 DEC General purpose Sequence Input 3 22 PCO Encoder Div...

Page 127: ...If the power supply is shared the I O signals may malfunction BK BK SO2 SO2 SO3 ALM ALM 1 2 23 24 3 4 24VIN 24 V 3 4 7 kΩ 6 8 10 9 11 12 SI0 P OT N OT DEC EXT1 EXT2 EXT3 BAT BAT 13 14 15 7 SO3 Forward Drive Prohibit input prohibited when OFF Sequence input signal power supply input External Latch Input 1 latch when ON Origin Return Deceleration Switch input LS active when ON External Latch Input 2...

Page 128: ... BK SO2 SO2 SO3 ALM ALM 1 2 23 24 3 4 24VIN 24 V 2 6 8 10 9 11 12 SI0 P OT N OT DEC EXT1 EXT2 EXT3 13 7 SO3 25 26 16 SG 1 PBO PCO PBO PAO PAO PCO 21 17 18 19 20 22 FG CN1 3 3 3 4 7 kΩ TH 5 Forward Drive Prohibit input prohibited when OFF Overheat protection input External Latch Input 1 latch when ON Origin Return Deceleration Switch input LS active when ON External Latch Input 2 latch when ON Exte...

Page 129: ...nection examples in 4 5 3 I O Signal Wiring Examples on page 4 37 are for sink circuit connections Examples for Relay Circuits Examples for Open Collector Circuits Sink Circuits Source Circuits Input Signal Polarity Input Signal Polarity Photocoupler Internal Signal Level Photocoupler Internal Signal Level ON Low level ON Low level OFF High level OFF High level 4 7 kΩ E g DEC SERVOPACK 24 VDC 24VI...

Page 130: ...t signals PAO PAO and PBO PBO origin pulse signal PCO and PCO and the absolute encoder position output signals PSO and PSO are output with line driver output circuits Connect the line driver output circuits to line receiver circuits at the host controller Incorrect wiring or incorrect voltage application to the output circuits may cause short circuit fail ures If a short circuit failure occurs as ...

Page 131: ... 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 SERVOPACK enters a base block state 8 EDM1 For safety function signal connections the input signal is the 0 V common and the output signal is a source output This is opposite to other signals described in thi...

Page 132: ...not activate the HWBB normal operation OFF open Activates the HWBB motor current shut OFF request Item Characteristics Remarks Internal Imped ance 4 7 kΩ Operating Voltage Range 24 V 20 Maximum Delay Time 8 ms Time from HWBB1 and HWBB2 signals turning OFF until HWBB is activated Type Signal Pin No Output Sta tus Meaning Output EDM1 CN8 8 CN8 7 ON Both the HWBB1 and HWBB2 signals are operat ing nor...

Page 133: ...th of the cable between stations L1 L2 Ln must be 50 m or less Use the following procedure to remove the MECHATROLINK III Communications Cable con nectors from the SERVOPACK Note The MECHATROLINK III Communications Cable connector may be damaged if it is removed without being unlocked Ln L1 L2 SERVOPACK Lock ejector 1 Slide the lock ejector toward the SERVOPACK 2 Remove the connector while the loc...

Page 134: ... Refer to the following manual for the operating procedures for the SigmaWin AC Servo Drive Engineering Tool SigmaWin Operation Manual Manual No SIET S800001 34 4 8 3 Analog Monitor Connector CN5 To use an analog monitor connect CN5 on the SERVOPACK Wiring Example The measuring instrument is not provided by Yaskawa Refer to the following section for information on the monitoring methods for an ana...

Page 135: ...ons Settings 5 12 5 2 1 Communications Settings 5 12 5 2 2 Setting the Station Address 5 12 5 3 Power Supply Type Settings for the Main Circuit and Control Circuit 5 13 5 3 1 AC Power Supply Input DC Power Supply Input Setting 5 13 5 3 2 Single phase AC Power Supply Input Three phase AC Power Supply Input Setting 5 14 5 4 Automatic Detection of Connected Motor 5 15 5 5 Motor Direction Setting 5 16...

Page 136: ... the Servomotor Is Operating 5 35 5 13 Motor Stopping Methods for Servo OFF and Alarms 5 37 5 13 1 Stopping Method for Servo OFF 5 38 5 13 2 Servomotor Stopping Method for Alarms 5 38 5 14 Motor Overload Detection Level 5 40 5 14 1 Detection Timing for Overload Warnings A 910 5 40 5 14 2 Detection Timing for Overload Alarms A 720 5 41 5 15 Electronic Gear Settings 5 42 5 15 1 Electronic Gear Ratio...

Page 137: ...5 19 Σ V Compatible Function and Settings 5 55 5 19 1 Setting the Communications Interface Compatibility Selection 5 55 5 19 2 Setting the Encoder Resolution Compatibility Selection 5 55 ...

Page 138: ... are required for operation Tuning Parameters Parameters that are used to adjust servo performance When you edit parameters with the SigmaWin setup parameters and tuning parameters are displayed When you edit parameters with a Digital Operator only setup parameters are displayed by default To edit tuning parameters set Pn00B to n 1 Display all parameters We recommend that you use the Setup Wizard ...

Page 139: ...tion Parameters for Numeric Settings Pn100 Speed Loop Gain Setting Range 10 to 20 000 0 1 Hz 400 Immediately Setting Unit Default Setting When Enabled Classification Tuning default setting Use the encoder according to encoder specifications Use the encoder as an incremental encoder Use the encoder as a single turn absolute encoder This is the setting range for the parameter Parameter number This c...

Page 140: ...eters in the Menu Dialog Box The Parameter Editing Dialog Box will be displayed 3 Click the cell of the parameter to edit If the parameter to edit is not displayed in the Parameter Editing Dialog Box click the or Button to display the parameter to edit 4 Change the setting of the parameter 5 Press the Enter Key The background of the edited parameter cell will change to green 1 For a parameter for ...

Page 141: ...turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to set the parameters Setting Parameters with a Digital Operator Refer to the following manual for information on setting the parameters with a Digital Operator Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 5 1 4 Write Prohibition Setting for Parameters You can prohibit writing parameters ...

Page 142: ... Dialog Box The Write Prohibition Setting Dialog Box will be displayed 3 Press the or for the rightmost digit and set one of the following 0000 Writing is permitted default setting 0001 Writing is prohibited 4 Click the Setting Button 5 Click the OK Button The setting will be written to the SERVOPACK 6 To enable the new setting turn the power supply to the SERVOPACK OFF and ON again This concludes...

Page 143: ...ation Error Cannot be executed page 12 46 Vibration Detection Level Initialization Fn01B Initialize Vibration Detection Level Cannot be executed page 6 51 Set Origin Fn020 Set Absolute Linear Encoder Origin Cannot be executed page 5 51 Software Reset Fn030 Software Reset Can be executed page 6 48 Polarity Detection Fn080 Polarity Detection Cannot be executed page 5 27 Tuning less Level Setting Fn2...

Page 144: ... applicable tool functions Test Opera tion Jogging Fn002 Jog Cannot be executed page 7 7 Program Jogging Fn004 Jog Program Cannot be executed page 7 14 Alarm Display Alarm Fn000 Display Alarm History Can be executed page 12 44 Fn006 Clear Alarm History Cannot be executed page 12 45 Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Cannot be executed page 5 15 Continued from previous page SigmaWi...

Page 145: ...aWin 2 Select Edit Parameters in the Menu Dialog Box The Parameter Editing Dialog Box will be displayed 3 Select any parameter of the axis to initialize 4 Click the Initialize Button 5 Click the OK Button Click the Cancel Button to cancel initialization The Parameter Editing Dialog Box will return 6 Click the OK Button 7 Turn the power supply to the SERVOPACK OFF and ON again after the parameter s...

Page 146: ...n No Function Setting Default Setting 1 2 Description 1 2 Sets the number of transmission bytes OFF OFF Reserved Do not change 1 OFF 2 ON ON OFF 32 bytes OFF ON 48 bytes ON ON Reserved Do not change 3 Reserved Do not change OFF 4 Reserved Do not change OFF If you will use the MECHATROLINK III standard servo profile set the number of transmission bytes to either 32 or 48 To enable the new setting t...

Page 147: ... power supply is specified Pn001 n 1 Parameter Meaning When Enabled Classification Pn001 n 0 default setting Use an AC power supply input After restart Setup n 1 Use a DC power supply input WARNING Connect the AC or DC power supplies to the specified SERVOPACK terminals Connect an AC power supply to the L1 L2 and L3 terminals and the L1C and L2C terminals on the SERVOPACK Connect a DC power supply...

Page 148: ...ingle phase power supply input for a SERVOPACK with a single phase 200 VAC power supply input model numbers SGD7S 120A 008 or for a SERVOPACK with a single phase 100 VAC power supply input Parameter Meaning When Enabled Classification Pn00B n 0 default setting Use a three phase power supply input After restart Setup n 1 Use a three phase power supply input as a single phase power supply input 1 If...

Page 149: ...y the Servomotor 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 Servomotor Startup Selection When Encoder Is Not Connected If you specify either a Rotary or Linear Servomo tor only the parameters monitors alarms and functions for the specified motor type will be enabled Information Parameter ...

Page 150: ... setting Forward reference P OT For ward Drive Prohibit signal Reverse reference N OT Reverse Drive Prohibit signal n 1 Use CW as the forward direc tion Reverse Rota tion Mode Forward reference P OT For ward Drive Prohibit signal Reverse reference N OT Reverse Drive Prohibit signal Parameter Forward Reverse Reference Motor Moving Direction and Encoder Divided Pulse Outputs Applicable Overtravel Si...

Page 151: ...n the power supply OFF and ON again Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK Scale Pitch A linear encoder has a scale for measuring lengths positions The length of one division on this scale is the scale pitch Pn282 Linear Encoder Scale Pitch Setting Range Setting Unit Default Setting When Enabled Clas...

Page 152: ... A 710 Instantaneous Overload A 720 Continuous Overload and A C90 Encoder Communications Error Applicable Tools The following table lists the tools that you can use to write the parameters to the Linear Servo motor and the applicable tool functions WARNING Check the Servomotor and linear encoder information before you write the motor parame ters If you do not write the correct motor parameters the...

Page 153: ...rkspace of the Main Window of the Sig maWin 3 Select Motor Parameter Scale Write in the Menu Dialog Box The Motor Parameter Scale Write Dialog Box will be displayed 4 Click the OK Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return If the write is completed normally the Motor Parameter Scale Write File Select Dialog Box will be d...

Page 154: ...on that is displayed is suitable for your Servomotor and then click the Next Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return 8 Click the Write Button Displays an exterior view of the Servomotor Click the image to enlarge it ...

Page 155: ...ick the Complete Button 11 Click the OK Button 12 Turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to write the motor parameters Confirming If the Motor Parameters Have Been Written After you write the motor parameters you can use a monitor function to confirm that the motor parameters are in the encoder If the motor parameters have not been written no informati...

Page 156: ...ar encoder is being received normally Make sure that the forward direction of the Linear Servomotor and the count up direction of the linear encoder are in the same direction Related Parameters If you do not confirm the above items before you attempt to operate the Servomotor the Servo motor may not operate or it may run out of control Always confirm these items before you oper ate the Servomotor ...

Page 157: ... that a linear encoder with a scale pitch of 20 μm and a resolu tion of 256 is used If you manually move the Moving Coil 1 cm in the count up direction of the linear encoder the number of feedback pulses would be as follows 1 cm 20 μm 256 128 000 pulses Note The actual monitor display will be offset by the error in the travel distance There is no problem as long as the above value is close to the ...

Page 158: ...Use polarity sensor default setting If the Linear Servomotor does not have a polarity sensor set Pn080 to n 1 Do not use polarity sensor Turn the power supply OFF and ON again to enable the new setting Parameter Meaning When Enabled Classification Pn080 n 0 default setting Use polarity sensor After restart Setup n 1 Do not use polarity sensor If you set Pn080 to n 0 Use polarity sensor and the Lin...

Page 159: ...nal force We recommend 5 or less of the rated force The mass ratio must be 50x or less The axis must be horizontal There must be friction equivalent to a few percent of the rated force applied to the guides Air sliders cannot be used Encoder Specification Polarity Detection Execution Timing Polarity Detection Execution Method Incremental encoder Each time the control power supply to the SERVOPACK ...

Page 160: ...ommand to perform polarity detection only with an incre mental linear encoder Polarity detection will be performed when you turn the control power supply to the SERVO PACK OFF and then ON again and then send the SV_ON Servo ON command As soon as polarity detection is completed the S RDY Servo Ready signal will turn ON Polarity detection will start simultaneously with execution of the SV_ON Servo O...

Page 161: ...rity detection 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Polarity Detection in the Menu Dialog Box The Polarity Detection Dialog Box will be displayed 3 Click the Continue Button Click the Cancel Button to cancel polarity detection The Main Window will return 4 Click the Start Button Polarity detection will be executed This concludes the polarity d...

Page 162: ...a refer ence CAUTION To prevent accidents that may result from contact faults or disconnections use normally closed limit switches Do not change the default settings of the polarity of the overtravel signals P OT and N OT If you use a Servomotor for a vertical axis the BK Brake signal will remain ON i e the brake will be released when overtravel occurs This may result in the workpiece falling when...

Page 163: ...opped with the dynamic braking or coast to a stop according to the setting of Pn001 n X Motor Stop ping Method for Servo OFF and Group 1 Alarms and then the Servomotor will enter a coasting state Refer to the following section for information on stopping methods other than those for over travel 5 13 1 Stopping Method for Servo OFF on page 5 38 Parameter Meaning When Enabled Classification Pn50A n ...

Page 164: ...g the Servomotor by Setting the Deceleration Time To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Stops If you set Pn30A to 0 the Servomotor will be stopped with a zero speed The deceleration time that you set in Pn30A is the time to decelerate the Servomotor from the maximum motor speed Pn406 Emergency Stop Torque ...

Page 165: ... not reach the target position speci fied by the host controller Check the feedback position to make sure that the axis is stopped at a safe position Parameter Meaning When Enabled Classification Pn00D n 0 default setting Do not detect overtravel warnings Immediately Setup n 1 Detect overtravel warnings 1 Warnings are detected for overtravel in the same direction as the reference 2 Warnings are no...

Page 166: ...equipment before using the applica tion The brake built into a Servomotor with a Brake is a de energization brake It is used only to hold the Servomotor and cannot be used for braking Use the holding brake only to hold a Servomotor that is already stopped z z Vertical Axis Servomotor Holding brake Prevents the moving part from falling due to gravity when the power supply is OFF Moving part of mach...

Page 167: ... turned OFF Rotary Servomotors Pn506 Brake Reference Servo OFF Delay Time Pn507 Brake Reference Output Speed Level and Pn508 Servo OFF Brake Command Waiting Time Linear Servomotors Pn506 Brake Reference Servo OFF Delay Time Pn508 Servo OFF Brake Command Waiting Time and Pn583 Brake Reference Output Speed Level Connection Examples Refer to the following section for information on brake wiring 4 4 4...

Page 168: ... Activates the brake The BK signal will remain ON during overtravel The brake will not be applied Parameter Connector Pin No Meaning When Enabled Classification Pin Pin Pn50F n 0 The BK signal is not used After restart Setup n 1 default setting CN1 1 CN1 2 The BK signal is output from CN1 1 and CN1 2 n 2 CN1 23 CN1 24 The BK signal is output from CN1 23 and CN1 24 n 3 CN1 25 CN1 26 The BK signal i...

Page 169: ...al axis the machine moving part may move slightly due to gravity or an external force You can eliminate this slight motion by setting the servo OFF delay time Pn506 so that power supply to the motor is stopped after the brake is applied This parameter sets the timing of stopping power supply to the Servomotor while the Ser vomotor is stopped Power supply to the Servomotor will be stopped immediate...

Page 170: ... output speed level Rotary Servomotor Pn507 Linear Servomotor Pn583 is higher than the maximum speed Pn508 Motor speed Motor power status BK signal ON Brake released OFF Brake applied Power not supplied Motor stopped with dynamic brake or by coasting Pn001 n X Rotary Servomotor Pn507 Linear Servomotor Pn583 Servo ON Servo OFF Power supplied SV_OFF Servo OFF command input alarm or power OFF Servo O...

Page 171: ...ied to start and stop the Servomotor This may result in deterioration of the internal elements in the SERVOPACK Use speed input references or position references to start and stop the Servomotor If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo the Servomotor stopping method depends on the SERVOPACK model as shown in the following ...

Page 172: ... group 1 Gr 1 alarms and group 2 Gr 2 alarms A different parameter is used to set the stopping method for alarms for each alarm type Refer to the following section to see which alarms are in group 1 and which are in group 2 12 2 1 List of Alarms on page 12 5 Motor Stopping Method for Group 1 Alarms When a group 1 alarm occurs the Servomotor will stop according to the setting of Pn001 n X The defau...

Page 173: ... set to n 0 or n 1 2 The setting of Pn00A n X is enabled for position control and speed control During torque control the setting of Pn00A n X will be ignored and only the setting of Pn001 n X will be used 3 Refer to the following section for details on Pn406 Emergency Stop Torque Stopping the Servomotor by Setting Emergency Stop Torque on page 5 30 4 Refer to the following section for details on ...

Page 174: ...ed in 20 of the time required to detect an overload alarm You can change the time required to detect an over load warning by changing the setting of the overload warning level Pn52B You can increase safety by using overload warning detection as an overload protection function matched to the system The following graph shows an example of the detection of overload warnings when the over load warning...

Page 175: ...o the relevant manual given below for a diagram that shows the relationships between the Servomotor heat dissipation conditions heat sink size surrounding air temperature and derating You can protect the Servomotor from overloads more effectively by setting this derat ing value in Pn52C Σ 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 Σ 7 Series Linear Servomotor Product Manua...

