YASKAWA SGD7S-***A20****F62 Series Product Manual Download

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Model: SGD7S-



A20



F62





-7S SERVOPACK with

FT/EX Specification for

Transfer and

Alignment Application



-7-Series AC Servo Drive

Product Manual

MANUAL NO. SIEP S800001 95A

Basic Information on SERVOPACKs

SERVOPACK Ratings and Specifications

Triggers at Preset Positions

Rotational Coordinate System

Maintenance

Parameter Lists

Summary of Contents for SGD7S-*A20**F62 Series

Page 1: ...nsfer and Alignment Application 7 Series AC Servo Drive Product Manual MANUAL NO SIEP S800001 95A Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Triggers at Preset Positions Rota...

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

Page 3: ...ion on SERVO PACKs The 7 Series 1 1 Product Introduction 1 1 Interpreting the Nameplate 1 2 Part Names 1 3 Model Designations 1 4 Combinations of SERVOPACKs and Servomo tors 1 5 Functions 1 4 SigmaWin...

Page 4: ...leshooting Alarms 5 3 Warning Displays 5 4 List of Warnings 5 5 Troubleshooting Warnings 5 6 Troubleshooting Based on the Operation and Conditions of the Servomotor 5 7 Parameter Lists Interpreting th...

Page 5: ...Product Manual 7 Series Peripheral Device Selection Manual Option Module User s Manual 7 Series Operation Interface Operating Manuals Enclosed Documents 7 Series 7S 7W Hardware Option Product Manuals...

Page 6: ...led information for the safe usage of 7 Series SERVOPACKs V Series V Series for Large Capacity Models 7 Series Safety Precautions Option Module TOBP C720829 00 Provides detailed information for the sa...

Page 7: ...nd Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001 70 7...

Page 8: ...7S SERVOPACK with FT EX Specification for Transfer and Alignment Application Product Manual This manual SIEP S800001 95 Enclosed Documents AC Servo Drive Rotary Servomotor Safety Precautions TOBP C23...

Page 9: ...MECHATROLINK III communi cations standard servo profile com mands that are used for a 7 Series Servo System 7 Series Operation Interface Operating Manuals 7 Series AC Servo Drive Digital Operator Oper...

Page 10: ...rvo 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 th...

Page 11: ...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 Th...

Page 12: ...ual 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 p...

Page 13: ...ation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in los...

Page 14: ...y 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 Br...

Page 15: ...y of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative...

Page 16: ...amaged 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 th...

Page 17: ...VOPACK 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 failu...

Page 18: ...the 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 SER VOPACK...

Page 19: ...problems such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this...

Page 20: ...not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock o...

Page 21: ...ays insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circ...

Page 22: ...of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without no...

Page 23: ...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 wh...

Page 24: ...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...

Page 25: ...marks are not certified for the stan dards North American Safety Standards UL Certification is pending Product Model North American Safety Standards UL File No SERVOPACKs SGD7S UL 61800 5 1 E147823 C...

Page 26: ...Directive 2006 95 EC EN 60034 1 EN 60034 5 SGM7J SGM7A SGM7P SGM7G EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Low Voltage Directive 2006 95 EC EN 60034 1 E...

Page 27: ...H 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 M...

Page 28: ...ns 1 5 1 4 2 Functional Restrictions 1 7 1 5 SigmaWin 1 8 SERVOPACK Ratings and Specifications 2 2 1 Ratings 2 2 2 2 SERVOPACK Overload Protection Characteristics 2 5 2 3 Specifications 2 6 Triggers a...

Page 29: ...ntenance 5 5 1 Alarm Displays 5 2 5 2 List of Alarms 5 3 5 3 Troubleshooting Alarms 5 8 5 4 Warning Displays 5 38 5 5 List of Warnings 5 39 5 6 Troubleshooting Warnings 5 41 5 7 Troubleshooting Based...

