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YASKAWA SGD7S series, Product Manual

The YASKAWA SGD7S series offers high-performance servo drives for industrial applications. Get the most out of your equipment by downloading the free product manual from our website. The manual includes detailed instructions and specifications to ensure optimal performance. Get yours now at manualshive.com.

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8.12  Additional Adjustment Functions

8.12.2  Friction Compensation

8-70

8.12.2

Friction Compensation

Friction compensation is used to compensate for viscous friction fluctuations and regular load 
fluctuations.

You can automatically adjust friction compensation with autotuning without a host reference, 
autotuning with a host reference, or custom tuning, or you can manually adjust it with the fol-
lowing procedure.

Required Parameter Settings

The following parameter settings are required to use friction compensation.

Parameter

Function

When Enabled

Classification

Pn408

n.0



(default setting)

Disable friction compensation.

Immediately

Setup

n.1



Enable 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 Enabled

Classification

0 to 100

1%

0

Immediately

Tuning

Pn124

Friction Compensation Frequency Correction

  

  

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

-10,000 to 10,000

0.1 Hz

0

Immediately

Tuning 

Pn125

Friction Compensation Gain Correction

  

  

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

1 to 1,000

1%

100

Immediately

Tuning

Speed 

Position

Speed 

Position

Speed 

Position

Speed 

Position

Speed 

Position

Summary of Contents for SGD7S series

Page 1: ...stallation Application Functions Tuning Monitoring Fully Closed Loop Control Safety Functions Maintenance Parameter Lists Appendices Basic Functions That Require Setting before Operation Wiring and Co...

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

Page 3: ...tions That 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 Descri...

Page 4: ...ers 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals such as this manual 7 Series 7S 7W SERVOPACK Hardware Option Product Manuals Option Module User s...

Page 5: ...iled 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 7 Series 7...

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

Page 7: ...CK Command 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 S8000...

Page 8: ...the design and mainte nance of a Safety Module Enclosed Documents AC Servo Drive Rotary Servomotor Safety Precautions TOBP C230260 00 Provides detailed information for the safe usage of Rotary Servom...

Page 9: ...information on the motion programming and sequence programming specifica tions and instructions for MP3000 Series Machine Controllers and 7 Series 7C SERVOPACKs 7 Series Operation Interface Operating...

Page 10: ...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...

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: ...ed 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...

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: ...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 bef...

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

Page 20: ...sible 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 W...

Page 21: ...ert 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 pow...

Page 22: ...u 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 chan...

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 standards North American Safety Standards UL Certification is pending Product Model North American Safety Standards UL File No SERVOPACKs SGD7S UL 61800 5 1 E147823 CS...

Page 26: ...e 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...

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: ...8 1 5 2 Combinations of Direct Drive Servomotors and SERVOPACKs 1 9 1 5 3 Combinations of Linear Servomotors and SERVOPACKs 1 10 1 6 Functions 1 12 Selecting a SERVOPACK 2 2 1 Ratings and Specificati...

Page 29: ...9 4 3 Wiring the Power Supply to the SERVOPACK 4 11 4 3 1 Terminal Symbols and Terminal Names 4 11 4 3 2 Wiring Procedure for Main Circuit Connector 4 14 4 3 3 Power ON Sequence 4 15 4 3 4 Power Supp...

Page 30: ...matic Detection of Connected Motor 5 16 5 5 Functions and Settings for the S ON Servo ON Signal 5 17 5 5 1 Function of the S ON Servo ON Signal 5 17 5 5 2 Setting to Keep the Servo ON and Supply Power...

Page 31: ...5 17 2 Preparations 5 51 5 17 3 Applicable Tools 5 52 5 17 4 Operating Procedure 5 52 5 18 Setting the Origin of the Absolute Encoder 5 54 5 18 1 Setting the Origin of the Absolute Linear Encoder 5 54...