Page 176: ...m Workpiece Resolution 16 777 216 24 bits Ball screw lead 6 mm When the Electronic Gear Is Not Used When the Electronic Gear Is Used To move a workpiece 10 mm Calculate the number of revolutions The Servomotor will move 6 mm for each revo lution so 10 6 revolutions are required to move 10 mm Calculate the required number of reference pulses One revolution is 16 777 216 pulses therefore 10 6 16 777...

Page 177: ...n the following range 0 001 Electronic gear ratio B A 64 000 If the electronic gear ratio is outside of this range an A 040 alarm Parameter Setting Error will occur Pn040 n 1 Use a resolution of 20 bits when connected to an SGM7J SGM7A SGM7P SGM7G SGM7E or SGM7F Servomotor Set the electronic gear ratio within the following range 0 001 Electronic gear ratio B A 4 000 If the electronic gear ratio is...

Page 178: ...bit incremental encoder Encoder Resolution Specification 22 bit single turn absolute encoder 22 bit multiturn absolute encoder Encoder Resolution 6 16 777 216 SGM7J SGM7A SGM7P SGM7G 7 16 777 216 F 16 777 216 SGM7E SGM7F Code Specification 24 bit multiturn absolute encoder 24 bit incremental encoder Encoder Resolution Code Specification 24 bit batteryless multiturn absolute encoder Encoder Resolut...

Page 179: ... 8 192 0 0098 μm SR85 MF 80 1 024 0 078 μm SL700 5 SL710 5 SL720 5 SL730 5 800 PL101 RY 3 8 192 0 0977 μm MJ620 T13 4 SQ10 400 MQ10 FLA 4 8 192 0 0488 μm MQ10 GLA 4 Absolute Heidenhain Corporation LIC4100 Series 20 48 EIB3391Y 4 4 096 0 005 μm LIC2100 Series 204 8 EIB3391Y 4 4096 0 05 μm 409 6 EIB3391Y 4 4096 0 1 μm LC115 40 96 EIB3381Y 4 4 096 0 01 μm LC415 40 96 EIB3391Y 4 4096 0 01 μm Mitutoyo ...

Page 180: ...tion Pn281 is restricted Refer to the following section for details on the encoder output resolution Pn281 6 5 2 Setting for the Encoder Divided Pulse Output on page 6 25 Resolution You can calculate the resolution that is used inside the SERVOPACK i e the travel distance per feedback pulse with the following formula The SERVOPACK uses feedback pulses as the unit to control a Servomotor Informatio...

Page 181: ... bits 16 777 216 24 bits 3 Reference Unit 0 001 mm 1 μm 0 01 0 005 mm 5 μm 4 Travel Distance per Load Shaft Revolution Reference Units 6 mm 0 001 mm 6 000 360 0 01 36 000 314 mm 0 005 mm 62 800 5 Electronic Gear Ratio 6 Parameters Pn20E 16 777 216 Pn20E 167 772 160 Pn20E 838 860 800 Pn210 6 000 Pn210 3 600 Pn210 62 800 Step Description Machine Configuration 1 Linear encoder pitch 0 02 mm 20 μm 2 R...

Page 182: ... an A 8 alarm Internal Encoder Monitoring Alarm occurs turn OFF the power supply to reset the alarm 5 16 2 Preparations Always check the following before you reset an absolute encoder The parameters must not be write prohibited The servo must be OFF CAUTION The multiturn data will be reset to a value between 2 and 2 rotations when the absolute encoder is reset The reference position of the machine...

Page 183: ...der Reset Dialog Box will be displayed 4 Click the Continue Button Click the Cancel Button to cancel resetting the absolute encoder The Main Window will return 5 Click the Execute setting Button The current alarm code and name will be displayed in the Alarm name Box Tool Function Reference Digital Operator Fn008 Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Setup ...

Page 184: ...oder when the servo was ON in the SERVOPACK the fol lowing dialog box will be displayed and processing will be canceled Click the OK Button The Main Window will return Turn OFF the servo and repeat the procedure from step 1 When Resetting Is Successful The following dialog box will be displayed when the absolute encoder has been reset The Main Window will return 8 To enable the change to the setti...

Page 185: ...dels ABS ST78 A ST78 AL ST13 Renishaw PLC EVOLUTE Series Models EL36Y Renishaw PLC RESOLUTE Series Models RL36Y Preparations Always check the following before you set the origin of an absolute encoder The parameters must not be write prohibited The servo must be OFF Pn808 Absolute Encoder Origin Offset Setting Range Setting Unit Default Setting When Enabled Classification 1 073 741 823 to 1 073 74...

Page 186: ...ure Use the following procedure to set the origin of an absolute linear encoder 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Set Origin in the Menu Dialog Box The Set Origin Dialog Box will be displayed 3 Click the Continue Button 4 Click the Execute Button Tool Function Reference Digital Operator Fn020 Σ 7 Series Digital Operator Operating Manual Man...

Page 187: ...he origin of the absolute linear encoder The previous dia log box will return 6 Click the OK Button 7 Turn the power supply to the SERVOPACK OFF and ON again 8 If you use a Linear Servomotor that does not have a polarity sensor perform polarity detection Refer to the following section for details on the polarity detection 5 10 Polarity Detection on page 5 25 This concludes the procedure to set the...

Page 188: ...ies that the SERVOPACK s built in regenerative resistor or Yaskawa s Regen erative Resistor Unit is being used WARNING If you connect an External Regenerative Resistor set Pn600 and Pn603 to suitable values If a suitable value is not set A 320 alarms Regenerative Overload will not be detected cor rectly and the External Regenerative Resistor may be damaged or personal injury or fire may result Whe...

Page 189: ...P S800001 31 5 19 2 Setting the Encoder Resolution Compatibility Selection If an SGM7J SGM7A SGM7P or SGM7G Servomotor is connected to a Σ 7 Series SERVO PACK and the encoder is set to operate at a resolution of 20 bits set Pn040 to n 1 If you replace a Σ V Series SERVOPACK with a Σ 7 Series SERVOPACK you must also replace the previous Servomotor with a Servomotor that is compatible with the Σ 7 S...

Page 190: ... Coincidence Detection Signal 6 11 6 1 8 COIN Positioning Completion Signal 6 12 6 1 9 NEAR Near Signal 6 13 6 1 10 Speed Limit during Torque Control 6 14 6 2 Operation for Momentary Power Interruptions 6 16 6 3 SEMI F47 Function 6 17 6 4 Setting the Motor Maximum Speed 6 19 6 5 Encoder Divided Pulse Output 6 20 6 5 1 Encoder Divided Pulse Output Signals 6 20 6 5 2 Setting for the Encoder Divided ...

Page 191: ...lute Linear Encoders 6 43 6 9 1 Connecting an Absolute Linear Encoder 6 43 6 9 2 Structure of the Position Data of the Absolute Linear Encoder 6 43 6 9 3 Output Ports for the Position Data from the Absolute Linear Encoder 6 44 6 9 4 Reading the Position Data from the Absolute Linear Encoder 6 44 6 9 5 Transmission Specifications 6 45 6 9 6 Calculating the Current Position in Machine Coordinates 6 ...

Page 192: ...top Input Signal 6 59 6 13 2 Stopping Method Selection for Forced Stops 6 59 6 13 3 Resetting Method for Forced Stops 6 61 6 14 Overheat Protection 6 62 6 14 1 Connecting the Overheat Protection Input TH Signal 6 62 6 14 2 Overheat Protection Selection 6 63 ...

Page 193: ...hibit signal the overtravel function will not operate if there are signal line dis connections or other problems If you must change the polarity of one of these signals verify operation and make sure that no safety 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 ...

Page 194: ...status of input signals on the I O signal monitor Refer to the following sec tion for information on the I O signal monitor 9 2 3 I O Signal Monitor on page 9 5 Parameter Setting Pin No Description 0 13 A reverse signal a signal with before the signal abbreviation such as the P CL signal is active when the contacts are ON closed A signal that does not have before the signal abbreviation such as th...

Page 195: ...ng the Output Signal Allocation Tables and change the allocations accord ingly Interpreting the Output Signal Allocation Tables The signals that are not detected are considered to be OFF For example the COIN Position ing Completion signal is considered to be OFF during speed control Reversing the polarity of the BK Brake signal i e changing it to positive logic will prevent the holding brake from ...

Page 196: ...nal Name and Parameter Output Signals CN1 Pin No Disabled Not Used 1 and 2 23 and 24 25 and 26 Positioning Completion Pn50E n X COIN 1 2 3 0 default setting Speed Coincidence Detection Pn50E n X V CMP 1 2 3 0 default setting Rotation Detection Pn50E n X TGON 1 2 3 0 default setting Servo Ready Pn50E n X S RDY 1 2 3 0 default setting Torque Limit Detection Pn50F n X CLT 1 2 3 0 default setting Spee...

Page 197: ...t ting Output parameter assigned SO1 signal After restart Setup n 1 Output OR of parameter assigned SO1 signal and signal set by SVCMD_IO n 0 default set ting Output parameter assigned SO2 signal n 1 Output OR of parameter assigned SO2 signal and signal set by SVCMD_IO n 0 default set ting Output parameter assigned SO3 signal n 1 Output OR of parameter assigned SO3 signal and signal set by SVCMD_I...

Page 198: ...utput Signal Allocation to allocate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 Setting the Rotation Detection Level Use the following parameter to set the speed detection level at which to output the TGON sig nal Rotary Servomotors Linear Servomotors Type Signal Connector Pin No Signal Status Meaning Output WARN Must be allo...

Page 199: ...and is being input Do not include this condition if the SV_ON Servo ON command is input for the first time after the control power supply was turned ON In that case when the first SV_ON command is input polarity detection is started imme diately and the S RDY signal turns ON at the completion of polarity detection Note 1 You must allocate the S RDY signal to use it Use Pn50E n X S RDY Servo Ready ...

Page 200: ...eed and motor speed is equal or less than the setting Linear Servomotors The signal is output when the difference between the reference speed and motor speed is equal or less than the setting Type Signal Connector Pin No Signal Status Meaning Output V CMP Must be allocated ON closed The speed coincides OFF open The speed does not coincide Pn503 Speed Coincidence Detection Signal Output Width Setti...

Page 201: ...ions on page 6 6 Setting the Positioning Completed Width The COIN signal is output when the difference between the reference position and the current position i e the position deviation as given by the value of the deviation counter is equal to or less than the setting of the positioning completed width Pn522 The setting of the positioning completed width has no effect on final positioning accurac...

Page 202: ...n combination with the COIN signal Note You must allocate the NEAR signal to use it Use Pn510 n X NEAR Near Signal Allocation to allo cate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 Parameter Description When Enabled Classification Pn207 n 0 default setting Output the COIN signal when the absolute value of the position devia...

Page 203: ...unction to limit the speed Note The actual limit of Servomotor speed depends on the load conditions on the Servomotor VLT Speed Limit Detection Signal The signal that is output when the motor speed is being limited by the speed limit is described in the following table Note You must allocate the VLT signal to use it Use Pn50F n X VLT Speed Limit Detection Signal Allo cation to allocate the signal ...

Page 204: ...ion speed will be used External Speed Limiting The motor speed will be limited by VLIM Limit Speed for Torque Control Refer to the following manual for details Σ 7 Series MECHATROLINK III Communications Standard Servo Profile Command Manual Manual No SIEP S800001 31 Parameter Meaning When Enabled Classification Pn002 n 0 Reserved setting Do not use After restart Setup n 1 default setting Use the s...

Page 205: ...ply the SERVOPACK can withstand a power interruption that lasts longer than 50 000 ms 3 The holding time of the SERVOPACK control power supply is approximately 100 ms If control operations become impossible during a momentary power interruption of the con trol power supply the setting of Pn509 will be ignored and the same operation will be per formed as for when the power supply is turned OFF norm...

Page 206: ...t controller or by the SERVOPACK The default setting Pn008 n 0 disables detection of an A 971 warning Undervoltage Execution with the Host Controller Pn008 n 1 The host controller limits the torque in response to an A 971 warning Undervoltage The host controller removes the torque limit after the Undervoltage warning is cleared Parameter Description When Enabled Classification Pn008 n 0 default se...

Page 207: ...n tary power interruptions that exceed these voltage and time ranges Set the host controller or SERVOPACK torque limit so that a torque reference that exceeds the specified acceleration torque will not be output when the power supply for the main circuit is restored For a vertical axis do not limit the torque to a value that is lower than the holding torque This function limits torque within the r...

Page 208: ...e set speed is reached or exceeded To limit the speed so that the load is not driven beyond the allowable moment of inertia Refer to relevant manual from the following list for the relationship between the speed and the allowable moment of inertia Σ 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 Σ 7 Series Direct Drive Servomotor Product Manual Manual No SIEP S800001 38 Σ 7 Se...

Page 209: ...ignal 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 Servomotor reso lution that is set in Pn212 Number of Encoder Output Pulses The phase difference between phase A and phase B is an electric angle of 90 Linear Servomotors These encoder divided pulse output pins output ...

Page 210: ...ON the Power Supply Forward rotation or movement phase B leads by 90 Reverse rotation or movement phase A leads by 90 If you use the SERVOPACK s phase C pulse output for an origin return rotate the Servomotor two or more rotations before you start an origin return If the Servomotor cannot be rotated two or more times perform an origin return operation at a motor speed of 600 min 1 or lower If the ...

Page 211: ...efault setting Output phase C pulses only in the forward direction After restart Setup n 1 Output phase C pulses in both the forward and reverse directions Precautions on Setting the Phase C Pulse Output Selection Pn081 n X If you set Pn081 to n 1 Output phase C pulses in both the forward and reverse direc tions the width of the phase C pulse output may be narrower than the width of the phase A pu...

Page 212: ...r Supply The encoder s phase C pulse is output when the origin detection position is passed for the first time in the forward direction after the power supply is turned ON After that the phase C pulse is output whenever the origin detection position is passed in the forward or reverse direction Encoder count up direction Origin detection position Power ON position Phase C pulse output Time The SER...

Page 213: ...sed for the first time in the reverse direction after the power supply is turned ON However after the origin detection position is passed in the forward direction and the encoder s phase C pulse it output it will then also be output when the origin detection point is passed in the reverse direction Encoder count up direction Origin 1 detection position Origin 2 detection position Origin 3 detectio...

Page 214: ...t to 25 001 P Rev because the setting increment in the above table is not used 2 The upper limit of the pulse frequency is approximately 1 6 Mpps The Servomotor speed will be limited if the setting of the number of encoder output pulses is too high An A 511 alarm Encoder Output Pulse Overspeed will occur if the upper limit of the motor speed is exceeded Output example An output example is given be...

Page 215: ...er Unit Setting of Pn282 Not Using a Serial Converter Unit when the lin ear encoder and SERVOPACK are connected directly or when a linear encoder that does not require a Serial Converter Unit is used The linear encoder pitch is automatically detected by the SERVO PACK so the setting of Pn282 is ignored You can use the monitor functions of the SigmaWin to check the linear encoder pitch that was aut...

Page 216: ... set in both the forward and reverse directions The reverse software limit must be less than the forward software limit to set a limit in each direction 6 6 3 Software Limit Check for References You can enable or disable software limit checks for commands that have target position refer ences such as POSING or INTERPOLATE If the target position exceeds a software limit a deceleration stop will be ...

Page 217: ...or Limit Method Outline Control Method Reference Internal Torque Limits The torque is always limited with the setting of a parameter Speed control position control or torque control 6 7 1 External Torque Limits The torque is limited with an input signal from the host computer 6 7 2 Limiting Torque with TLIM Data in Commands The TLIM data in a command is used to set the required torque limits Speed...

Page 218: ...l Pn50B n X P CL Forward External Torque Limit Input Signal Allocation Pn50B n X N CL Reverse External Torque Limit Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 4 Pn483 Forward Force Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 30 Immediately Setup Pn484 Reverse Force Limit Setting Range Setti...

Page 219: ...se Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 800 Immediately Setup Pn404 Forward External Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup Pn405 Reverse External Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup ...

Page 220: ...se CCW as the forward direction Linear Servomotors In this example the Servomotor direction is set to Pn000 n 0 Use the direction in which the linear encoder counts up as the forward direction P CL signal OFF ON N CL signal OFF ON P CL signal OFF ON N CL signal OFF ON Pn402 Pn403 0 Speed Torque Pn403 0 Pn404 Pn402 Speed Torque 0 Pn403 Pn405 Pn402 Speed Torque 0 Pn403 Pn405 Pn404 Pn402 Speed Torque...

Page 221: ...ou must allocate the CLT signal to use it Use Pn50F n X CLT Torque Limit Detection Output Sig nal Allocation to allocate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 Type Signal Connector Pin No Signal Status Meaning Output CLT Must be allocated ON closed The motor output torque is being limited OFF open The motor output torqu...

Page 222: ... is not required n 2 Use the encoder as a single turn absolute encoder A battery is not required Parameter Meaning When Enabled Classification Pn002 n 0 default setting Use the encoder as a single turn absolute encoder A battery is not required After restart Setup n 1 Use the encoder as an incremental encoder A battery is not required n 2 Use the encoder as a single turn absolute encoder A battery...

Page 223: ...ure of the Position Data of the Absolute Encoder The position data of the absolute encoder is the position coordinate from the origin of the absolute encoder The position data from the absolute encoder contains the following two items The number of rotations from the origin of the encoder coordinate system called the multiturn data The position number of pulses within one rotation The position dat...

Page 224: ...with the specified protocol The absolute encoder outputs the position within one rotation as a pulse train It then outputs pulses as an incremental encoder incremental operation sta tus The host controller must have a reception circuit e g UART for the position data from the absolute encoder The pulse counter at the host controller will not count pulses when the multiturn data com munications mess...