Page 30: ...ion 1 2 1 2 Model Designations 1 3 1 2 1 Interpreting SERVOPACK Model Numbers 1 3 1 2 2 Interpreting Servomotor Model Numbers 1 3 1 3 Combinations of SERVOPACKs and Servomotors 1 4 1 4 Functions 1 5 1...

Page 31: ...ggers at Preset Positions Triggers at preset positions are signals that are output when a moving part of a machine passes a preset reference position Rotational Coordi nate System You can set the rang...

Page 32: ...01 37 7 Series Direct Drive Servomotor Product Manual Manual No SIEP S800001 38 A 200 VAC F 100 VAC R70 1 R90 1 1R6 1 2R8 1 3R8 5R5 1 7R6 120 180 200 330 470 550 590 780 R70 R90 2R1 2R8 0 05 kW 0 1 kW...

Page 33: ...Refer to the following manuals for information on combinations with 7 Series Servomotors 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 7 Series Linear Servomotor Product Manual M...

Page 34: ...g Linear Encoder Pitch Setting Writing Linear Servomotor Parameters Selecting the Phase Sequence for a Linear Servomotor Polarity Sensor Setting Polarity Detection Overtravel Function and Settings Hol...

Page 35: ...VLT Signal Selecting Torque Limits Vibration Detection Level Initialization Alarm Reset Replacing the Battery Setting the Position Deviation Overflow Alarm Level Function Tuning less Function Automat...

Page 36: ...llowing functional restrictions apply to the SERVOPACKs described in this manual Function Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Moto...

Page 37: ...ded to Sig maWin version 7 14 or higher The model information files can be downloaded from the Yaskawa s e mechatronics product and technical information website http www e mecha tronics com Add the m...

Page 38: ...ter provides information required to select SERVOPACKs such as specifications 2 1 Ratings 2 2 2 2 SERVOPACK Overload Protection Characteristics 2 5 2 3 Specifications 2 6 SERVOPACK Ratings and Specifi...

Page 39: ...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...

Page 40: ...2 350 3 350 3 350 3 Total Power Loss W 292 7 347 9 393 3 529 4 Regenerative Resistor External Regenera tive Resistor Resistance 6 25 2 3 13 3 3 13 3 3 13 3 Capacity W 880 2 1760 3 1760 3 1760 3 Minim...

Page 41: ...rrent 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...

Page 42: ...ion 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 characterist...

Page 43: ...tive humidity 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...

Page 44: ...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...

Page 45: ...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 linea...

Page 46: ...nnector CN1 Pin Arrangement 3 4 3 2 Settings for Triggers at Preset Positions 3 5 3 2 1 Setting Table Details 3 5 3 2 2 Setting Triggers at Preset Positions 3 7 3 2 3 Setting Trigger Outputs at Preset...

Page 47: ...the following steps Absolute Encoder Send the Turn Sensor ON command SENS_ON 23 hex from the host controller Incremental Encoder Send the Zero Point Return command ZRET 3A hex from the host controller...

Page 48: ...nd HSO2 on CN1 Output Time Setting Range 0 to 32 767 000 s Output Distance Setting Range 0 to 4 294 967 295 reference units Output Position Compensation Range 2 147 483 648 to 2 147 483 647 reference...

Page 49: ...ence Output 1 15 BAT Battery for Absolute Encoder 3 ALM Servo Alarm Output 16 SG Signal Ground 4 ALM Servo Alarm Output 17 HSO1 High Speed Preset Position Output 1 5 TH Linear Servomotor Overheat Prot...

Page 50: ...for the trigger at the preset position Output Function Select the axis number output terminals signal logic and passing direction to use for the trigger at the preset position Name Output Position Ou...

Page 51: ...not output 1 Output the signal from the CN1 1 and CN1 2 output terminals 2 Output the signal from the CN1 23 and CN1 24 output terminals 3 Output the signal from the CN1 25 and CN1 26 output terminal...

Page 52: ...eference units for the output function make sure the output distance is within the following distances If you use triggers at preset positions in combination with a rotational coordinate system set th...