Page 32: ...ection to A or B 6 61 6 11 Selecting Torque Limits 6 63 6 11 1 Internal Torque Limits 6 63 6 11 2 External Torque Limits 6 64 6 11 3 Limiting Torque with an Analog Reference 6 67 6 11 4 Limiting Torqu...

Page 33: ...Flow of Trial Operation 7 2 7 1 1 Flow of Trial Operation for Rotary Servomotors 7 2 7 1 2 Flow of Trial Operation for Linear Servomotors 7 4 7 2 Inspections and Confirmations before Trial Operation...

Page 34: ...16 8 5 2 Restrictions 8 17 8 5 3 Applicable Tools 8 17 8 5 4 Operating Procedure 8 18 8 6 Autotuning without Host Reference 8 24 8 6 1 Outline 8 24 8 6 2 Restrictions 8 25 8 6 3 Applicable Tools 8 26...

Page 35: ...2 2 Friction Compensation 8 70 8 12 3 Gravity Compensation 8 71 8 12 4 Current Control Mode Selection 8 73 8 12 5 Current Gain Level Setting 8 73 8 12 6 Speed Detection Method Selection 8 74 8 12 7 Sp...

Page 36: ...gs 10 8 10 3 8 Analog Monitor Signal Settings 10 10 10 3 9 Setting to Use an External Encoder for Speed Feedback 10 10 Safety Functions 11 11 1 Introduction to the Safety Functions 11 2 11 1 1 Safety...

Page 37: ...2 4 Troubleshooting Based on the Operation and Conditions of the Servomotor 12 55 Panel Displays and Panel Operator Procedures 13 13 1 Panel Operator 13 3 13 1 1 Panel Operator Key Names and Functions...

Page 38: ...13 24 13 4 17 Display Software Version Fn012 13 25 13 4 18 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm Fn013 13 26 13 4 19 Reset Option Module Configuration Error Fn014 13 27 13...

Page 39: ...ple of Connections to Yokogawa Electric s F3NC3 0N Positioning Module for Position Control 15 4 15 1 4 Example of Connections to an OMRON Position Control Unit 15 5 15 1 5 Example of Connection to Mit...

Page 40: ...el 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 8 1 5 1 Combinations of Rotary Servo...

Page 41: ...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 7 serie...

Page 42: ...1 Basic Information on SERVOPACKs 1 2 Interpreting the Nameplate The following basic information is provided on the nameplate Degree of protection SERVOPACK model Order number Serial number Surroundi...

Page 43: ...revent electric shock Always connect this terminal QR Code The QR code that is used by the MechatroCloud service Serial Communications Con nector CN3 Connects to the Digital Operator a peripheral devi...

Page 44: ...numbers and parameters page 13 3 Panel Operator Keys Used to set parameters Panel Operator Analog Monitor Connector CN5 You can use a special cable peripheral device to monitor the motor speed torque...

Page 45: ...8th 9th 10th digits 7th digit 000 B 11th 12th 13th digits 14th digit 001 000 002 SGD7S 120A 008 Single phase 200 VAC power supply input Specification Code FT EX Specification Specification Code BTO S...

Page 46: ...t 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...

Page 47: ...5A SGM7J 08A 750 W SGM7A Models 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 2R8...

Page 48: ...7E 16E 16 48 5R5A SGM7E 35E 35 105 SGM7F Models Small Capacity With Core SGM7F 04B 4 12 2R8A or 2R8F SGM7F 10B 10 30 SGM7F 14B 14 42 5R5A SGM7F 08C 8 24 2R8A or 2R8F SGM7F 17C 17 51 5R5A SGM7F 25C 25...

Page 49: ...W 90A370C 550 2200 180A SGLGW 90A535C 750 3000 200A SGLG Models Coreless Used with High Force Magnetic Way SGLGW 40A140C 57 230 1R6A or 2R1F SGLGW 40A253C 114 460 2R8A or 2R8F SGLGW 40A365C 171 690 3R...

Page 50: ...A 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 180A SGLTW 40A400B 6...