Page 225: ...solute Encoder within One Rotation Calculation of the Pulse Output Time T for the Position of the Absolute Encoder within One Rotation 16 to 16 384 680 Pn212 16 384 kpps 25 ms max 16 386 to 32 768 680 Pn212 32 768 kpps 50 ms max 32 722 to 65 536 680 Pn212 65 536 kpps 100 ms max 65 544 to 131 072 680 Pn212 131 072 kpps 200 ms max 131 088 to 262 144 680 Pn212 262 144 kpps 400 ms max 262 176 to 524 2...

Page 226: ...tion The host controller reads the coordinate Ps from the origin of the encoder coordinate system The host controller must record the value of coordinate Ps This section describes the reference position in the machine coordinate system The method to calculate the coordinate value of the present position from the origin of the machine coordinate system is given below The current position PM in the ...

Page 227: ...coder was reset MS Multiturn data of the absolute encoder when absolute encoder was reset PS Position of the absolute encoder within one rotation when absolute encoder was reset Encoder output pulses encoder pulses x setting of Pn212 Encoder pulses PM Current position in machine coordinate system R Number of encoder pulses per revolution Setting of Pn212 Encoder resolution Calculations for Reverse...

Page 228: ...urntable rota tions would be as shown below Set Pn205 to 99 Pn205 100 1 99 Note This parameter is enabled when you use an absolute encoder The data will change as shown below when this parameter is set to anything other than the default setting If the Servomotor operates in the reverse direction when the multiturn data is 0 the multiturn data will change to the value set in Pn205 If the motor oper...

Page 229: ...ries MECHATROLINK III Communications Standard Servo Profile Command Manual Manual No SIEP S800001 31 Default Setting Not Default Setting The multiturn data will always be 0 in the following cases It is not necessary to reset the absolute encoder in these cases When you use a single turn absolute encoder When the encoder is set to be used as a single turn absolute encoder Pn002 n 2 Absolute encoder...

Page 230: ...the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Multiturn Limit Setting in the Menu Dialog Box The Multiturn Limit Setting Dialog Box will be displayed 3 Click the Continue Button Click the Cancel Button to cancel setting the multiturn limit The Main Window will return 4 Change the setting 5 Click the Writing into the Servopack Button 6 Click the OK Button ...

Page 231: ...use setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK 8 Display the Multiturn Limit Setting in the Menu Dialog Box 9 Click the Continue Button 10 Click the Writing into the servomotor Button Click the Re change Button to change the setting 11 Click the OK Button This concludes the procedure to set the multiturn limit ...

Page 232: ...olute linear encoder with MECHATROLINK communications Therefore it is not necessary to wire the PAO PBO and PCO Encoder Divided Pulse Output signals If they need to be wired refer to the following section 4 4 3 Wiring the SERVOPACK to the Encoder on page 4 27 4 5 3 I O Signal Wiring Examples on page 4 37 6 9 2 Structure of the Position Data of the Absolute Linear Encoder The position data of the a...

Page 233: ... operation status The host controller must have a reception circuit e g UART for the position data from the absolute linear encoder The pulse counter at the host controller will not count pulses when the upper 16 bit data with sign communications message is input because only phase A is input The output circuits for the PAO PBO and PCO signals use line drivers Refer to the following section for de...

Page 234: ...h indicates the end of the message Power supplied Main circuit power supply Control power supply S RDY signal ALM output signal SV_ON command SENS_ON command PAO signal PBO signal Motor power status Upper 16 bit position data with sign Lower 20 bit position data incremental pulses Lower 20 bit position data incremental pulses Incremental pulses Incremental pulses ON OFF OFF ON No alarm ON OFF ON O...

Page 235: ...s a pulse train Absolute Encoder Position Output PSO Signal For the upper 16 bit data with sign the upper bits 16 bits including the sign of the current position after dividing by the setting of Pn281 are output with serial communications 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 ...

Page 236: ...elow PS Lower 20 bits of the position data of the origin Encoder Output Resolu tion Pn281 Encoder pulses PM Current position in machine coordinate system R 1048576 220 If you are using a Linear Servomotor you do not need to reset the absolute linear encoder to define the origin Some absolute linear encoders also allow you to set any position as the origin Continued from previous page Symbol Meanin...

Page 237: ...the applica ble tool functions 1 Always confirm that the servo is OFF and that the Servomotor is stopped before you start a software reset 2 This function resets the SERVOPACK independently of the host controller The SERVO PACK carries out the same processing as when the power supply is turned ON and out puts the ALM Servo Alarm signal The status of other output signals may be forcibly changed 3 W...

Page 238: ...tton in the workspace of the Main Window of the SigmaWin 2 Select Software Reset in the Menu Dialog Box The Software Reset Dialog Box will be displayed 3 Click the Execute Button Click the Cancel Button to cancel the software reset The Main Window will return 4 Click the Execute Button 5 Click the OK Button to end the software reset operation All settings including parameters will have been re cal...

Page 239: ... communication Check Box 5 Click the Execute Button 6 Click the OK Button All settings including parameters will have been re calculated When you finish this operation discon nect the SigmaWin from the SERVOPACK and then connect it again This concludes the procedure to reset the software If you perform a software reset without resetting MECHATROLINK communications a com munications error will occu...

Page 240: ... the vibration detection level The parameters must not be write prohibited The test without a motor function must be disabled Pn00C n 0 Parameter Meaning When Enabled Classification Pn310 n 0 default setting Do not detect vibration Immediately Setup n 1 Output a warning A 911 if vibration is detected n 2 Output an alarm A 520 if vibration is detected Pn311 Vibration Detection Sensitivity Setting R...

Page 241: ... the Main Window of the SigmaWin 2 Select Initialize Vibration Detection Level in the Menu Dialog Box The Initialize Vibration Detection Level Dialog Box will be displayed 3 Select Pn311 Vibration Detection Sensitivity and Pn310 Vibration Detection Selec tions and then click the Detection Start Button A setting execution standby mode will be entered Tool Function Operating Procedure Reference Digi...

Page 242: ...3 Operating Procedure 6 Application Functions 6 53 4 Click the Execute Button The newly set vibration detection level will be displayed and the value will be saved in the SERVO PACK This concludes the procedure to initialize the vibration detection level ...

Page 243: ...gmaWin or other tool while this function is being executed Allowed The parameter can be changed using the SigmaWin or other tool while this func tion is being executed Automatic Changes after Function Execution Yes The parameter is automatically set or adjusted after execution of this function No The parameter is not automatically set or adjusted after execution of this function Parameter Name Set...

Page 244: ...ng table lists the tools that you can use to automatically adjust the offset and the applicable tool functions Operating Procedure Use the following procedure to automatically adjust the motor current 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 245: ...tton 4 Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets Dialog Box 5 Click the Adjust Button The values that result from automatic adjustment will be displayed in the New Boxes This concludes the procedure to automatically adjust the motor current detection signal offset ...

Page 246: ...Servomotor characteristics may be adversely affected Observe the following precautions when you manually adjust the offset Operate the Servomotor at a speed of approximately 100 min 1 Adjust the offset while monitoring the torque reference with the analog monitor until the ripple is minimized Adjust the offsets for the phase U current and phase V current of the Servomotor so that they are balanced...

Page 247: ...on Signal Off sets Dialog Box 6 Set the Channel Box in the Motor Current Detection Offset Area to U phase 7 Use the 1 and 1 Buttons to adjust the offset for phase U Change the offset by about 10 in the direction that reduces 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 ph...

Page 248: ...or will be stopped with the dynamic braking or coast to a stop according to the setting of Pn001 n X Motor Stopping Method for Servo OFF and Group 1 Alarms Panel Display and Digital Operator Display When a forced stop is performed the panel and the Digital Operator will display FSTP CAUTION To prevent accidents that may result from contact faults or disconnections use a normally closed switch for ...

Page 249: ...r by Setting the Deceleration Time for Servo OFF and Forced Stops Pn30A To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Stops If you set Pn30A to 0 the Servomotor will be stopped with a zero speed The deceleration time that you set in Pn30A is the time to decelerate the Servomotor from the maximum motor speed Pn406 ...

Page 250: ...ignal is OFF and the SV_ON Servo ON command is sent the forced stop state will be maintained even after the FSTP signal is turned ON Send the SV_OFF Servo OFF command to place the SERVOPACK in the base block BB state and then send the SV_ON Servo ON command Forced stop state FSTP is displayed BB state Operating state OFF forced stop request ON normal operation FSTP signal ON normal operation Opera...

Page 251: ...verheat Protection Input TH Signal To use overheat protection you must connect an overheat protection input TH signal to the SERVOPACK This section describes the connection methods for the overheat protection input TH signal Using Overheat Protection in the Linear Servomotor If you use a Serial Converter Unit connect the connector for the polarity sensor and thermo stat cable of the Linear Servomo...

Page 252: ...erheat pro tection n 3 Monitor a positive voltage input from a sensor attached to the machine and use overheat pro tection If the overheat protection input signal line is disconnected or short circuited an A 862 alarm will occur If you set Pn61A to n 1 Use overheat protection in the Yaskawa Linear Servomotor the parameters in the Servomotor are enabled and the following parameters are disabled Ove...

Page 253: ...on for the Servomotor without a Load 7 7 7 3 1 Preparations 7 7 7 3 2 Applicable Tools 7 8 7 3 3 Operating Procedure 7 8 7 4 Trial Operation with MECHATROLINK III Communications 7 10 7 5 Trial Operation with the Servomotor Connected to the Machine 7 12 7 5 1 Precautions 7 12 7 5 2 Preparations 7 12 7 5 3 Operating Procedure 7 13 7 6 Convenient Function to Use during Trial Operation 7 14 7 6 1 Prog...

Page 254: ...ion is checked with no load Do not connect the Servomotor to the machine Chapter 3 SERVOPACK Installation 2 Wiring and Connections Wire and connect the SERVOPACK First Servomotor operation is checked without a load Do not connect the CN1 connector on the SERVOPACK Chapter 4 Wiring and Connecting SERVOPACKs 3 Confirmations before Trial Operation 7 2 Inspections and Confirmations before Trial Operat...

Page 255: ...ge 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 12 To power supply Secure the motor flange to the machine Do not connect the motor shaft to the load shaft Secure the motor flange to the machine Do not connect the motor shaft to the load shaft CN1 To host controller CN6A and CN6B To host controller To...

Page 256: ...n the SERVOPACK 6 Setting the Origin of the Absolute Linear Encoder This step is necessary only for the following Absolute Linear Encoders Mitutoyo Corporation ABS ST780A Series or ST1300 Series Models ABS ST78 A ST78 AL ST13 Renishaw PLC EVOLUTE Series Models EL36Y Renishaw PLC RESOLUTE Series Models RL36Y 5 17 2 Setting the Origin of the Absolute Linear Encoder on page 5 51 Step No of Parameter ...

Page 257: ... without a Load on page 7 7 2 Trial Operation with MECHATROLINK III Communications 7 4 Trial Operation with MECHATROLINK III Communica tions on page 7 10 3 Trial Operation with the Servomotor Con nected to the Machine 7 5 Trial Operation with the Servomotor Connected to the Machine on page 7 12 To power supply To power supply CN1 To host controller CN6A and CN6B To host controller To power supply ...

Page 258: ... seal is not damaged Also make sure that oil has been applied If you are performing trial operation on a Servomotor that has been stored for a long period of time make sure that all Servomotor inspection and maintenance procedures have been com pleted Refer to the manual for your Servomotor for Servomotor maintenance and inspection infor mation If you are using a Servomotor with a Holding Brake ma...

Page 259: ...ON During jogging the overtravel function is disabled Consider the range of motion of your machine when you jog the Servomotor Pn304 Jogging Speed Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 500 Immediately Setup Pn305 Soft Start Acceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Set...

Page 260: ... the warnings and then click the OK Button Pn383 Jogging Speed Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 mm s 50 Immediately Setup Pn305 Soft Start Acceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Setup Pn306 Soft Start Deceleration Time Setting Range Setting Unit Default Setting When ...

Page 261: ...Button The display in the Operation Area will change to Servo ON 5 Click the Forward Button or the Reverse Button Jogging will be performed only while you hold down the mouse button 6 After you finish jogging turn the power supply to the SERVOPACK OFF and ON again This concludes the jogging procedure To change the speed click the Edit Button and enter the new speed Information ...

Page 262: ...rectly receives the CONNECT command the CN indicator will light If the CN indicator does not light the settings of the CONNECT command are not correct Correct the settings of the CONNECT command and then send it from the host controller again 4 Confirm the product model with the ID_RD command The SERVOPACK will return the product model example SGD7S R90A20A 5 Set the following items which are nece...

Page 263: ...become over loaded Confirmation Item Reference Confirm that the rotational direction of the Servomotor agrees with the forward or reverse reference If they do not agree cor rect the rotation direction of the Servomo tor 5 5 Motor Direction Setting on page 5 16 Confirm that no abnormal vibration noise or temperature rise occurs If any abnor malities are found implement corrections 12 5 Troubleshoot...

Page 264: ...TROLINK III Com munications on page 7 10 has been completed Make sure that the SERVOPACK is connected correctly to both the host controller and the peripheral devices Safety Function Wiring If you are not using the safety function leave the Safety Jumper Connector provided as an accessory with the SERVOPACK connected to CN8 If you are using the safety function remove the Safety Jumper Connector fr...

Page 265: ...emergency stop so that the Servomotor can be stopped safely should an error occur during the remainder of the procedure 7 Perform trial operation according to 7 4 Trial Operation with MECHATROLINK III Com munications on page 7 10 and confirm that the same results are obtained as when trial operation was performed on the Servomotor without a load 8 If necessary adjust the servo gain to improve the ...

Page 266: ... be no alarms There must be no hard wire base block HWBB The servo must be OFF The range of machine motion and the safe movement speed of your machine must be con sidered when you set the travel distance and movement speed There must be no overtravel Additional Information You can use the functions that are applicable to position control However parameters related to motion control through MECHATR...

Page 267: ...r Pn585 Movement Speed Rotary Servomotor Pn533 Linear Servomotor Pn585 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Travel distance Pn531 Travel distance Pn531 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Travel distance Pn531 Speed 0 y y y y Number of movements Pn536 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn...

Page 268: ... Jogging Waiting Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 100 Immediately Setup Pn536 Program Jogging Number of Movements Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 time 1 Immediately Setup Pn530 Program Jogging Related Selections Setting Range Setting Unit Default Setting When Enabled Classification 0000 ...

Page 269: ...fault Setting When Enabled Classification 1 to 10 000 1 mm s 50 Immediately Setup Pn534 Program Jogging Acceleration Deceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 2 to 10 000 1 ms 100 Immediately Setup Pn535 Program Jogging Waiting Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 100 Immediately Setup Pn536 Prog...

Page 270: ...n 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select JOG Program in the Menu Dialog Box The Jog Program Dialog Box will be displayed 3 Read the warnings and then click the OK Button 4 Set the operating conditions click the Apply Button and then click the Run Button A graph of the operation pattern will be displayed ...

Page 271: ...Rotary Servomotors 60 min 1 Direct Drive Servomotors 6 min 1 Linear Servomotors 15 mm s CAUTION Be aware of the following points if you cancel the program jogging operation while the Ser vomotor is operating If you cancel operation with the Servo OFF Button the Servomotor will stop according to setting of the Servo OFF stopping method Pn001 n X If you cancel operation with the Cancel Button the Se...

Page 272: ...t you can use to perform an origin search and the applica ble tool functions Operating Procedure Use the following procedure to perform an origin search 1 Click the Servo Drive Button in the workspace of the Main Window 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 B...

Page 273: ...ervomotor This test allows you to check wiring debug the system and verify parameters to shorten the time required for setup work and to prevent damage to the machine that may result from possible malfunctions The operation of the Servomotor can be checked with this test regardless of whether the Servomotor is actually connected or not Use Pn00C n X to enable or disable the test without a motor Pa...

Page 274: ... Un020 Rated Motor Speed and Un021 Maximum Motor Speed to check the values Encoder information Encoder resolution Encoder type Encoder resolution Setting of Pn00C n X Encoder Resolution for Tests without a Motor Encoder type Setting of Pn00C n X Encoder Type Selection for Tests without a Motor External Encoder Connection Status Information That Is Used Source of Information Connected External enco...

Page 275: ...ot connected start as SERVOPACK for Rotary Servomotor After restart Setup n 1 When an encoder is not connected start as SERVOPACK for Linear Servomotor Pn282 Linear Encoder Scale Pitch Setting Range Setting Unit Default Setting When Enabled Classification 0 to 6 553 600 0 01 μm 0 After restart Setup Parameter Meaning When Enabled Classification Pn00C n 0 default setting Use 13 bits as encoder reso...

Page 276: ...ction Sig nal Offset Parameter Write Pro hibition Setting Fn010 Write Prohibition Set ting page 5 7 Multiturn Limit Setting Fn013 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm page 6 40 Reset Configuration Error of Option Mod ule Fn014 Reset Option Module Configuration Error page 12 46 Initializing the Vibra tion Detection Level Fn01B Initialize Vibration Detection Level page 6 ...

Page 277: ...er sion Fn01E Display SERVOPACK and Servomotor IDs page 9 2 Fn01F Display Servomotor ID from Feedback Option Module Test Oper ation Jogging Fn002 Jogging page 7 7 Program Jogging Fn004 Program Jogging page 7 14 Alarms Alarm Display Fn000 Display Alarm History page 12 44 Fn006 Clear Alarm History page 12 45 Continued from previous page SigmaWin Digital Operator Executable Reference Button in Menu D...

Page 278: ...ommands 7 26 7 7 Operation Using MECHATROLINK III Commands Refer to the following manual for information on MECHATROLINK III commands Σ 7 Series MECHATROLINK III Communications Standard Servo Profile Command Manual Manual No SIEP S800001 31 ...