Page 53: ...ion and passing direction with the output function selec tion 4 If Pn660 is set to n 0 set the signal output width as a time in ms If Pn660 is set to n 1 set the signal output width as a distance in r...

Page 54: ...ig maWin The flow of operation from making settings for triggers at preset positions through writing data to the SERVOPACK is described Refer to the following manual for details on editing tables on t...

Page 55: ...rs Button The edited data will be written to the volatile memory in the SERVOPACK 6 Click the Save to Flash Memory Button The edited data will be written to the non volatile memory in the SERVOPACK No...

Page 56: ...Setting 14 0xF00501A0 0xF00501A4 0xF00501A8 0xF00501AC 0xF00501B0 0xF00501B4 0xF00501B8 0xF00501BC Output Setting 15 0xF00501C0 0xF00501C4 0xF00501C8 0xF00501CC 0xF00501D0 0xF00501D4 0xF00501D8 0xF005...

Page 57: ...8 0xF00505AC 0xF00505B0 0xF00505B4 0xF00505B8 0xF00505BC Output Setting 15 0xF00505C0 0xF00505C4 0xF00505C8 0xF00505CC 0xF00505D0 0xF00505D4 0xF00505D8 0xF00505DC Output Setting 16 0xF00505E0 0xF00505...

Page 58: ...letion of the command execution by checking that RCMD MEM_WR 1E hex and CMD_STAT CMDRDY 1 and also checking the setting for ADDRESS SIZE MODE DATA_TYPE and DATA In the following cases an alarm will oc...

Page 59: ...llowing procedure to save the settings in RAM to non volatile memory Send the commands in the following order bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MODE DATA_TYPE CMD_ALM Displayed Code Error Detail...

Page 60: ...x22 SIZE 0x0001 DATA 0x0001 6 End the write to non volatile memory ADDRESS 0x80004000 MODE DATA_TYPE 0x22 SIZE 0x0001 DATA 0x0000 Step Description Setting Example 1 Set the request code for initializi...

Page 61: ...1 Bit 0 N_CL P_CL P_PPI V_PPI Reserved 0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Reserved 0 G SEL Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 Reserved 0 SO3 SO2 SO1 BANK_SEL...

Page 62: ...ional Coordinate System 4 3 4 2 2 Setting the Multiturn Limit 4 4 4 2 3 Absolute Encoder Origin Offset 4 4 4 2 4 Setting the Moving Method of the Rotational Coordinate System 4 5 4 2 5 Servo Commands...

Page 63: ...controller Incremental Encoder Send the Zero Point Return command ZRET 3A hex from the host controller Use the Set Coordinates command POS_SET 20 hex from the host controller to set a ref erence point...

Page 64: ...necessary only for an absolute encoder 5 Set the movement method for the rotational coordinates Pn87E n X 6 Perform the following operation for your encoder Absolute Encoder Send the Turn Sensor ON c...

Page 65: ...e machine coordinate system 0 the following relationship must exist in the parameter settings Pn87C Pn808 Pn87A Pn808 is set as follows If the offset is smaller than the setting of Pn87C First Rotatio...

Page 66: ...thod for Rotational Coordinates to specify movement in the rotational coordinate system Note This parameter is enabled when Pn87A or Pn87C is not set to 0 Pn808 Absolute Encoder Origin Offset Setting...

Page 67: ...s forward from the current position to the target position The following figure gives an example of a positioning operation in which the axis is moved for ward from the current position to target posi...

Page 68: ...is performed within the range of the rotational coordinate system Set the target position TPOS so that Pn87C TPOS Pn87A If you set a value that exceeds this range an A 94B alarm Data Setting Warn ing...

Page 69: ...in the Command Changing to Position Control in a Different Direction Pn87E n 0 from the Direction of Speed Control Command Reference Direction Note If the Movement Method for Rotational Coordinates Pn...