Page 279: ...ation Overflow Alarm Level 8 8 8 3 4 Vibration Detection Level Setting 8 10 8 3 5 Setting the Position Deviation Overflow Alarm Level at Servo ON 8 10 8 4 Tuning less Function 8 12 8 4 1 Application Restrictions 8 12 8 4 2 Operating Procedure 8 13 8 4 3 Troubleshooting Alarms 8 14 8 4 4 Parameters Disabled by Tuning less Function 8 15 8 4 5 Automatically Adjusted Function Setting 8 15 8 4 6 Relate...

Page 280: ... Outline 8 42 8 8 2 Preparations 8 42 8 8 3 Applicable Tools 8 43 8 8 4 Operating Procedure 8 43 8 8 5 Automatically Adjusted Function Settings 8 49 8 8 6 Tuning Example for Tuning Mode 2 or 3 8 49 8 8 7 Related Parameters 8 50 8 9 Anti Resonance Control Adjustment 8 51 8 9 1 Outline 8 51 8 9 2 Preparations 8 51 8 9 3 Applicable Tools 8 52 8 9 4 Operating Procedure 8 52 8 9 5 Related Parameters 8 ...

Page 281: ...ol Mode Selection 8 73 8 12 5 Current Gain Level Setting 8 74 8 12 6 Speed Detection Method Selection 8 74 8 12 7 Speed Feedback Filter 8 74 8 12 8 Backlash Compensation 8 75 8 13 Manual Tuning 8 81 8 13 1 Tuning the Servo Gains 8 81 8 13 2 Compatible Adjustment Functions 8 92 8 14 Diagnostic Tools 8 96 8 14 1 Mechanical Analysis 8 96 8 14 2 Easy FFT 8 98 ...

Page 282: ... your machine If possible perform autotuning with a host reference If a host controller is not available set an operation pattern that is as close as possible to the host reference and perform autotuning without a host reference If an operation pattern that is close to the host reference is not possible perform autotuning with a host reference while performing program jogging End Start of Tuning R...

Page 283: ...position reference input from the host controller while the machine is in operation You can use this function for fine tuning after you perform autotuning without a host reference Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filters Friction compensation Anti resonance control Vibration suppression Position control page 8 35 Custom Tuning The following...

Page 284: ...l Methods Reference Mechanical Analysis The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed as waveforms or numeric data Speed control position control or torque control page 8 96 Easy FFT The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed only as numeric data Speed control position con...

Page 285: ...veform while you adjust the servo gains Check the adjustment results with the following response waveforms Position Control Speed Control Torque Control Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed min 1 mm s Position reference speed min 1 mm s Position deviation Reference units Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed min 1 mm ...

Page 286: ...vel The position deviation overflow alarm is a protective function that is enabled when the SERVO PACK is used in position control If the alarm level is set to a suitable value the SERVOPACK will detect excessive position devi ation and will stop the Servomotor if the Servomotor operation does not agree with the refer ence The position deviation is the difference between the position reference val...

Page 287: ...of 16 777 216 24 bits Pn102 is set to 400 If the acceleration deceleration rate required for the position reference exceeds the tracking capacity of the Servomotor the tracking delay will increase and the position deviation will no longer satisfy the above formulas If this occurs lower the acceleration deceleration rate so that the Servomotor can follow the position reference or increase the posit...

Page 288: ...larm level at servo ON to restrict operation The related parameters and alarms are given in the following tables Related Parameters Rotary Servomotors Linear Servomotors Warning Number Warning Name Meaning A 900 Position Deviation Overflow This warning occurs if the position deviation exceeds the specified percentage Pn520 Pn51E 100 Pn526 Position Deviation Overflow Alarm Level at Servo ON Setting...

Page 289: ...n526 Position Deviation Overflow Alarm Level at Servo ON while the servo was OFF A d02 Position Deviation Overflow Alarm for Speed Limit at Servo ON If position deviation remains in the deviation counter the setting of Pn529 or Pn584 Speed Limit Level at Servo ON will limit the speed when the servo is turned ON This alarm occurs if a position refer ence is input and the setting of Pn520 Position D...

Page 290: ...oment of inertia If that occurs set the tuning less load level to 2 Pn170 n 2 or reduce the tuning less rigidity level Pn170 n X To ensure safety make sure that you can perform an emergency stop at any time when you execute the tuning less function Function Executable Remarks Vibration Detection Level Initialization Moment of Inertia Estimation Disable the tuning less function Pn170 n 0 before you...

Page 291: ... be enabled Pn170 n 1 The test without a motor function must be disabled Pn00C n 0 Procedure Use the following procedure to set the tuning less levels In addition to the following procedure you can also set the parameters directly Refer to Related Parameters below for the parameters to set 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Response Level S...

Page 292: ...curs implement the following measures Resonant Sound Decrease the setting of Pn170 n X or the setting of Pn170 n X Excessive Vibration during Position Control Increase the setting of Pn170 n X or decrease the setting of Pn170 n X Response Level Setting Description Remarks 7 Response level High You cannot select these levels if tuning less type 1 or 2 Pn14F n 0 or n 1 is used 6 5 4 default setting ...

Page 293: ...ecute the tuning less func tion Do not manually change the settings 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 Pn104 Speed Loop Integral Time Constant Second Speed Loop Integral Time Constant Pn101 Pn105 Position Loop Gain Second Position Loop Gain Pn102 Pn106 Moment o...

Page 294: ...ical structures that are used these days With moment of inertia esti mation you can get an accurate load moment of inertia simply by operating the Servomotor in the actual system in forward and reverse a few times The Servomotor is operated with the following specifications Maximum speed 1 000 min 1 can be changed Acceleration rate 20 000 min 1 s can be changed Travel distance 2 5 rotations max ca...

Page 295: ...ess function must be disabled Pn170 n 0 8 5 3 Applicable Tools The following table lists the tools that you can use to estimate the moment of inertia and the applicable tool functions 8 5 4 Operating Procedure Use the following procedure to estimate the moment of inertia ratio Tool Function Operating Procedure Reference Digital Operator You cannot estimate the moment of inertia from the Digital Op...

Page 296: ... 8 18 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 3 Click the Execute Button 4 Click the Execute Button ...

Page 297: ...g of the start level Edit Buttons Click the button to display a dialog box to change the settings related to the speed loop or estimation start level Help Button Click this button to display guidelines for setting the reference conditions Make the fol lowing settings as required Operate the Servomotor to measure the load moment of inertia of the machine in com parison with the rotor moment of iner...

Page 298: ...e Cancel Button is enabled only while data is being transferred to the SERVOPACK You cannot use it after the transfer has been completed CAUTION The travel distance is the distance for one operation in the forward or reverse direction During multiple operations the operation starting position may move in one direction or the other Confirm the possible operating range for each measurement or operat...

Page 299: ...x Cancel Button This button cancels processing and returns you to the Tuning Dialog Box 8 Click the Next Button The Operation Measurement Dialog Box will be displayed 9 Click the Servo On Button 10 Click the Forward Button The Servomotor shaft will rotate in the forward direction and the measurement will start After the measurement and data transfer have been completed the Reverse Button will be d...

Page 300: ...surements is dis played here Writing Results Button If you click this button Pn103 Moment of Inertia Ratio in the SERVOPACK is set to the value that is displayed for the identified moment of inertia ratio Pn103 Moment of Inertia Ratio Box The value that is set for the parameter is displayed here After you click the Writing Results Button the value that was found with operation and measurements wil...

Page 301: ...edure 8 Tuning 8 23 18 Click the Execute Button If the setting of the moment of inertia ratio Pn103 was changed the new value will be saved and the Tuning Dialog Box will be displayed again This concludes the procedure to estimate the moment of inertia ratio ...

Page 302: ...ion Pn170 n 0 before you execute autotuning without a host reference If you change the machine load conditions or drive system after you execute autotuning with out a host reference and then you execute autotuning without a host reference with moment of inertia estimation specified use the following parameter settings If you execute autotuning without a host reference for any other conditions the ...

Page 303: ...nal action during moment of inertia estimation When mode switching is used Note If you specify moment of inertia estimation mode switching will be disabled and PI control will be used while the moment of inertia is being calculated Mode switching will be enabled after moment of inertia esti mation has been completed When speed feedforward or torque feedforward is input When the positioning complet...

Page 304: ...n use to perform autotuning without a host refer ence and the applicable tool functions 8 6 4 Operating Procedure Use the following procedure to perform autotuning without a host reference If you start autotuning without a host reference while the SERVOPACK is in speed control for mode 2 or 3 the SERVOPACK will change to position control automatically to perform autotuning without a host reference...

Page 305: ...aWin 3 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 4 Click the Execute Button 5 Select the No Reference Input Option in the Autotuning Area and then click the Auto tuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 Moment of I...

Page 306: ...ult settings Rotary Servomotors Approx 3 rotations Direct Drive Servomotors Approx 0 3 rotations Linear Servomotors Approx 90 mm Set the distance to the following values or higher To ensure tuning precision we rec ommend that you use approximately the default distance setting Rotary Servomotors 0 5 rotations Direct Drive Servomotors 0 05 rotations Linear Servomotors 5 mm Mode Selection Description...

Page 307: ...8 6 Autotuning without Host Reference 8 6 4 Operating Procedure 8 Tuning 8 29 7 Click the Servo ON Button 8 Click the Start tuning Button ...

Page 308: ...ost reference 8 6 5 Troubleshooting Problems in Autotuning without a Host Reference The following tables give the causes of and corrections for problems that may occur in autotun ing without a host reference Autotuning without a Host Reference Was Not Performed Possible Cause Corrective Action Main circuit power supply is OFF Turn ON the main circuit power supply An alarm or warning occurred Remov...

Page 309: ...lation of the moment of inertia Refer to the following section for troubleshooting information When an Error Occurs during Calculation of Moment of Inertia on page 8 31 Positioning was not completed within approximately 10 sec onds after position adjustment was com pleted The positioning completed width is too narrow or proportional control is being used Increase the setting of the positioning com...

Page 310: ...Set Pn140 n 0 Do not adjust automatically only if you do not change the settings for vibration suppression before you execute autotuning without a host reference Note Autotuning without a host reference uses model following control Therefore it can be executed only if the mode is set to 2 or 3 Parameter Function When Enabled Classification Pn460 n 0 Do not adjust the first stage notch filter auto ...

Page 311: ...01 31 Parameter Function When Enabled Classification Pn140 n 0 Do not adjust vibration suppression automati cally during execution of autotuning without a host reference autotuning with a host refer ence and custom tuning Immediately Tuning n 1 default setting Adjust vibration suppression automatically during execution of autotuning without a host reference autotuning with a host reference and cus...

Page 312: ...ed Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value Yes Pn40C Second Stage Notch Filter Frequency Yes Pn40D Second Stage Notch Filter Q Value Yes Pn140 Model Following Control Related Selections Yes Pn141 Model Following Control Gain Yes Pn142 Model Following Control Gain Correction Yes Pn143 Model Following Control Bias in the Forward Dir...

Page 313: ...ollowing section for details on the parameters that are adjusted 8 7 7 Related Parameters on page 8 41 Autotuning with a host reference makes adjustments based on the set speed loop gain Pn100 Therefore precise adjustments cannot be made if there is vibration when adjustments are started Make adjustments after lowering the speed loop gain Pn100 until vibration is eliminated Important CAUTION Becau...

Page 314: ...ons for details on custom tuning 8 8 Custom Tuning on page 8 42 Preparations Always check the following before you execute autotuning with a host reference The servo must be in ready status There must be no overtravel The servo must be OFF Position control must be selected if power is supplied to the motor i e when the servo is ON The gain selection switch must be set to manual gain selection Pn13...

Page 315: ...n 3 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 4 Click the Execute Button 5 Select the Position reference input Option in the Autotuning Area and then click the Autotuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 Moment of...

Page 316: ...for positioning applications In addition to gain adjustment model following control notch filters anti resonance control and vibration suppression are auto matically adjusted 3 For positioning especially to pre vent overshooting Tuning is performed for positioning applications with emphasis on elimi nating overshooting In addition to gain adjustment notch filters anti resonance control and vibrati...

Page 317: ...then click the Start tuning Button 10 Confirm safety around moving parts and click the Yes Button The Servomotor will start operating and tuning will be executed Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration When the settings have been completed the indicators for the functions that were used will light at the lower left of...

Page 318: ...matically Adjusted Function Settings These function settings are the same as for autotuning without a host reference Refer to the following section 8 6 6 Automatically Adjusted Function Settings on page 8 32 Possible Cause Corrective Action Main circuit power supply is OFF Turn ON the main circuit power supply An alarm or warning occurred Remove the cause of the alarm or warning Overtraveling occu...

Page 319: ...quency Correction No Pn125 Friction Compensation Gain Correction Yes Pn401 First Stage First Torque Reference Filter Time Constant Yes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value Yes Pn40C Second Stage Notch Filter Frequency Yes Pn40D Second Stage Notch Filter Q Value Yes Pn140 Model Following Control Related Sele...

Page 320: ... anti resonance control is provided if vibration is detected Manual anti resonance control adjustment is also possible during custom tuning Tuning Mode 2 Setting Servo Gains Giving Priority to Position Control Applications or 3 Setting Servo Gains Giving Priority to Preventing Overshooting in Position Con trol Applications Two tuning levels are manipulated to reduce positioning time even further a...

Page 321: ... Procedure on page 8 43 WARNING Before you execute custom tuning check the information provided in the SigmaWin oper ating manual Observe the following precautions Make sure that you can perform an emergency stop at any time When custom tuning is started several parameters will be overwritten with the recommended settings which may greatly affect the response before and after execution Make sure t...

Page 322: ...e Execute Button 5 Click the Advanced adjustment Button 6 Click the Custom tuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 Moment of Inertia Ratio Information ...

Page 323: ...rshooting may occur because pri ority is given to response In addition to gain adjustment notch filters and anti resonance control except during torque control are automatically adjusted 2 Set servo gains for positioning application Tuning is performed for positioning applications In addition to gain adjust ment notch filters anti resonance control and vibration suppression are adjusted 3 Set serv...

Page 324: ...otch filters automatic anti resonance setting anti resonance control adjustment and autotuning with a host reference as required Refer to the following section for details Vibration Suppression Functions on page 8 48 Tuning Mode 0 or 1 Tuning Mode 2 or 3 Tuning Mode 0 or 1 Increase the tuning level until overshooting occurs Tuning Mode 2 or 3 Increase the feedforward level until overshoot ing occu...

Page 325: ...edure 8 Tuning 8 47 12 When tuning has been completed click the Completed Button The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia log Box This concludes the procedure to set up custom tuning ...

Page 326: ... automatically When they are reset vibration detection will start again Vib Detect Button While the notch filter or anti resonance control adjustment automatic setting function is enabled you can click the Vib Detect Button to manually detect vibration When you click the Vib Detect Button the SERVOPACK will detect vibration at that time and set the notch filter frequency stage 1 or 2 or anti reson...

Page 327: ...s increased Tuning is completed if the specifications are met The tuning results are saved in the SERVOPACK If overshooting occurs before the specifications are met pro ceed to step 3 3 Overshooting will be reduced if the feedback level is increased If the overshooting is eliminated proceed to step 4 4 The graph shows overshooting that occurred when the feed forward level was increased even more a...

Page 328: ...ion Compensation Gain Correction Yes Pn401 First Stage First Torque Reference Filter Time Constant Yes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value Yes Pn40C Second Stage Notch Filter Frequency Yes Pn40D Second Stage Notch Filter Q Value Yes Pn140 Model Following Control Related Selections Yes Pn141 Model Following...

Page 329: ...check the following before you execute anti resonance control adjustment The tuning less function must be disabled Pn170 n 0 The test without a motor function must be disabled Pn00C n 0 The control method must not be set to torque control The parameters must not be write prohibited CAUTION Related parameters will be set automatically when anti resonance control adjustment is executed This may grea...

Page 330: ...ency stop at any time Parameters will be set automatically when anti resonance control adjustment is executed This may greatly affect the response before and after execution Make sure that you can perform an emergency stop to turn OFF the power supply at any time Set the moment of inertia correctly before you execute anti resonance control adjustment If the setting greatly differs from the actual ...

Page 331: ...w the vibration frequency click the Manual Set Button 4 Click the Start adjustment Button 5 Use the and Buttons in the Adjustment Area to change the settings Click the Reset Button during tuning to restore the setting to its original value The tuning level will return to the value from before when custom tuning was started To Automatically Detect the Vibration Frequency The frequency will be set T...

Page 332: ... Anti resonance Control When you use anti resonance control and increase the control gain for some mechanism vibration can occur at a higher frequency than the frequency for which vibration was sup pressed If this occurs you can suppress vibration for more than one frequency by adjusting Pn166 Anti Resonance Damping Gain 2 Parameter Name Automatic Changes Pn160 Anti Resonance Control Related Selec...

Page 333: ...Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn165 Anti Resonance Filter Time Constant 2 Correction Setting Range Setting Unit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn166 Anti Resonance Damping Gain 2 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 0 Immediately Tuning S...

Page 334: ...tioning completed width Pn522 Perform the detection of vibration frequencies again after adjusting the setting of Pn560 Note As a guideline change the setting 10 at a time If the setting of this parameter is lowered the detection sensitivity will be increased Vibration may not be detected accurately if the setting is too small CAUTION Related parameters will be set automatically when vibration sup...

Page 335: ...fer to the following section for details 8 8 4 Operating Procedure on page 8 43 2 Click the Vib Suppress Button 3 Click the Import Button or click and Button to manually adjust the set frequency When you click the Import Button the residual vibration frequency in the Servomotor is read as the set frequency The frequency can be read only when the residual vibration frequency is between 1 0 and 100 ...