Page 70: ...al input constant speed feed ing EX_FEED or external input positioning EX_POSING positioning is performed within the range of the rotational coordinate system to external input positioning position P3...

Page 71: ...g signal P2 1 000 External positioning final travel distance common parameter 83 3 000 External input positioning position P3 1 000 3 000 3 600 Pn87A Pn87C 1 400 Note The movement direction after latc...

Page 72: ...tional coordinate system to the ori gin after latching the position The final travel distance after latching the position is set in PnB0C External Positioning Final Travel Distance The calculation met...

Page 73: ...2 PnB10 0003 hex LPOS2 SEL_MON1 to SEL_MON6 Selected code 4 Latched position 2 1 refer ence unit Fixed Monitor 1 PnB0E 0004 hex Fixed Monitor 2 PnB10 0004 hex MPOS SEL_MON1 to SEL_MON6 Selected code...

Page 74: ...itor data which is output within the range of the rotational coordinate system Pn87A to Pn87C are listed below Refer to the following manual for information on monitor data that is not listed above 7...

Page 75: ...r alarms and warnings 5 1 Alarm Displays 5 2 5 2 List of Alarms 5 3 5 3 Troubleshooting Alarms 5 8 5 4 Warning Displays 5 38 5 5 List of Warnings 5 39 5 6 Troubleshooting Warnings 5 41 5 7 Troubleshoo...

Page 76: ...s If an error occurs in the SERVOPACK an alarm number will be displayed on the panel display If there is an alarm the display will change in the following order Example Alarm A E60 Status Indications...

Page 77: ...ER VOPACK Gr 1 No A 030 Main Circuit Detector Error There is an error in the detection data for the main circuit Gr 1 Yes A 040 Parameter Setting Error A parameter setting is outside of the setting ra...

Page 78: ...rrent Limiting Resistor Overload The main circuit power supply was frequently turned ON and OFF Gr 1 Yes A 7A1 Internal Temperature Error 1 Control Board Tempera ture Error The surrounding temperature...

Page 79: ...PACK Gr 1 No A bF5 System Alarm 5 Internal program error 5 occurred in the SERVO PACK Gr 1 No A bF6 System Alarm 6 Internal program error 6 occurred in the SERVO PACK Gr 1 No A bF7 System Alarm 7 Int...

Page 80: ...Gr 1 Yes A d02 Position Deviation Over flow 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 limits...

Page 81: ...ted Safety Option Module An unsupported Safety Option Module was con nected Gr 1 No A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function signal...

Page 82: ...The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed T...

Page 83: ...en the electronic gear ratio Pn20E Pn210 or the Servo motor was changed Check to see if the detec tion conditions 2 are satis fied Decrease the setting of the electronic gear ratio Pn20E Pn210 1 The s...

Page 84: ...motor from the previ ously connected motor A Rotary Servomotor was removed and a Linear Servomotor was connected Set the parameters for a Linear Servomotor and reset the motor type alarm Then turn the...

Page 85: ...he SERVOPACK model operating meth ods or the mechanisms so that the dynamic brake does not need to be used so frequently The regenerative pro cessing capacity was exceeded Check the regenerative load...

Page 86: ...tor connection terminals U V and W on the SERVO PACK or between the ground and terminals U V or W The SERVOPACK may be faulty Replace the SER VOPACK 1 A heavy load was applied while the Ser vomotor wa...

Page 87: ...ect an External Regenerative Resistor and set Pn600 to an appropri ate value or connect a Regenerative Resistor Unit and set Pn600 to 0 1 The jumper between the regenerative resis tor terminals B2 and...

Page 88: ...ation 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 Resisto...

Page 89: ...ply setting to match the actual power supply 1 AC power was sup plied when a DC power supply input was specified in the settings Check the power supply to see if it is an AC power supply Correct the p...

Page 90: ...mass 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...

Page 91: ...of Inertia Ratio to an appro priate value 1 The vibration detec tion level Pn312 or Pn384 is not suitable Check that the vibration detection level Pn312 or Pn384 is suitable Set a suitable vibration d...