Page 336: ...to set up vibration suppression Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies If a vibration frequency is not detected pro vide a means of measuring the vibration frequency No settings related to vibration suppression are changed during operation If the Servomotor does not stop within approximately 10...

Page 337: ...during execution Parameter Function When Enabled Classification Pn140 n 0 default setting Do not use model following control and speed torque feedforward together Immediately Tuning n 1 Use model following control and speed torque feedforward together When model following control is used with the feedforward function it is used to make optimum feedforward settings in the SERVOPACK Therefore model ...

Page 338: ... which there is not a suitable range of motion Preparations Always check the following before you set up speed ripple compensation The main circuit power supply must be ON The servo must be OFF There must be no alarms or warnings There must be no hard wire base block HWBB The parameters must not be write prohibited WARNING Speed ripple compensation requires operating the Servomotor and therefore p...

Page 339: ... of the Main Window of the Sig maWin 2 Select Ripple Compensation in the Menu Dialog Box The Ripple Compensation Dialog Box will be displayed 3 Click the OK Button Tool Function Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator SigmaWin Solutions Ripple Compensation Operating Procedure on page 8 61 1 Click the Cancel Button to cancel ripple compensati...

Page 340: ... 11 Speed Ripple Compensation 8 11 2 Setting Up Speed Ripple Compensation 8 62 4 Click the Edit Button 5 Enter the jogging speed in the Input Value Box and click the OK Button 6 Click the Servo ON Button ...

Page 341: ...reference graph will be displayed in the Ripple Compensation Dialog Box during jogging 8 After speed ripple measurement has been completed click the Write Button The ripple compensation value will be written to the SERVOPACK 9 After writing has been completed click the OK Button If the measurement time i e the jogging time for the speed ripple is too short speed ripple measurement will not be comp...

Page 342: ... a 0 speed reference In speed control mode this may result in the Servomotor moving slightly To prevent this set Pn423 n X Speed Ripple Compensa tion Enable Condition Selection and Pn427 or Pn49F Speed Ripple Compensation Enable Speed For Rotary Servomotors For Linear Servomotors To discard the setup results click the Reset Button Information Parameter Description When Enabled Classifi cation Pn42...

Page 343: ...l occur to warn you You can use any of the following methods to clear A 942 Reset the speed ripple compensation value on the SigmaWin Disable speed ripple compensation Pn423 n 0 Disable detection of A 942 Pn423 n 1 Parameter Description When Enabled Classifi cation Pn423 n 0 default setting Detect A 942 alarms After restart Setup n 1 Do not detect A 942 alarms Setting of Pn427 or Pn49F Ripple Comp...

Page 344: ... not met these parameters will not be changed even if the other param eters in the above table are changed There must be no reference The motor must be stopped Function Applicable Control Methods Reference Gain Switching Position control speed control or torque control page 8 66 Friction Compensation Position control or speed control page 8 70 Current Control Mode Selection Position control speed ...

Page 345: ... 1 Pn135 Gain Switching Time 1 Pn131 Condition A not satisfied Gain settings 2 to gain set tings 1 Gain Switching Waiting Time 2 Pn136 Gain Switching Time 2 Pn132 Parameter Position Control Gain Switching Condition A For Control Methods Other Than Position Control No Switching When Enabled Classification Pn139 n 0 default setting COIN Positioning Com pletion signal ON Gain settings 1 used Immediat...

Page 346: ...abled Classification 10 to 20 000 0 1 s 400 Immediately Tuning Pn401 First Stage First Torque Reference Filter Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 0 01 ms 100 Immediately Tuning Pn141 Model Following Control Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 500 Immediately Tuning Pn142 Model F...

Page 347: ...to 2 000 0 1 1 000 Immediately Tuning Pn122 Second Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1 000 1 100 Immediately Tuning Pn131 Gain Switching Time 1 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 1 ms 0 Immediately Tuning Pn132 Gain Switching Time 2 Setting Range Setting Unit Default Setting When E...

Page 348: ... friction compensation Pn121 Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1 000 1 100 Immediately Tuning Pn122 Second Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1 000 1 100 Immediately Tuning Pn123 Friction Compensation Coefficient Setting Range Setting Unit Default Setting When ...

Page 349: ...riction com pensation Note Usually set the friction compensation coefficient Pn123 to 95 or less If the effect is insufficient increase the friction compensation gain Pn121 by 10 increments until vibration stops Effect of Adjusted Parameters Pn121 Friction Compensation Gain and Pn122 Second Friction Compensation Gain These parameters set the response to external disturbances The higher the setting...

Page 350: ...is provided below Refer to the following section for details on brake operation timing 5 12 1 Brake Operating Sequence on page 5 32 Holding brake When the brake is released the gravity compensation torque prevents the moving part from moving due to gravity Moving part of machine Servomotor 0 0 0 SV_ON Servo ON command Torque reference Gravity compensation torque Pn476 Servo OFF OFF Brake applied S...

Page 351: ...omotor is being stopped The setting depends on the capacity of the SERVOPACK To use current control mode selection use current control mode 2 set Pn009 to n 1 or n 2 SERVOPACK Models SGD7S R70A R90A 1R6A 2R8A 3R8A 5R5A and 7R6A SERVOPACK Models SGD7S 120A 180A 200A 330A 470A 550A 590A and 780A Parameter Description When Enabled Classification Pn475 n 0 default setting Disable gravity compensation ...

Page 352: ...of the running motor when the linear encoder scale pitch is large 8 12 7 Speed Feedback Filter You can set a first order lag filter for the speed feedback in the speed loop This ensures smooth changes in the feedback speed to reduce vibration If a large value is set it will increase the delay and make response slower Pn13D Current Gain Level Setting Range Setting Unit Default Setting When Enabled ...

Page 353: ...irection Set the direction in which to apply backlash compensation Backlash Compensation Value Set the amount of backlash compensation to add to the position reference The amount is set in increments of 0 1 reference unit However when the amount is converted to encoder pulses it is rounded off at the decimal point Parameter Meaning When Enabled Classification Pn230 n 0 default setting Compensate f...

Page 354: ...ation so it is not necessary for the host controller to consider the backlash compensation value The backlash compensation value is restricted by the following formula Backlash compensa tion is not performed if this condition is not met Refer to the following section for the encoder resolution 5 15 Electronic Gear Settings on page 5 42 With fully closed loop control substitute the number of extern...

Page 355: ...TPOS0 to TPOS1 and then to TPOS2 and then returning from TPOS2 to TPOS1 and then to TPOS0 Backlash compensation is applied when moving from TPOS0 to TPOS1 but not when moving from TPOS2 to TPOS1 CAUTION The encoder divided pulse output will output the number of encoder pulses for which driv ing was actually performed including the backlash compensation value If you use the encoder output pulses fo...

Page 356: ...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 77 if any other control method is changed to position con trol Related Monitoring You can monitor the following values on the operation monitor of the SigmaWin Displayed Value Unit Specification Input Reference Pulse Speed min 1 Displays the input...

Page 357: ...nate system before the position reference filter Reference units 6 TPOS Target position in the reference coordinate system Reference units E OMN1 Option monitor 1 selected with Pn824 F OMN2 Option monitor 2 selected with Pn825 Parameter Monitor Information Output Unit Remarks Pn824 Pn825 0003h Position deviation lower 32 bits Reference units 0004h Position deviation upper 32 bits Reference units 0...

Page 358: ...dforward A T Position amplifier deviation A T M Position deviation U M Position deviation O T Near A T Completion of position reference distribution A O T Positioning completion A T Position reference speed U M Input reference pulse speed Speed conversion Electronic gear Backlash compensation Deviation counter Speed current loop Speed conversion Deviation counter Electronic gear Output signal proc...

Page 359: ...ristic of the SERVOPACK For example you can reduce the positioning time for posi tion control Use manual tuning in the following cases When tuning with autotuning without a host reference or autotuning with a host reference does not achieve the desired results When you want to increase the servo gains higher than the gains that resulted from autotun ing without a host reference or autotuning with ...

Page 360: ...rease the setting of the position loop gain you must increase the rigid ity of the machine to increase the inherit vibration frequency of the machine Step Description 1 Adjust the first stage first torque reference filter time constant Pn401 so that vibration does not occur 2 Increase the Speed loop gain Pn100 and reduce the speed loop integral time constant Pn101 as far as possible within the ran...

Page 361: ... gain Pn102 cannot be set overflow alarms can occur during high speed operation If that is the case you can increase the setting of the fol lowing parameter to increase the level for alarm detection Use the following condition as a guideline for determining the setting If you use a position reference filter transient deviation will increase due to the filter time con stant When you make the settin...

Page 362: ...ction describes the notch filter Q value and notch filter depth Notch filter Q Value The setting of the notch filter Q value determines the width of the frequencies that are filtered for the notch filter frequency The width of the notch changes with the notch filter Q value The larger the notch filter Q value is the steeper the notch is and the narrower the width of frequen cies that are filtered ...

Page 363: ...h filter frequency characteristics for different notch filter depths are shown below Note The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics You can enable or disable the notch filter with Pn408 and Pn416 Parameter Meaning When Enabled Classification Pn408 n 0 default setting Disable first stage notch filter Immediately ...

Page 364: ... Setting When Enabled Classification 50 to 1 000 0 01 70 Immediately Tuning Pn419 Third Stage Notch Filter Depth Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 0 001 0 Immediately Tuning Pn41A Fourth Stage Notch Filter Frequency Setting Range Setting Unit Default Setting When Enabled Classification 50 to 5 000 1 Hz 5 000 Immediately Tuning Pn41B Fourth Stage Notc...

Page 365: ...which the parameters affect each other Depending on the machine conditions overshooting and vibration may occur and operation may not be stable If the critical gain condition expressions are not met operation will become more unstable and there is a risk of abnormal motor shaft vibration and round trip operation with a large amplitude Always stay within the critical gain conditions If you use the ...

Page 366: ...ings 2 Pn104 Pn105 Pn106 and Pn412 For I P control the relationships between the speed loop integral time constant speed loop gain and position loop gain are different from the relationships for PI control The relationship between other servo gains is the same as for PI control Speed Loop Gain Pn100 Hz and Speed Loop Integral Time Constant Pn101 ms Stable gain Pn100 Hz 320 Pn101 ms Position Loop G...

Page 367: ...moment of inertia ratio Pn103 as accurately as possible 2 Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loop gain Pn102 Guidelines for Manually Tuning Servo Gains on page 8 87 3 Increase the model following control gain Pn141 as much as possible within the range in which overshooting and vibration do not occur 4 If overshooting occurs or if the ...

Page 368: ...his parameter and not by Pn102 Position Loop Gain Parameter Function When Enabled Classification Pn140 n 0 default setting Do not use model following control Immediately Tuning n 1 Use model following control n 0 default setting Do not perform vibration suppression n 1 Perform vibration suppression for a specific frequency n 2 Perform vibration suppression for two specific frequencies Pn141 Model ...

Page 369: ...ly to occur Model Following Control Type Selection When you enable model following control you can select the model following control type Nor mally set Pn14F to n 1 Use model following control type 2 default setting If compati bility with previous models is required set Pn14F to n 0 Use model following control type 1 Pn143 Model Following Control Bias in the Forward Direction Setting Range Settin...

Page 370: ... can use mode switching to automatically change between proportional control and PI con trol Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and switching levels Pn109 Feedforward Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100 1 0 Immediately Tuning Pn10A Feedforward Filt...

Page 371: ... Classification 0 to 10 000 1 min 1 0 Immediately Tuning Pn10E Mode Switching Level for Acceleration Setting Range Setting Unit Default Setting When Enabled Classification 0 to 30 000 1 min 1 s 0 Immediately Tuning Pn10F Mode Switching Level for Position Deviation Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 reference unit 0 Immediately Tuning Pn10C Mode Swi...

Page 372: ...ition Rotary Servomotors When the speed reference equals or exceeds the speed set for the mode switching level for a speed reference Pn10D the speed loop is changed to P control Linear Servomotors When the speed reference equals or exceeds the speed set for the mode switching level for a speed reference Pn181 the speed loop is changed to P control Pn10C Pn10C PI P P Speed reference Speed Motor spe...

Page 373: ...e switching level for position deviation Pn10F the speed loop is changed to P control This setting is enabled only for position control Position Integral The position integral is the integral function of the position loop It is used for the electronic cams and electronic shafts when using the SERVOPACK with a Yaskawa MP3000 Series Machine Controller Pn11F Position Integral Time Constant Setting Ra...

Page 374: ... servo tuning and as reference for considering changes to the machine The performance of the servo cannot be completely utilized depend ing on the rigidity of the machine You may need to consider making changes to the machine The information can also be used as reference for servo tuning to help you adjust parameters such as the servo rigidity and torque filter time constant You can also use the i...

Page 375: ...lay phase in the response for each frequency Also the machine resonance frequency can be determined from the maximum frequency of the valleys anti resonance and peaks resonance of the gain and the phase delay For a Servomotor without a load or for a rigid mechanism the gain and phase change gradually in the Bode plots Toolbar START Button Click the START Button to start analysis Measurement and No...

Page 376: ...tibility with previous products Normally use autotuning without a host reference for tuning Preparations Always check the following before you execute Easy FFT The parameters must not be write prohibited The main circuit power supply must be ON The test without a motor function must be disabled Pn00C n 0 There must be no alarms There must be no hard wire base block HWBB The servo must be OFF There...

Page 377: ... Easy FFT 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Easy FFT in the Menu Dialog Box The Easy FFT Dialog Box will be displayed Click the Cancel Button to cancel Easy FFT You will return to the main window 3 Click the OK Button 4 Click the Servo ON Button ...

Page 378: ...ction in the Measure ment condition Area and then click the Start Button The Servomotor shaft will rotate and measurements will start When measurements have been completed the measurement results will be displayed 6 Check the results in the Measurement result Area and then click the Measurement complete Button ...

Page 379: ...te Easy FFT Do not change the settings of these parameters during execution of Easy FFT Yes The parameter is automatically set No The parameter is not automatically set but the setting is read during execution Parameter Name Automatic Changes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value No Pn40C Second Stage Notch ...

Page 380: ...toring Status and Operations 9 3 9 2 3 I O Signal Monitor 9 5 9 3 Monitoring Machine Operation Status and Signal Waveforms 9 6 9 3 1 Items That You Can Monitor 9 6 9 3 2 Using the SigmaWin 9 7 9 3 3 Using the Analog Monitors 9 8 9 4 Monitoring Product Life 9 13 9 4 1 Items That You Can Monitor 9 13 9 4 2 Operating Procedure 9 14 9 4 3 Preventative Maintenance 9 15 9 5 Alarm Tracing 9 16 9 5 1 Data...

Page 381: ...or Items Information on SERVOPACKs Model Type Serial Number Manufacturing Date Software version SW Ver Remarks Information on Servomotors Model Type Serial Number Manufacturing Date Remarks Information on Encoders Model Type Serial Number Manufacturing Date Software version SW Ver Remarks Information on Option Modules Model Type Serial Number Manufacturing Date Software version SW Ver Remarks With...

Page 382: ...Detection AC Power ON Overcurrent Origin Not Passed Input Signal Status P OT Forward Drive Prohibit Input Signal N OT Reverse Drive Prohibit Input Signal P CL Forward External Torque Limit Signal N CL Reverse External Torque Limit Signal SEN Absolute Data Request Input Signal G SEL Gain Selection Input Signal P DET Polarity Detection Input Sig nal DEC Origin Return Deceleration Switch Input Signal...

Page 383: ...er rotation Angle of Rotation 2 angle from origin within one encoder rotation Input Reference Pulse Speed Deviation Counter Position Deviation Cumulative Load Regenerative Load Power Consumption Consumed Power Cumulative Power Consumption DB Resistor Consumption Power Absolute Encoder Multiturn Data Absolute Encoder Position within One Rota tion Absolute Encoder Lower Absolute Encoder Upper Refere...

Page 384: ... Button You can also use the above window to check wiring Checking Input Signal Wiring Change the signal status at the host controller If the input signal status on the window changes accordingly then the wiring is correct Checking Output Signal Wiring Click the Force Output Mode Button This will force the output signal status to change If the signal status at the host controller changes according...

Page 385: ...p Electronic gear Motor speed Electronic gear Deviation counter Motor load position deviation Fully closed Speed conversion Deviation counter Completion of position reference distribution Positioningcompletion Position deviation Deviation counter Speed loop Speed conversion External encoder speed Current loop Load External encoder Electronic gear Backlash compen sation Torque feedforward Torque re...

Page 386: ...e workspace of the Main Window of the Sig maWin 2 Select Trace in the Menu Dialog Box The Trace Dialog Box will be displayed Trace Objects You can trace the following items Data Tracing Trace Objects Torque Reference Feedback Speed Reference Speed Position Reference Speed Position Error Deviation Position Amplifier Error Deviation Motor Load Position Deviation Speed Feedforward Torque Feedforward ...

Page 387: ...ut Signal EXT1 External Latch Input 1 Signal EXT2 External Latch Input 2 Signal EXT3 External Latch Input 3 Signal FSTP Forced Stop Input Signal SEN Absolute Data Request Input Signal HWBB1 Hard Wire Base Block Input 1 Signal HWBB2 Hard Wire Base Block Input 2 Signal Output Signals ALM Servo Alarm Output Signal COIN Positioning Completion Output Signal V CMP Speed Coincidence Detection Output Sign...

Page 388: ...er electronic gear conversion n 05 Position Command Speed Rotary Servomotor 1 V 1 000 min 1 Linear Servomotor 1 V 1 000 mm s n 06 Reserved parameter Do not change n 07 Motor Load Position Deviation 0 01 V Reference unit n 08 Positioning Completion Positioning completed 5 V Positioning not completed 0 V Completion is indi cated by the output voltage n 09 Speed Feedforward Rotary Servomotor 1 V 1 00...

Page 389: ... Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 1 V 0 Immediately Setup Pn552 Analog Monitor 1 Magnification Setting Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 01 100 Immediately Setup Pn553 Analog Monitor 2 Magnification Setting Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 01 100 Immedia...

Page 390: ...5 100 125 0 4 150 Therefore the monitor output voltage goes to 150 of the original value The adjustment values do not use parameters so they will not change even if the parame ter settings are initialized Adjust the offset with the measuring instrument connected so that the analog monitor out put value goes to zero The following setting example achieves a zero output While power is not supplied to...

Page 391: ...Analog Monitor Output Dialog Box will be displayed 3 Click the Zero Adjustment or Gain Adjustment Tab 4 While watching the analog monitor use the 1 and 1 Buttons to adjust the offset There are two channels CH1 and CH2 If necessary click the down arrow on the Channel Box and select the channel This concludes adjusting the analog monitor output Tool Function Operating Procedure Reference Digital Ope...

Page 392: ...delines for Part Replacement on page 12 2 Capacitor Service Life Predic tion The unused status of the SERVOPACK is treated as the 100 value The value decreases each time the main circuit power supply 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 12 1 2 Guidelines ...

Page 393: ... Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Life Monitor in the Menu Dialog Box The Life Monitor Dialog Box will be displayed With the Digital Operator you can use Un025 to Un02A to monitor this information Information A value of 100 indicates that the SERVOPACK has not yet been used The percentage decreases as the SERVOPACK is used and reaches 0 when it is time to ...

Page 394: ...it life and dynamic brake circuit life The PM Preventative Maintenance Output signal must be allocated Even if detection of preventive maintenance warnings is disabled Pn00F n 0 the PM signal will still be output as long as it is allocated Note You must allocate the PM signal to use it Use Pn514 n X PM Preventative Maintenance Output Signal Allocation to allocate the signal to connector pins Refer...

Page 395: ...tions Alarms that occur when the power supply is turned ON are not recorded Alarms that occur during the recording of alarm trace data are not recorded Alarms that occur while utility functions are being executed are not recorded Information Numeric Data ON OFF Data Torque reference ALM Feedback speed Servo ON command S ON Reference speed Proportional control command P CON Position reference speed...

Page 396: ...10 5 10 3 2 Setting the Motor Direction and the Machine Movement Direction 10 6 10 3 3 Setting the Number of External Encoder Scale Pitches 10 7 10 3 4 Setting the PAO PBO and PCO Encoder Divided Pulse Output Signals 10 7 10 3 5 External Absolute Encoder Data Reception Sequence 10 8 10 3 6 Electronic Gear Setting 10 8 10 3 7 Alarm Detection Settings 10 9 10 3 8 Analog Monitor Signal Settings 10 10...

Page 397: ...ing manual for details on Fully closed Modules Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 The following figure shows an example of the system configuration The connected devices and cables depend on the type of external linear encoder that is used Note Refer to the following section for details on connections that are not shown above such as connections to power suppli...

Page 398: ...A Pn50B Pn511 and Pn516 Input Signal Selections Pn50E Pn50F Pn510 and Pn514 Output Sig nal Selections SERVO PACK or host con troller 2 Check operation with the Servomotor connected to the machine with semi closed loop control Items to Check Initial response of the system connected to the machine Movement direction travel distance and movement speed as specified by the refer ences from the host con...

Page 399: ...rm program jog ging start from a low speed and gradually increase the speed Pn530 to Pn536 program jogging related parame ters SERVO PACK 5 Operate the SERVO PACK Items to Check Does the fully closed system operate correctly including the host con troller Input a position reference and con firm that the SERVOPACK oper ates correctly Start from a low speed and gradu ally increase the speed Host con...

Page 400: ...ction page 10 6 Pn002 n X External encoder usage method Pn20A Number of external encoder scale pitches page 10 7 Pn281 Encoder divided pulse output signals PAO PBO and PCO from the SERVO PACK page 10 7 External absolute encoder data reception sequence page 6 44 Pn20E and Pn210 Electronic gear ratio page 5 42 Pn51B Motor load position deviation overflow detection level page 10 9 Pn52A Multiplier pe...

Page 401: ...rd reference Reverse reference Motor direction CCW CW CCW CW External encoder Forward movement Reverse movement Reverse movement Forward movement n 1 Reference direction Forward reference Reverse reference Forward reference Reverse reference Motor direction CW CCW CW CCW External encoder Reverse movement Forward movement Forward movement Reverse movement Parameter Name Meaning When Enabled Classif...

Page 402: ...e setting Setting Example If a single pulse multiplied by 4 is output for 1 μm the setting would be 20 If a single pulse multiplied by 4 is output for 0 5 μm the setting would be 40 The encoder divided pulse output would have the following waveform if the setting is 20 indicates the edge positions In this example the set value is 20 and therefore the number of edges is 20 Note The upper limit of t...

Page 403: ...osition Data from the Absolute Linear Encoder on page 6 44 With fully closed loop control the same sequence as for a Linear Servomotor is used 10 3 6 Electronic Gear Setting Refer to the following section for details 5 15 Electronic Gear Settings on page 5 42 With fully closed loop control the same setting as for a Linear Servomotor is used If the setting is 20 and the speed is 1 600 mm s the outp...

Page 404: ...per Ser vomotor rotation This setting can be used to prevent the Servomotor from running out of con trol due to damage to the external encoder or to detect belt slippage Setting Example Increase the value if the belt slips or is twisted excessively If this parameter is set to 0 the external encoder value will be read as it is If you use the default setting of 20 the second rotation will start with...

Page 405: ... resolution external encoder set the param eter to specify using the speed of the external encoder Pn22A n 1 Note This parameter cannot be used if Pn002 is set to n 0 Do not use external encoder Parameter Name Meaning When Enabled Classifi cation Pn006 n 07 Analog Monitor 1 Signal Selection Position deviation between motor and load output unit 0 01 V reference unit Immedi ately Setup Pn007 n 07 An...

Page 406: ...ors in HWBB Signal 11 7 11 2 6 HWBB Input Signal Specifications 11 7 11 2 7 Operation without a Host Controller 11 8 11 2 8 S RDY Servo Ready Output Signal 11 8 11 2 9 BK Brake Output Signal 11 9 11 2 10 Stopping Methods 11 9 11 2 11 ALM Servo Alarm Signal 11 9 11 3 EDM1 External Device Monitor 11 10 11 3 1 EDM1 Output Signal Specifications 11 10 11 4 Applications Examples for Safety Functions 11 ...

Page 407: ...y The Servomotor will move if there is an external force e g gravity on a vertical axis even when the HWBB function is operating Use a separate means such as a mechanical brake that satisfies the safety requirements Incorrect use of the safety function may cause injury While the HWBB function is operating the Servomotor may move within an electric angle of 180 or less as a result of a SERVOPACK fa...

Page 408: ...g figure shows a connection example For safety function signal connections the input signal is the 0 V common and the output signal is a source output This is opposite to other signals described in this manual To avoid confusion the ON and OFF status of signals for the safety function are defined as fol lows ON The state in which the relay contacts are closed or the transistor is ON and current fl...

Page 409: ...s operating These hazards must be included in the risk assessment The Servomotor will move if an external force is applied to it for example gravity on a vertical axis Implement measures to hold the Servomotor such as installing a separate mechanical brake If a failure occurs such as a Power Module failure the Servomotor may move within an elec tric angle of 180 Ensure safety even if the Servomoto...

Page 410: ...wer Not Supplied to Motor When HWBB Operates While Power Is Supplied to Servomotor ON normal operation MECHATROLINK III command Servo command status SV_ON Servo command input signal monitor ESTP SERVOPACK Status Operating Status HWBB state OFF motor current shut OFF request ON normal operation MECHATROLINK III command Servo command status SV_ON Servo command input signal monitor ESTP SERVOPACK Sta...

Page 411: ...ned ON Send the SV_OFF Servo OFF 32h command to place the SERVOPACK in the BB state and then send the SV_ON Servo ON 31h command Note If the SERVOPACK is placed in the BB state while the main circuit power supply is OFF the HWBB state will be maintained until the SV_OFF Servo OFF 32h command is received HWBB1 HWBB2 1 0 0 0 1 OFF motor current shut OFF request MECHATROLINK III command Servo command...

Page 412: ...detect failures such as disconnection of an HWBB signal 11 2 6 HWBB Input Signal Specifications If an HWBB is requested by turning OFF the two HWBB input signal channels HWBB1 and HWBB2 the power supply to the Servomotor will be turned OFF within 8 ms Note 1 The OFF status is not recognized if the OFF interval of the HWBB1 or HWBB2 signal is 0 5 ms or shorter 2 You can check the status of the inpu...

Page 413: ...provided below for when the main circuit power supply is ON and the SENS_ON Turn Sensor ON command is input when there is no servo alarm An absolute encoder is used in this example Applicable Functions Resetting the HWBB State Jogging Origin search Program jogging Automatic adjustment without host reference Easy FFT Adjustment of motor current detection signal offset HWBB1 HWBB2 Function execution...

Page 414: ...put in the HWBB state CAUTION The brake signal is not a safety related element You must design the system so that a haz ardous condition does not occur even if the brake signal fails in the HWBB state Also if a Servomotor with a Brake is used keep in mind that the brake in the Servomotor is used only to prevent the moving part from being moved by gravity or an external force and it cannot be used ...

Page 415: ...p between the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 signal circuit can be achieved by using the status of the HWBB1 HWBB2 and EDM1 signals in the following table A failure can be detected by checking the failure status e g when the power supply is turned ON 11 3 1 EDM1 Output Signal Specifications If an HWBB is requested by turning OFF the two HWBB input sig...

Page 416: ... source output Connect the EDM1 so that the current flows from EMD1 to EMD1 11 4 2 Failure Detection Method If a failure occurs e g the HWBB1 or the HWBB2 signal remains ON the Safety Unit is not reset when the guard is closed because the EDM1 signal remains OFF Therefore starting is not possible and a failure is detected In this case the following must be considered an error in the external devic...

Page 417: ...tor is operating a stop command is received from the host controller the Servomotor stops and the servo is turned OFF The guard is opened The worker leaves the guarded area after completing work The guard is closed The servo is turned ON by the host controller The HWBB1 and HWBB2 signals turn OFF and the HWBB operates Working inside the guard is enabled ...

Page 418: ...r displays Hbb and that the Servomotor does not operate Monitor the ON OFF status of the HWBB1 and HWBB2 signals If the ON OFF status of the signals do not coincide with the display the following must be considered an error in the external device disconnection of the external wiring short circuit ing in the external wiring or a failure in the SERVOPACK Find the cause and correct the problem Refer ...

Page 419: ...the safety function device CN8 Note If you do not connect a safety function device leave the Safety Jumper Connector connected to the connec tor for the safety function device CN8 If the SERVOPACK is used without the Safety Jumper Connector connected to CN8 no current will be supplied to the Servomotor and no motor torque will be output In this case Hbb will be displayed on the Digital Operator En...

Page 420: ...2 2 Troubleshooting Alarms 12 11 12 2 3 Resetting Alarms 12 43 12 2 4 Displaying the Alarm History 12 44 12 2 5 Clearing the Alarm History 12 45 12 2 6 Resetting Alarms Detected in Option Modules 12 46 12 2 7 Resetting Motor Type Alarms 12 48 12 3 Warning Displays 12 49 12 3 1 List of Warnings 12 49 12 3 2 Troubleshooting Warnings 12 51 12 4 Monitoring Communications Data during Alarms or Warnings...

Page 421: ...will determine whether the part should be replaced Item Frequency Inspection Correction Exterior At least once a year Check for dust dirt and oil on the surfaces Clean with compressed air or a cloth Loose Screws Check for loose terminal block and connector screws and for other loose parts Tighten any loose screws or other loose parts Part Standard Replace ment Period Remarks Cooling Fan 4 years to...

Page 422: ...drops below the specified value after these four seconds Pn008 n 1 The ALM Servo Alarm signal is output for up to five seconds when the control power supply is turned ON and then the battery voltage is monitored continuously Battery Replacement Procedure When Installing a Battery on the Host Controller 1 Turn ON only the control power supply to the SERVOPACK 2 Remove the old battery and mount a ne...

Page 423: ... 5 Turn OFF the power supply to the SERVOPACK to clear the A 830 alarm Encoder Bat tery Alarm 6 Turn ON the power supply to the SERVOPACK 7 Make sure that the alarm has been cleared and that the SERVOPACK operates normally If you remove the Battery or disconnect the Encoder Cable while the control power supply to the SERVOPACK is OFF the absolute encoder data will be lost Important Mount a Lithium...

Page 424: ...es that the cause of the alarm has been removed No You cannot clear the alarm List of Alarms Status Indications Not lit Not lit Not lit Not lit Not lit Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble A 020 Parameter Checksum Error There is an error in the parameter data in the SERVOPACK Gr 1 No A 021 Parameter Format Error There is an error in the parameter...

Page 425: ...Error The AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 Undervoltage The main circuit DC voltage is too low Gr 2 Yes A 510 Overspeed The motor exceeded the maximum speed Gr 1 Yes A 511 Encoder Output Pulse Overspeed Rotary Servomotor The pulse out...

Page 426: ...at Alarm Level Gr 1 Yes A 890 Encoder Scale Error A failure occurred in the linear encoder Gr 1 No A 891 Encoder Module Error An error occurred in the linear encoder Gr 1 No A 8A0 External Encoder Error An error occurred in the external encoder Gr 1 Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An err...

Page 427: ... absolute encoder was not correctly cleared or set Gr 1 No A C90 Encoder Communications Error Communications between the encoder and SERVOPACK is not possible Gr 1 No A C91 Encoder Communications Position Data Acceleration Rate Error An error occurred in calculating the position data of the encoder Gr 1 No A C92 Encoder Communications Timer Error An error occurred in the communications timer betwe...

Page 428: ...INK communications Gr 2 Yes A E51 MECHATROLINK Syn chronization Failed Synchronization failed during MECHATROLINK communications Gr 2 Yes A E60 Reception Error in MECHATROLINK Commu nications Communications errors occurred continuously during MECHATROLINK communications Gr 2 Yes A E61 Synchronization Interval Error in MECHATROLINK Transmission Cycle An error occurred in the transmission cycle duri...

Page 429: ...uit Cable Disconnection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo ON command was input when the Servomotor was ready to receive it Gr 1 Yes FL 1 System Alarm An internal program error occurred in the SERVOPACK No FL 2 FL 3 FL 4 FL 5 FL 6 CPF00 Digital Operator Commu nications Error 1 Communications were not possible between the Digital O...

Page 430: ... oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SERVOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SERVOPACK A 021 Parameter For mat Error There is an err...

Page 431: ...l Converter Unit Check to see if the motor parameter file was written to the lin ear encoder Write the motor parame ter file to the linear encoder page 5 18 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SERVOPACK A parameter setting is outside of the setting range Check the setting ranges of the parame ters that have been changed Set the parameters to val ues within t...

Page 432: ... 4 byte parameter bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 Pn901 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match The SERVOPACK and Servomotor capaci ties do not matc...

Page 433: ...lty contact Check the wiring Correct the wiring page 4 26 There is a short circuit or ground fault in a Main Circuit Cable Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases...

Page 434: ...PACK minimum allowable resistance A heavy load was applied while the Ser vomotor was stopped or running at a low speed Check to see if the operating conditions exceed Servo Drive specifications Reduce the load applied to the Servomotor Or increase the operating speed A malfunction was caused by noise Improve the noise envi ronment e g by improving the wiring or installation conditions and check to...

Page 435: ... across the Servomotor connection terminals U V and W on the SERVOPACK or between the ground and terminals U V or W The SERVOPACK may be faulty Replace the SERVOPACK A heavy load was applied while the Ser vomotor was stopped or running at a low speed Check to see if the operating conditions exceed Servo Drive specifications Reduce the load applied to the Servomotor Or increase the operating speed ...

Page 436: ...ng of Pn600 Connect an External Regenerative Resistor and set Pn600 to an appropri ate value or connect a Regenerative Resistor Unit and set Pn600 to 0 The jumper between the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVOPACKs SGD7S 3R8A 5R5A 7R6A 120A 180A 200A or 330A Check to see if the jumper is connected between power supply terminals B2 and B3 Correct...

Page 437: ...ing operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check to see if a Regenerative Resistor is connected and check the setting of Pn600 Correct the setting of Pn600 page 5 54 The setting of Pn603 Regenerative Resis tance is smaller than the c...

Page 438: ...supply setting to match the actual power supply page 5 13 AC power was sup plied when a DC power supply input was specified in the settings Check the power sup ply to see if it is an AC power supply Correct the power supply setting to match the actual power supply Pn600 Regenerative Resistor Capacity is not set to 0 and an External Regenerative Resistor is not con nected to one of the following SE...

Page 439: ...ss ratio exceeded the allow able value Check to see if the moment of inertia ratio or mass ratio is within the allowable range Increase the deceleration time or reduce the load A failure occurred in the SERVOPACK While the main circuit power supply is OFF turn the control power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVO PACK may be faulty Replace the SERVO PACK A 4...

Page 440: ...d Loop Gain page 8 81 The setting of Pn103 Moment of Inertia Ratio is greater than the actual moment of inertia or was greatly changed Check the moment of inertia ratio or mass ratio Set Pn103 Moment of Inertia Ratio to an appro priate value page 8 16 The vibration detec tion level Pn312 or Pn384 is not suitable Check that the vibra tion detection level Pn312 or Pn384 is suitable Set a suitable vi...

Page 441: ...d A 731 Dynamic Brake Overload An excessive power consump tion by the dynamic brake was detected The Servomotor was rotated by an external force Check the operation status Implement measures to ensure that the motor will not be rotated by an external force When the Servomo tor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capac ity of the dynamic brake res...