Page 92: ...load An excessive power consump tion by the dynamic brake was detected The Servomotor was rotated by an external force Check the operation sta tus Implement measures to ensure that the motor will not...

Page 93: ...rror 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a ther mostat Or check the operating status with the SERVOPACK installation enviro...

Page 94: ...ncoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check su...

Page 95: ...place 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 p...

Page 96: ...motor to 40 C or less The motor load is greater than the rated load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the SigmaWin Operate the Servo Drive so that the mo...

Page 97: ...Replace the SERVOPACK A b6A MECHATROLINK Communications ASIC Error 1 There is a fault in the SERVOPACK MECHATROLINK communications sec tion Turn the power supply to the SERVOPACK OFF and ON again If a...

Page 98: ...n 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 bF6 System Alarm 6 A failure occurred in the SERVOP...

Page 99: ...d direction of the Mov ing Coil in the motor Check the setting of Pn080 n X Motor Phase Sequence Selec tion Check the installa tion orientation for the linear encoder and Mov ing Coil Change the setti...

Page 100: ...nal 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 cabl...

Page 101: ...olarity 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...

Page 102: ...the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power...

Page 103: ...place 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 SER...

Page 104: ...orrectly 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 m...

Page 105: ...nit 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...

Page 106: ...ernal Encoder Usage to reverse the direction 1 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 mechani...

Page 107: ...y 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 co...

Page 108: ...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 SERVOPACK and the Safety Option Module Cor...

Page 109: ...error occurred for a MECHATROLINK command Check the motor status when the command is executed Execute the SV_ON or SENS_ON command only when the motor is not operating For fully closed loop control ch...

Page 110: ...RVOPACK may be faulty Replace the SERVOPACK FL 2 5 System Alarm FL 3 5 System Alarm FL 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a...

Page 111: ...S800001 32 5 These alarms are not stored in the alarm history They are only displayed on the panel display Pn585 mm s 10 Pn20E Pn210 Pn385 100 mm s Pn20E Pn210 Linear encoder pitch m Linear encoder pi...

Page 112: ...5 4 Warning Displays 5 38 5 4 Warning Displays If a warning occurs in the SERVOPACK a warning number will be displayed on the panel dis play Warnings are displayed to warn you before an alarm occurs...

Page 113: ...is continued an alarm may occur Required A 921 Dynamic Brake Over load This warning occurs before an A 731 alarm Dynamic Brake Overload occurs If the warning is ignored and operation is continued an...

Page 114: ...oltage 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 tha...

Page 115: ...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 se...

Page 116: ...verload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vib...

Page 117: ...RVO 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 temperatu...

Page 118: ...d 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...

Page 119: ...parameter size set in the command is not correct Check the command that caused the warning Set the correct parameter size A 94E Data Setting Warn ing 5 Latch Mode Error A latch mode error was detected...

Page 120: ...ower supply volt age within the specified range For a 100 V SER VOPACK the AC power supply volt age dropped below 60 V Measure the power sup ply voltage Set the power supply volt age within the specif...

Page 121: ...ertravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host...

Page 122: ...ad 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 t...

Page 123: ...the directions Change the setting of Pn080 n X Motor Phase Sequence Selection Place the linear encoder and motor in the same direction Polarity detection was not performed correctly Check to see if e...

Page 124: ...ing screws Tighten the mounting screws The machine mounting is not secure Check to see if there is misalignment in the cou pling Align the coupling Check to see if the cou pling is balanced Balance th...

Page 125: ...is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separ...

Page 126: ...op 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 The setting of Pn100 Speed Loop Gain is too high Check...

Page 127: ...le was sub ject to excessive noise inter ference 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...

Page 128: ...ck the settings of the overtravel input signal allocations Pn50A Pn50B Set the parameters to correct values The P OT N OT Forward Drive Prohibit or Reverse Drive Prohibit signal mal functioned Check f...