Page 442: ...Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions page 3 7 An overload alarm was reset by turning OFF the power sup ply too many tim...

Page 443: ...te encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SERVOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm still occurs the Servomotor may be faulty Replace the Servo m...

Page 444: ...nsor failed Replace the polarity sen sor A 850 Encoder Over speed Detected at the encoder when the control power supply is turned ON Rotary Servomotor The Servomotor speed was 200 min 1 or higher when the control power supply was turned ON Check the motor speed when the power supply is turned ON Reduce the Servomotor speed to a value less than 200 min 1 and turn ON the control power supply Linear ...

Page 445: ...ilure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 861 Motor Over heated The surrounding tem perature around the Servomotor is too high Measure the surround ing temperature around the Servomotor Reduce the surrounding air temperature of the Servomotor to 40 C or less The motor load is ...

Page 446: ...eplace the Linear Servomotor or repair the sensor attached to the machine A 890 Encoder Scale Error A failure occurred in the linear encoder The linear encoder may be faulty Replace the lin ear encoder A 891 Encoder Module Error A failure occurred in the linear encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the linear encoder may be faulty Replace the line...

Page 447: ...noise Check the MECHA TROLINK Communica tions Cable and FG wiring Attach a ferrite core to the MECHATROLINK Communications Cable There is a fault in the SERVOPACK MECHATROLINK communications sec tion Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF0 System Alarm 0 A failure occurred in the SERVOPACK Turn the pow...

Page 448: ...lure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C10 Servomotor Out of Control Detected when the servo is turned ON The order of phases U V and W in the motor wiring is not correct Check the Servomotor wiring Make sure that the Servo motor is correctly wired There is an error in the s...

Page 449: ...gainst noise for the polarity sensor wiring The setting of Pn282 Linear Encoder Scale Pitch is not correct Check the setting of Pn282 Linear Encoder Scale Pitch Check the specifications of the linear encoder and set a correct value page 5 17 A C21 Polarity Sensor Error The polarity sensor is protruding from the Magnetic Way of the motor Check the polarity sen sor Correctly reinstall the Moving Coi...

Page 450: ...near Encoder Cable An external force was applied to the Moving Coil of the motor The polarity cannot be properly detected if the detection reference is 0 and the speed feedback is not 0 because of an external force such as cable tension applied to the Moving Coil Imple ment measures to reduce the external force so that the speed feedback goes to 0 If the external force cannot be reduced increase t...

Page 451: ...of Pn48E Polarity Detection Range Or increase the setting of Pn481 Polarity Detection Speed Loop Gain A C54 Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increase the setting of Pn495 Polarity Detection Confirmation Force Refer ence Increase the setting of Pn498 Polarity Detec tion Allowable Error Range Increasing the allowable error will also increase the motor te...

Page 452: ...encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder page 4 6 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the signal...

Page 453: ...faulty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may b...

Page 454: ...ine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may be faulty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPAC...

Page 455: ...r Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Position Deviation Over flow Alarm Level was exceeded by the position devi ation while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty contacts in the wiring for the Ser...

Page 456: ...of Pn002 n X External Encoder Usage to reverse the direction page 10 6 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mechanical coupling A d30 Position Data Overflow The position data exceeded 1 879 048 192 Check the input refer ence pulse counter Reconsider the operating specifications A E02 MECHAT...

Page 457: ...VOPACK may be faulty Replace the SERVOPACK A E51 MECHATROLINK Synchronization Failed The WDT data at the host controller was not updated correctly at the start of syn chronous communi cations so synchronous commu nications could not be started Check to see if the WDT data is being updated in the host controller Correctly update the WDT data at the host controller A failure occurred in the SERVOPAC...

Page 458: ...RVOPACK A E71 Safety Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Safety Option Module Check the connection between the SERVO PACK and the Safety Option Module Correctly connect the Safety Option Module The Safety Option Module was discon nected Execute Fn014 Reset Option Module Configura tion Error from the Digital Operator or SigmaWin and then turn...

Page 459: ... failure occurred in the SERVOPACK Replace the SERVO PACK A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit A Ed1 Command Exe cution Timeout A ti...

Page 460: ...n The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo ON command was input when the Servomotor was ready to receive it A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SERVOPACK The wiring is not cor rect or there is a faulty contact in the motor wiring Check the wiring Make sure that the Servo motor is correctly wired p...

Page 461: ...in If an alarm still occurs the Digital Operator may be faulty Replace the Digital Oper ator A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Continued from previous page Alarm Number Alarm Name Possible Cause Confirmation Correction Reference Pn533 min 1 6 105 Pn20E Pn210 Encoder ...

Page 462: ...es MECHATROLINK III Communications Standard Servo Profile Command Manual Manual No SIEP S800001 31 Resetting Alarms Using the Digital Operator Press the ALARM RESET Key on the Digital Operator Refer to the following manual for details on resetting alarms Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 Be sure to eliminate the cause of an alarm before you reset the alarm If y...

Page 463: ...The following display will appear and you can check the alarms that occurred in the past This concludes the procedure to display the alarm history Tool Function Reference Digital Operator Fn000 Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Alarm Display Alarm Operating Procedure on page 12 44 1 If the same alarm occurs consecutively within one hour it is not saved...

Page 464: ...table lists the tools that you can use to clear the alarm history and the applicable tool functions Operating Procedure Use the following procedure to reset the alarm history 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Display Alarm in the Menu Dialog Box The Alarm Display Dialog Box will be displayed 3 Click the Alarm History Tab 4 Click the Clear ...

Page 465: ...he following procedure to reset alarms detected in Option Modules 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Reset Option Module Configuration Error in the Menu Dialog Box The Reset Option Module Configuration Error Dialog Box will be displayed 3 Select the Clear Check Box for the Option Modules from which to clear alarms and the click the Execute ...

Page 466: ...ting Alarms Detected in Option Modules 12 Maintenance 12 47 4 Click the OK Button 5 Click the OK Button 6 Turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to reset alarms detected in Option Modules ...

Page 467: ... tool functions Operating Procedure Use the following procedure to reset Motor Type alarm 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Reset Motor Type Alarm in the Menu Dialog Box The Reset Motor Type Alarm Dialog Box will be displayed 3 Click the Clear Button The alarm will be cleared This concludes the procedure to reset Motor Type alarms 1 This u...

Page 468: ... control PCB is abnormal Required A 913 Internal Temperature Warning 2 Power Board Temperature Error The surrounding temperature of the power PCB is abnormal Required A 920 Regenerative Overload This warning occurs before an A 320 alarm Regenera tive Overload occurs If the warning is ignored and operation is continued an alarm may occur Required A 921 Dynamic Brake Over load This warning occurs be...

Page 469: ... Command An undefined command was sent Automatically reset A 960 MECHATROLINK Communications Warning A communications error occurred during MECHA TROLINK communications Required A 971 Undervoltage This warning occurs before an A 410 alarm Undervolt age occurs If the warning is ignored and operation is continued an alarm may occur Required A 97A Command Warning 7 Phase Error A command that cannot b...

Page 470: ... high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference acceleration by selecting the position reference filter ACCFIL using a MECHATROLINK command The excessive position deviation alarm level Pn520 Pn51E 100 is too low for the operating condi tions Check excessive pos...

Page 471: ...d warning level Pn52B is suitable Set a suitable overload warning level Pn52B page 5 40 A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during oper ation Reduce the motor speed Or reduce the servo gain with custom tu...

Page 472: ...curred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPACK installa tion c...

Page 473: ...ated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mass Reduce the frequency of stopping wit...

Page 474: ... the set ting may increase the speed ripple page 8 60 Set Pn423 to n 0 Disable speed ripple com pensation However changing the setting may increase the speed ripple page 8 60 A 94A Data Setting Warn ing 1 Parameter Number Error An invalid param eter number was used Check the command that caused the warn ing Use the correct parameter number page 12 58 A 94b Data Setting Warn ing 2 Out of Range The ...

Page 475: ...ommand that caused the warn ing Send the command after the conditions are satisfied page 12 58 A 95F Command Warning 6 Undefined Com mand An undefined command was sent Check the command that caused the warn ing Do not send undefined commands page 12 58 A 960 MECHATROLINK Communications Warning The MECHA TROLINK Com munications Cable is not wired cor rectly Check the wiring condi tions Correct the ...

Page 476: ...ommand Warning 7 Phase Error A command that cannot be exe cuted in the cur rent phase was sent Send the command after the command conditions are satisfied A 97b Data Clamp Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Set the command data within the setting ranges A 9A0 Overtravel Over travel status was detected Overtravel was detected while t...

Page 477: ... Alarms and Warnings Pn8A8 to Pn8BE Note 1 Data is stored in little endian byte order and displayed in the hexadecimal 2 Refer to the following manual for command details Σ 7 Series MECHATROLINK III Communications Standard Servo Profile Command Manual Manual No SIEP S800001 31 Command Byte Sequence Command Data Storage When an Alarm or Warning Occurs CMD RSP 0 Pn890 n XX Pn8A8 n XX 1 Pn890 n XX Pn...

Page 478: ...the cable cor rectly There is an overload on the Servomotor Operate the Servomotor with no load and check the load status Turn OFF the power supply to the servo system Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used a...

Page 479: ... the power sup ply to the servo system Check the wiring Wire the Serial Con verter Unit correctly There is a mistake in the lin ear encoder wiring Turn OFF the power sup ply to the servo system Check the wiring Wire the cable cor rectly The setting of Pn282 Linear Encoder Scale Pitch is not correct Check the setting of Pn282 Correct the setting of Pn282 page 5 17 The count up direction of the line...

Page 480: ...s for the polarity detection related parameters Dynamic Brake Does Not Operate The setting of Pn001 n X Motor Stopping Method for Servo OFF and Group 1 Alarms is not suit able Check the setting of Pn001 n X Set Pn001 n X correctly The dynamic brake resistor is disconnected Check the moment of inertia motor speed and dynamic brake frequency of use If the moment of inertia motor speed or dynamic bra...

Page 481: ...he power sup ply to the servo system Check to see if the cou pling is balanced Balance the coupling The bearings are defective Turn OFF the power sup ply to the servo system Check for noise and vibration around the bear ings Replace the Servomo tor There is a vibration source at the driven machine Turn OFF the power sup ply to the servo system Check for any foreign matter damage or defor mation in...

Page 482: ... the power sup ply to the servo system Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Turn OFF the power sup ply to the servo system Check to see ...

Page 483: ...Ratio is not appropri ate Check the setting of Pn103 Set Pn103 to an appro priate value Large Motor Speed Overshoot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence page 8 24 The setting of Pn100 Speed Loop Gain is too high Check the setting of Pn100 The default setting is Kv 40 0 Hz ...

Page 484: ...cable installation envi ronment The Encoder Cable was sub ject to excessive noise inter ference Turn OFF the power sup ply to the servo system Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machi...

Page 485: ...24 V voltage for the input signals Check the operating con dition of the overtravel limit switches Make sure that the overtravel limit switches operate correctly Check the wiring of the overtravel limit switches Correct the wiring of the overtravel limit switches page 5 28 Check the settings of the overtravel input signal allocations Pn50A Pn50B Set the parameters to correct values page 5 28 The P...

Page 486: ...e Encoder Cable length must be 50 m max Linear Servomotors Make sure that the Serial Converter Unit cable is no longer than 20 m and that the Linear Encoder Cable and the Sensor Cable are no longer than 15 m each Noise interference occurred because the Encoder Cable is damaged Turn OFF the power sup ply to the servo system Check the Encoder Cable to see if it is pinched or the sheath is damaged Re...

Page 487: ...fy the specifications Noise interference occurred because an I O signal cable is too long Turn OFF the power sup ply to the servo system Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m An encoder fault occurred The pulse count does not change Turn OFF the power supply to the servo system Replace the Servomo tor or linear encoder A failure occurred in the...

Page 488: ... 1 1 Interpreting the Parameter Lists 13 2 13 1 2 List of Servo Parameters 13 3 13 2 List of MECHATROLINK III Common Parameters 13 42 13 2 1 Interpreting the Parameter Lists 13 42 13 2 2 List of MECHATROLINK III Common Parameters 13 43 13 3 Parameter Recording Table 13 51 Parameter Lists 13 ...

Page 489: ...NFIG command is sent A software reset is executed M3 n X Rotation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction page 5 16 Use the direction in which the linear encoder counts up as the for ward direction 1 Use CW as the forward direction Reverse Rotation Mode Use the direction in which the linear encoder counts down as the forward direction Reverse M...

Page 490: ... Con nected Reference 0 When an encoder is not connected start as SERVOPACK for Rotary Servomotor page 5 15 1 When an encoder is not connected start as SERVOPACK for Lin ear Servomotor n X Motor Stopping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake page 5 37 1 Stop the motor by the applying dynamic brake and then release the dynamic brake 2 Coast...

Page 491: ...ue limit when P_CL or N_CL in the OPTION field is ON n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 1 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All page 6 33 1 Use the encoder as an incremental encoder 2 Use the encoder as a single tur...

Page 492: ... V encoder pulse unit Position amplifier deviation after electronic gear 0 05 V linear encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 Position reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 Spee...

Page 493: ...n deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0A Torque feedforward 1 V 100 rated torque Force feedforward 1 V 100 rated force 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D Extern...

Page 494: ...hod set in Pn001 n X page 5 39 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A Use the setting of Pn001 n X for the ...

Page 495: ...or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input page 5 14 1 Use a three phase power supply input as a single phase power supply input n X Reserved parameter Do not change n X Function Selection for Test without a Motor Applicable Motors...

Page 496: ...Reserved parameter Do not change n X Reserved parameter Do not change n X Communications Interface Compatibility Selection Applicable Motors 0 Perform Σ 7 communications All 1 Perform Σ V communications n X Encoder Resolution Compatibility Selection Applicable Motors 0 Use the encoder resolution of the Servomotor Rotary 1 Use a resolution of 20 bits when connected to an SGM7J SGM7A SGM7P SGM7G SGM...

Page 497: ... Switching Level for Torque Reference 0 to 800 1 200 All Immedi ately Tuning page 8 93 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Phase C Pulse Output Selection 0 Output phase C pulses only in the forward direction 1 Output phase C pulses in both the forward and ...

Page 498: ... Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning page 8 66 Pn136 2 Gain Switching Waiting Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning page 8 66 Pn139 2 Automatic Gain Switch ing Selections 1 0000h to 0052h 0000h All Immedi ately Tuning page 8 66 Pn13D 2 Current Gain Level 100 to 2 000 1 2000 All Immedi ately Tuning page 8 74 Continued on next page Continued f...

Page 499: ...age 8 66 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning page 8 59 Pn14B 2 Vibration Suppression 2 Correction 10 to 1 000 1 100 All Immedi ately Tuning page 8 59 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following C...

Page 500: ...page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type Selection Reference 0 Use model following control type 1 page 8 91 1 Use model following control type 2 n X Tuning less Type Selection Reference 0 Use tuning less type 1 page 8 13 1 Use tuning less type 2 2 Us...

Page 501: ... Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After restart 1 Use for speed control and use host controller for position control n X Rigidity Lev...

Page 502: ...ion Time 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup page 8 88 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 All Immedi ately Setup page 5 30 Pn30C 2 Speed Feedforward Average Movement Time 0 to 5 100...

Page 503: ...ter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 8 84 Pn402 2 Forward Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup page 6 28 Pn403 2 Reverse Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup page 6 28 Pn404 2 Forward External Torque Limit 0 to 800 1 2 100 All Immedi ately Setup page 6 29 Pn405 2 Reverse External Torque Limit 0 to 800 1 2 100 All Immedi ately ...

Page 504: ...irst Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 8 66 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled Reference 0 Disable first stage notch filter Immedi ately page 8 84 ...

Page 505: ...mpen sation Selections 0000h to 1111h 0000h Rotary Setup page 8 64 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup page 6 18 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup page 6 18 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Set...

Page 506: ...ear Immedi ately Tuning Pn486 2 Polarity Detection Refer ence Acceleration Deceleration Time 0 to 100 1 ms 25 Linear Immedi ately Tuning Pn487 2 Polarity Detection Con stant Speed Time 0 to 300 1 ms 0 Linear Immedi ately Tuning 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 e...

Page 507: ...mmedi ately Setup page 6 16 Pn50A 2 Input Signal Selections 1 0000h to FFF2h 1881h All After 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 Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X P ...

Page 508: ...CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signal is OFF open F Enable reverse drive when CN1 12 input signal is OFF open n X Reserved parameter Do not change n X P CL Forward External Torque Limit Input Signal Allocation Reference 0 Active when CN1 13...

Page 509: ... 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 9 n X S RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 6 10 n X CLT Torque Limit Detection Output Signal Allocation Reference 0 Disabled the above si...

Page 510: ...s ON closed 3 Active when CN1 9 input signal is ON closed 4 Active when CN1 10 input signal is ON closed 5 Active when CN1 11 input signal is ON closed 6 Active when CN1 12 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C A...

Page 511: ...erted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is not inverted 1 The signal is inverted n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Allocatio...

Page 512: ...lly closed Rotation 0 to 100 1 20 Rotary Immedi ately Tuning page 10 9 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup page 5 40 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X FSTP Forced Stop Input Signal Allocation Reference 0 Enable drive when ...

Page 513: ...5A 2 Power Consumption Monitor Unit Time 1 to 1 440 1 min 1 All Immedi ately Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup page 8 56 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup page 8 31 page 8 40 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable M...

Page 514: ...Setup page 5 54 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 6 Pn603 2 Regenerative Resis tance 0 to 65 535 10 mΩ 0 All Immedi ately Setup page 5 54 Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 mΩ 0 All After restart Setup 6 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Se...

Page 515: ...Module Related Parameters All 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 Overheat Protection Selection 0 Disable overheat protection 1 Use overheat protection in the Yaskawa Linear Servomotor 7 2 Monitor a negative voltage input from a sensor attached to the mach...