Page 129: ...envi ronment The Encoder Cable was sub jected to excessive noise interference Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the...

Page 130: ...ccurred The pulse count does not change Replace the Servomo tor or linear encoder A failure occurred in the SER VOPACK Replace the SERVO PACK Servomotor Overheated The surrounding air tempera ture is...

Page 131: ...Interpreting the Parameter Lists 6 2 6 1 1 Interpreting the Servo Parameter List 6 2 6 1 2 Interpreting the MECHATROLINK III Common Parameter List 6 3 6 2 List of Servo Parameters 6 4 6 3 List of MEC...

Page 132: ...executed M3 n X Rotation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction Use the direction in which the linear encoder counts up as the for ward direction...

Page 133: ...ypes of motors 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 term...

Page 134: ...B1 0000 All After restart Setup 1 Continued on next page n X Rotation Direction Selection Movement Direction Selection 0 Use CCW as the forward direction Use the direction in which the linear encoder...

Page 135: ...top use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using t...

Page 136: ...g Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage Applicable Mot...

Page 137: ...osition 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...

Page 138: ...mplifier 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 mot...

Page 139: ...or Undervoltage 0 Do not detect undervoltage 1 Detect undervoltage warning and limit torque at host controller 2 Detect undervoltage warning and limit torque with Pn424 and Pn425 i e only in SERVOPACK...

Page 140: ...ng Method for Forced Stops 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum...

Page 141: ...tors 0 Disable tests without a motor All 1 Enable tests without a motor n X Encoder Resolution for Tests without a Motor Applicable Motors 0 Use 13 bits Rotary 1 Use 20 bits 2 Use 22 bits 3 Use 24 bit...

Page 142: ...0 All Immedi ately Tuning 1 Pn10A 2 Feedforward Filter Time Constant 0 to 6 400 0 01 ms 0 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting R...

Page 143: ...000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain...

Page 144: ...from the second gain to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Ou...

Page 145: ...Con trol Related Selections 0000 to 0011 0010 All Immedi ately Tuning 1 Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to...

Page 146: ...page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function A...

Page 147: ...medi ately Setup 1 Pn305 2 Soft Start Acceleration 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 Feedb...

Page 148: ...65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn404 2...

Page 149: ...cond Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Defau...

Page 150: ...y Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi...

Page 151: ...nge 1 to 65 535 1 mm 10 Linear Immedi ately Tuning Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection Con firmation Force Refer ence 0 to 200...

Page 152: ...ge n X Reserved parameter Do not change n X P OT Forward Drive Prohibit Signal Allocation 0 Enable forward drive when CN1 13 input signal is ON closed 1 Enable forward drive when CN1 7 input signal is...

Page 153: ...ut 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...

Page 154: ...nal allocations n X TGON Rotation Detection Output Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X S RDY Servo Ready Signal Allocation 0...

Page 155: ...otors When Enabled Classi fication Refer ence n X NEAR Near Output Signal Allocation 0 Disabled the above signal output is not used 1 Output the signal from the CN1 1 or CN1 2 output terminal 2 Output...

Page 156: ...en D Active when CN1 10 input signal is OFF open E Active when CN1 11 input signal is OFF open F Active when CN1 12 input signal is OFF open n X EXT1 External Latch Input 1 Signal Allocation 0 to 3 Th...

Page 157: ...he signal from the CN1 23 or CN1 24 output terminal 3 Output the signal from the CN1 25 or CN1 26 output terminal 4 to 6 Reserved setting Do not use n X Reserved parameter Do not change n X FSTP Force...

Page 158: ...tary 1 min 1 Direct Drive 0 1 min 500 Rotary Immedi ately Setup 1 Pn534 2 Program Jogging Accel eration Deceleration Time 2 to 10 000 1 ms 100 All Immedi ately Setup 1 Continued on next page Continued...

Page 159: ...eed Level 0 to 10 000 1 mm s 10 Linear Immedi ately Setup 1 Pn584 2 Speed Limit Level at Servo ON 0 to 10 000 1 mm s 10000 Linear Immedi ately Setup 1 Pn585 2 Program Jogging Move ment Speed 1 to 10 0...

Page 160: ...Ignore MECHATROLINK communications errors A E60 2 Ignore WDT errors A E50 3 Ignore both MECHATROLINK communications errors A E60 and WDT errors A E50 n X Warning Check Masks 0 Do not mask 1 Ignore dat...

Page 161: ...Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 9 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 ref erence units s...

Page 162: ...e Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M2 13 n X Origin Return Direction 0 Return in forward direction 1 Return in reverse direction n X Reserved para...

Page 163: ...3 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled...

Page 164: ...olarity origin displayed in decimal 0014 hex Un004 Rotational Angle 2 deg Electrical angle from polarity origin All Un004 Electrical Angle 2 deg Electrical angle from polarity origin 0015 hex Un005 In...

Page 165: ...next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M3 8 Setting Monitor Applicable Moto...

Page 166: ...te bits 4 and 5 to ACCFIL 5 Allocate bits 5 and 6 to ACCFIL 6 Allocate bits 6 and 7 to ACCFIL 7 Allocate bits 7 and 8 to ACCFIL 8 Allocate bits 8 and 9 to ACCFIL 9 Allocate bits 9 and 10 to ACCFIL A A...

Page 167: ...locate 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 Alloca...

Page 168: ...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 Alloca...

Page 169: ...M2 13 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 bi...

Page 170: ...50 1 0 All Immedi ately 10 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn852 2 Latch Sequence...

Page 171: ...ame as those for the Latch Sequence 5 Signal Selec tion M3 8 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...

Page 172: ...ations 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 8 n X Input Signal Monitor Allo...

Page 173: ...or 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 Alloca...

Page 174: ...uring Alarm Warning for maintenance read only 0 to FFFFFFFF 0 All Setup 2 Pn900 2 Number of Parameter Banks 0 to 16 0 All After restart Setup 2 Pn901 2 Number of Parameter Bank Members 0 to 15 0 All A...

Page 175: ...ic Brake Hardware Option Specifications Prod uct Manual Manual No SIEP S800001 73 8 This parameter is valid only when the MECHATROLINK III standard servo profile is used 9 The parameter setting is ena...

Page 176: ...n read only 0 to 1 All 04 PnA08 4 Rated Motor Speed read only 0 to FFFFFFFF 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0 to FFFFFFFF 1 min 1 All 06 PnA0C 4 Speed Multiplier read only 1 073...

Page 177: ...27 PnA4E 4 Reserved parameter Do not change 0 All Immedi ately 28 PnA50 4 Reverse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved param...

Page 178: ...art 46 PnA8C 4 Acceleration Base Unit Selection Set the value of n from the following formula Acceleration unit selection 45 PnA8A 10n 4 to 6 4 All After restart 47 PnA8E 4 Torque Unit Selection 1 to...

Page 179: ...ge Time 0 to 510 000 1 s 0 1 ms 0 All Immedi ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Origin Approa...

Page 180: ...i ately Command related parameters Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Class...

Page 181: ...l mode 00 hex Position control mode 01 hex Speed control mode 02 hex Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007 hex Reserved 0008 hex INIT_PGPOS Low Lower 32 bits of init...

Page 182: ...Command Control Field Enable Disable Selections read only 0FFF3F3F hex All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Sett...

Page 183: ...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_...

Page 184: ...1 If you change the setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFE hex All Command related parameters Continued from...

Page 185: ...setting 3 7 output position setting 3 5 output time setting 3 6 P parameters notation numeric settings xi notation selecting functions xi pollution degree 2 6 R ratings 2 2 Rotary Servomotor x rotati...

Page 186: ...umber of the manual are given on the bottom right of the back cover Refer to the following example Date of Publication Rev No Section Revised Content August 2016 First edition MANUAL NO SIEP S800001 9...

Page 187: ...Fax 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com c...

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