Page 516: ...ore command warnings A 95 3 Ignore both A 94 and A 95 warnings 4 Ignore communications warnings A 96 5 Ignore both A 94 and A 96 warnings 6 Ignore both A 95 and A 96 warnings 7 Ignore A 94 A 95 and A 96 warnings 8 Ignore data setting warnings A 97A and A 97b 9 Ignore A 94 A 97A and A 97b warnings A Ignore A 95 A 97A and A 97b warnings B Ignore A 94 A 95 A 97A and A 97b warnings C Ignore A 96 A 97A...

Page 517: ... Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 All Immedi ately 12 Setup 1 Pn811 2 Exponential Accelera tion Deceleration Time Constant 0 to 5 100 0 1 ms 0 All Immedi ately 12 Setup 1 Pn812 2 Movement Average Time 0 to 5 100 0 1 ms 0 All Immedi ately 12 Setup 1 Pn814 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 refer ence ...

Page 518: ...led Classi fication Refer ence M2 14 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 7 input terminal 3 Monitor CN1 8 input terminal 4 Monitor CN1 9 input terminal 5 Monitor CN1 10 input terminal 6 Monitor CN1 11 input terminal 7 Monitor CN1 12 input terminal n X IO13 Signal Mapping 0 to 7 The mappings are the same as the IO12 signal mappings n X IO14 Signal Mapp...

Page 519: ...inear encoder pulses from the polarity origin displayed in decimal 0014h Un004 Rotational Angle 2 deg Electrical angle from polarity origin All Un004 Electrical Angle 2 deg Electrical angle from polarity origin 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007 Input Reference Speed min 1 All 0018h Un008 Position Deviation reference units All 0019h Un009 Accumul...

Page 520: ... LPOS2 reference units All 0084h Continuous Latch Status EX STATUS All All Areas Other values Reserved settings Do not use All 0000h to 0084h The settings are the same as those for the Option Monitor 1 Selection M2 14 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to ACCFIL 4 Allocate bits 4...

Page 521: ...o V_PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI Allocation Enable Disable Selection 0 Disable V_PPI allocation 1 Enable V_PPI allocation n X P_PI_CLR Allocation Option 0 to F The settings are the same as for the V_PPI allocations n X P_PI_CLR...

Page 522: ...L1 3 Allocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BANK_SEL1 9 Allocate bits 9 to 12 to BANK_SEL1 A Allocate bits 10 to 13 to BANK_SEL1 B Allocate bits 11 to 14 to BANK_SEL1 C Allocate bits 12 to 15 to BANK_SEL1 n X BANK_SEL1 Allocation Ena...

Page 523: ...on Refer ence M2 14 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2 Allocate bits 2 to 4 to OUT_SIGNAL 3 Allocate bits 3 to 5 to OUT_SIGNAL 4 Allocate bits 4 to 6 to OUT_SIGNAL 5 Allocate bits 5 to 7 to OUT_SIGNAL 6 Allocate bits 6 to 8 to OUT_SIGNAL 7 Allocate bit...

Page 524: ...on Deceleration Rate 0 to 50 1 0 All Immedi ately 11 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 1 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 1 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 0000h All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Se...

Page 525: ...gs are the same as those for the Latch Sequence 5 Signal Selec tion M3 9 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal monitor 1 Allocate bit 25 IO_STS2 to CN1 13 input signal monitor 2 Allocate bit 26 IO_STS3 to CN1 13 input signal monitor 3 Allocate bit 27 IO_STS4 to CN1 13 input signal monitor 4 Allocate bit 28 IO_STS5 to CN1 13 input s...

Page 526: ...are the same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input signal monitor M3 9 n X Input Signal Monitor Allocation for CN1 10 SVCMD_IO 0 to 7 The settings are the same as the CN1 13 allocations n X CN1 10 Input Signal Monitor Enable Disable Selection 0 Disable allocation for ...

Page 527: ...Allocate bit 26 IO_STS3 to CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29 IO_STS6 to CN1 1 CN1 2 output signal monitor 6 Allocate bit 30 IO_STS7 to CN1 1 CN1 2 output signal monitor 7 Allocate bit 31 IO_STS8 to CN1 1 CN1 2 output signal monitor n X CN1 1 CN1 2 Output S...

Page 528: ... i e only if DEN is set to 1 13 Refer to the following manual for details Σ 7 Series AC Servo Drive MECHATROLINK II Communications Command Manual Manual No SIEP S800001 30 14 This parameter is valid only when the MECHATROLINK II compatible profile is used 15 The setting of Pn842 is valid while Pn817 is set to 0 16 The setting of Pn844 is valid while Pn818 is set to 0 Pn884 2 Communications Con tro...

Page 529: ...he types of Servomotors to which the parameter applies Rotary Servomotor terms are used for parameters that are applicable to all Servomotors If you are using a Linear Servomotor you need to interpret the terms accordingly Refer to the following section for details Differences in Terms for Rotary Servomotors and Linear Servomotors on page xi Indicates when a change to the parameter will be effecti...

Page 530: ... Semi closed Fully closed Type read only 0h or 1h All 04 PnA08 4 Rated Speed read only 0h to FFFFFFFFh 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0h to FFFFFFFFh 1 min 1 All 06 PnA0C 4 Speed Multiplier read only 1 073 741 823 to 1 073 741 823 All Device information 07 PnA0E 4 Rated Torque read only 0h to FFFFFFFFh 1 N m All 08 PnA10 4 Maximum Output Torque read only 0h to FFFFFFFFh 1 N ...

Page 531: ...Reverse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit 2 0h to 4h 0h All After restart Unit settings 42 PnA84 4 Speed Base Unit 3 4 Set the value of n from the following formula Speed unit 41 PnA82 10n 3 to 3 0 All After restart 43 PnA86 4 Position Unit 0h 0h All After ...

Page 532: ... All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Reference units s2 0001h Percentage of rated torque 0002h Maximum torque 40000000h 5 Speed Units Bit 0 Reference units s 1 Enabled Bit 1 Reference units min 1 Enabled Bit 2 Percentage of rated speed 1 Enabled Bit ...

Page 533: ...to 510 000 1 μs 0 1 ms 0 All Immedi ately 6 83 PnB06 4 Final Travel for Exter nal Input Positioning 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Zero Point Return Approach Speed 0h to 3FFFFFFFh 10 3 min 1 5 000h reference units s con verted to 10 3 min 1 All Immedi ately 85 PnB0A 4 Zero Point Return Creep Speed 0h to 3FFFFFFFh 10 3 min 1 500h reference units s co...

Page 534: ...communications phase 00h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT_PGPOS Low Lower 32 bits of initial encoder position con verted to 64 bit position reference data 0009h INIT_PGPOS High Upper 32 bits of initial encoder posi...

Page 535: ...0000 All Immedi ately 90 PnB20 4 SVCMD_CTRL bit Enabled Disabled read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000 to 0009h The settings are the same as those for SEL_MON Monitor Selection 1 Bit 0 CMD_PAUSE 1 Enabled Bit 1 CMD_CANCEL 1 Enabled ...

Page 536: ...2 and 3 Reserved 0 Disabled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 Enabled Bits 14 and 15 Reserved 0 Disabled Bits 16 to 19 SEL_MON1 1 Enabled Bits 20 to 23 SEL_MON2 1 Enabled Bits 24 to 27 SEL_MON3 1 Enabled Bits 28 to 31 Reserved 0 Disabled Bit...

Page 537: ...i e while DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 I O Bit Enabled Dis abled Input read only FF0FFEFE h All Command related parameters Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication Bit 0 Reserved 0 Disabled Bit 1 DEC 1 Enabled...

Page 538: ...tion Function Selec tions D After restart Pn00F 0000h Application Function Selec tions F After restart Pn021 0000h Reserved parameter Pn022 0000h Reserved parameter Pn040 0000h Σ V Compatible Function Switch After restart Pn080 0000h Application Function Selec tions 80 After restart Pn081 0000h Application Function Selec tions 81 After restart Pn100 400 Speed Loop Gain Immediately Pn101 2000 Speed...

Page 539: ... Following Control Gain Immediately Pn142 1000 Model Following Control Gain Correction Immediately Pn143 1000 Model Following Control Bias in the Forward Direc tion Immediately Pn144 1000 Model Following Control Bias in the Reverse Direc tion Immediately Pn145 500 Vibration Suppression 1 Frequency A Immediately Pn146 700 Vibration Suppression 1 Frequency B Immediately Pn147 1000 Model Following Co...

Page 540: ...ter restart Pn230 0000h Position Control Expansion Function Selections After restart Pn231 0 Backlash Compensation Immediately Pn233 0 Backlash Compensation Time Constant Immediately Pn281 20 Encoder Output Resolution After restart Pn282 0 Linear Encoder Scale Pitch After restart Pn304 500 Jogging Speed Immediately Pn305 0 Soft Start Acceleration Time Immediately Pn306 0 Soft Start Deceleration Ti...

Page 541: ...r Q Value Immediately Pn40E 0 Second Stage Notch Filter Depth Immediately Pn40F 5000 Second Stage Second Torque Reference Filter Fre quency Immediately Pn410 50 Second Stage Second Torque Reference Filter Q Value Immediately Pn412 100 First Stage Second Torque Reference Filter Time Con stant Immediately Pn416 0000h Torque Related Function Selections 2 Immediately Pn417 5000 Third Stage Notch Filte...

Page 542: ...d Force Limit Immediately Pn484 30 Reverse Force Limit Immediately Pn485 20 Polarity Detection Refer ence Speed Immediately Pn486 25 Polarity Detection Refer ence Acceleration Deceler ation Time Immediately Pn487 0 Polarity Detection Con stant Speed Time Immediately Pn488 100 Polarity Detection Refer ence Waiting Time Immediately Pn48E 10 Polarity Detection Range Immediately Pn490 100 Polarity Det...

Page 543: ...al Width Immediately Pn526 5242880 Position Deviation Over flow Alarm Level at Servo ON Immediately Pn528 100 Position Deviation Over flow Warning Level at Servo ON Immediately Pn529 10000 Speed Limit Level at Servo ON Immediately Pn52A 20 Multiplier per Fully closed Rotation Immediately Pn52B 20 Overload Warning Level Immediately Pn52C 100 Base Current Derating at Motor Overload Detection After r...

Page 544: ... Regenerative Resistance Immediately Pn604 0 Dynamic Brake Resistance After restart Pn61A 0000h Overheat Protection Selec tions After restart Pn61B 250 Overheat Alarm Level Immediately Pn61C 100 Overheat Warning Level Immediately Pn61D 0 Overheat Alarm Filter Time Immediately Pn800 1040h Communications Controls Immediately Pn801 0003h Application Function Selec tions 6 Software Limits Immediately ...

Page 545: ...tely 3 Pn829 0 SVOFF Waiting Time for SVOFF at Deceleration to Stop Immediately Pn82A 1813h Option Field Allocations 1 After restart Pn82B 1D1Ch Option Field Allocations 2 After restart Pn82C 1F1Eh Option Field Allocations 3 After restart Pn82D 0000h Option Field Allocations 4 After restart Pn82E 0000h Option Field Allocations 5 After restart Pn833 0000h Motion Settings After restart Pn834 100 Fir...

Page 546: ...ddress Monitor for maintenance read only Pn881 Set Transmission Byte Count Monitor bytes for maintenance read only Pn882 Transmission Cycle Setting Monitor 0 25 μs for maintenance read only Pn883 Communications Cycle Setting Monitor transmis sion cycles for mainte nance read only Pn884 0000h Communications Controls 2 Immediately Pn88A 0 MECHATROLINK Receive Error Counter Monitor for maintenance re...

Page 547: ... After restart 23 PnA46 0 Absolute Encoder Origin Offset Immedi ately 2 24 PnA48 65535 Multiturn Limit After restart 25 PnA4A 0000h Limit Setting After restart 26 PnA4C 1073741823 Forward Software Limit Immediately 27 PnA4E 0 Reserved Do not change Immediately 28 PnA50 1073741823 Reverse Software Limit Immediately 29 PnA52 0 Reserved Do not change Immediately 41 PnA82 0h Speed Unit After restart 4...

Page 548: ...ning Immediately 84 PnB08 5 000h reference units s converted to 10 3 min 1 Zero Point Return Approach Speed Immediately 85 PnB0A 500h reference units s converted to 10 3 min 1 Zero Point Return Creep Speed Immediately 86 PnB0C 100 Final Travel for Zero Point Return Immediately 87 PnB0E 1h Monitor Select 1 Immediately 88 PnB10 0h Monitor Select 2 Immediately 89 PnB12 0h Monitor Select for SEL_MON1 ...

Page 549: ...execution is completed 3 Change the setting when the reference is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be affected 91 PnB22 0FFF3F33h SVCMD_ STAT bit Enabled Disabled read only 92 PnB24 007F01F0h I O Bit Enabled Disabled Output read only 93 PnB26 FF0FFEFEh I O Bit Enabled Disabled Input read only Continued from previous page Paramet...

Page 550: ...rpreting Status Displays 14 2 14 1 2 Alarm and Warning Displays 14 2 14 1 3 Hard Wire Base Block Active Display 14 2 14 1 4 Overtravel Display 14 2 14 1 5 Forced Stop Display 14 2 14 2 Corresponding SERVOPACK and SigmaWin Function Names 14 3 14 2 1 Corresponding SERVOPACK Utility Function Names 14 3 14 2 2 Corresponding SERVOPACK Monitor Display Function Names 14 4 Appendices 14 ...

Page 551: ...will change in the following order 14 1 5 Forced Stop Display During a forced stop the following display will appear Display Meaning Display Meaning TGON Rotation Detection Signal Display Lit if the Servomotor speed is higher than the setting of Pn502 or Pn581 and not lit if the speed is lower than the setting The default set ting is 20 min 1 or 20 mm s Reference Input Display Lit while a referenc...

Page 552: ...on Module Configuration Error Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Level Set Origin Fn020 Set Absolute Linear Encoder Origin Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Software Reset Fn030 Software Reset Polarity Detection Fn080 Polarity Detection Tuning less Level Setting Fn200 Tuning less Level Setting Easy FFT Fn206 Easy FFT Parameters Initialize Fn...

Page 553: ...007 Input Reference Pulse Speed min 1 displayed only during position control Position Deviation reference units Un008 Position Error Amount reference units displayed only during position control Accumulated Load Ratio Un009 Accumulated Load Ratio percentage of rated torque effective torque in cycles of 10 seconds Regenerative Load Ratio Un00A Regenerative Load Ratio percentage of processable regen...

Page 554: ...Un041 Position within One Rotation of Absolute Encoder encoder pulses Lower Bits of Absolute Encoder Position encoder pulses Un042 Lower Bits of Absolute Encoder Position encoder pulses Upper Bits of Absolute Encoder Position encoder pulses Un043 Upper Bits of Absolute Encoder Position encoder pulses Status Monitor Polarity Sensor Signal Monitor Un011 Polarity Sensor Signal Monitor Active Gain Mon...

Page 555: ...8 67 automatic notch filters 8 32 autotuning with a host reference 8 35 autotuning without a host reference 8 24 B backlash compensation 8 75 base block BB xi battery replacement 12 3 block diagram 2 9 brake operation delay time 5 32 brake release delay time 5 32 C CCW 5 16 clearing alarm history 12 45 CN1 4 34 CN2 4 26 CN3 4 44 CN5 4 44 CN6A 4 43 CN6B 4 43 CN7 4 44 CN8 4 41 coasting 5 37 coasting...

Page 556: ...tions 6 4 internal torque limits 6 28 I P control 8 88 J jogging 7 7 L limiting torque 6 28 Linear Encoder wiring example 4 27 linear encoder feedback resolution 5 45 scale pitch setting 5 17 Linear Servomotor xi line driver output circuits 4 40 list of alarms 12 5 list of MECHATROLINK III common parameters 13 42 list of parameters 13 2 MECHATROLINK III common parameters 13 42 list of warnings 12 ...

Page 557: ...ecting the phase sequence for a Linear Servomotor 5 22 selecting torque limits 6 28 SEMI F47 function 6 17 Serial Communications Connector 4 44 Serial Converter Unit 5 17 Servo Drive xi servo gains 8 81 servo lock xi servo OFF xi servo ON xi Servo System xi Servomotor xi Servomotor stopping method for alarms 5 38 SERVOPACK xi inspections and part replacement 12 2 part names 1 4 ratings 2 2 specifi...

Page 558: ...4 trial operation MECHATROLINK III communications 7 10 troubleshooting alarms 12 11 troubleshooting warnings 12 51 tuning parameters 5 5 tuning less load level 8 14 rigidity level 8 14 tuning less function 8 12 V vibration suppression 8 56 W writing parameters 5 18 Z zero clamping 5 37 ...

Page 559: ...rive Servomotors SGM7F A M N 4 4 3 5 15 1 5 17 2 Addition Information on Renishaw PLC EVOLUTE linear scales September 2016 8 0 All chapters Addition Information on Direct Drive Servomotors SGM7E Preface Partly revised 2 1 3 4 2 4 5 Revision Linear Servomotor overheat protection signal input changed to overheat protection input 3 7 Addition EMC installations for single phase 200 VAC and single phas...

Page 560: ... brake Revision Information on certification for standards 2 1 1 Revision Power loss 2 3 2 Addition Information on duct ventilated SERVOPACKs Revision External dimensions of the following three phase 200 VAC SERVO PACKs SGD7S 470A 550A 590A and 780A 4 3 5 Revision Illustration of SGD7S 470A 550A 590A and 780A SERVOPACKs 4 2 4 4 3 4 5 3 Addition Information on Battery for absolute encoder 5 15 1 5 ...

Page 561: ...p www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATIO...

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