Page 51: ...n page 5 27 Overtravel Function and Settings page 5 31 Holding Brake page 5 36 Motor Stopping Methods for Servo OFF and Alarms page 5 41 Resetting the Absolute Encoder page 5 51 Setting the Origin of...

Page 52: ...tion Control page 6 30 Reference Pulse Form page 6 31 Position Deviation Clear Input CLR Signal Func tion and Settings page 6 33 Reference Pulse Input Multiplication Switching page 6 34 Positioning Co...

Page 53: ...page 8 56 Gain Selection page 8 66 Friction Compensation page 8 70 Model Following Control page 8 83 Compatible Adjustment Functions page 8 86 Mechanical Analysis page 8 92 Easy FFT page 8 94 Functio...

Page 54: ...7S R70A R90A and 1R6A 2 11 2 2 2 SGD7S 2R8A 2 11 2 2 3 SGD7S 3R8A 5R5A and 7R6A 2 12 2 2 4 SGD7S 120A 2 13 2 2 5 SGD7S 180A and 200A 2 14 2 2 6 SGD7S 330A 2 15 2 2 7 SGD7S 470A and 550A 2 16 2 2 8 SGD...

Page 55: ...10 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...

Page 56: ...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 Minimum Allowable Extern...

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...

Page 58: ...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...

Page 59: ...dity max with no freezing or condensation Vibration Resistance 4 9 m s2 Shock Resistance 19 6 m s2 Degree of Protection Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure t...

Page 60: ...t Signals Fixed Input Allowable voltage range 5 VDC 5 Number of input points 1 SEN Absolute Data Request signal Input Signals That Can Be Allo cated Allowable voltage range 24 VDC 20 Number of input p...

Page 61: ...Up to N 15 stations possible for RS 422A port Axis Address Setting Set with parameters USB Communi cations CN7 Interface Personal computer with SigmaWin Commu nica tions Standard Conforms to USB2 0 s...

Page 62: ...1 to 3 selection Servomotor stops or another control method is used when both signals are OFF Posi tion Con trol Feedforward Compensation 0 to 100 Output Signal Posi tioning Completed Width Setting 0...

Page 63: ...temperature of 0 C to 55 C and an altitude of 1 000 m max Also the applicable surrounding range cannot be increased by derating 2 The coefficient of speed fluctuation for load fluctuation is defined...

Page 64: ...ensor Varistor Varistor M Relay drive CHARGE Gate drive overcurrent protection Temperature sensor Safety function signals CN8 Main circuit power supply Control power supply L1 B1 B2 B3 L2 L3 1 2 L1C L...

Page 65: ...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 se...

Page 66: ...stor Relay drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan Panel Operator Reference pulse input Reference voltage input I O signals Gate drive Overh...

Page 67: ...ital 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 se...

Page 68: ...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...

Page 69: ...l 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...

Page 70: ...ignals Main circuit power supply Control power supply Gate drive Overheat overcurrent protection Reference pulse input Reference voltage input I O signals Panel Operator Fan 3 Fan 4 Processor PWM cont...

Page 71: ...e CN12 CN7 Current sensor Dynamic brake circuit CN2 Servomotor ENC Gate drive Analog voltage converter A D I O CN1 CN5 Encoder divided pulse output Analog monitor output Reference pulse input Referenc...

Page 72: ...ls Refer to the following figures and table Front Cover Dimensions Connector Specifications Note The above connectors or their equivalents are used for the SERVOPACKs Connec tor No Model Number of Pin...

Page 73: ...140 18 4 168 5 25 40 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 160 168 8 40 170 18 168 5 2 M4...

Page 74: ...160 0 5 mounting pitch Exterior 80 0 5 mounting pitch Mounting Hole Diagram Unit mm Approx mass 2 2 kg 3 M4 Exterior 180 8 100 180 100 12 5 4 75 188 188 5 180 0 5 mounting pitch 82 5 0 5 mounting pit...

Page 75: ...Ground terminals 2 M5 170 Terminals 8 M5 75 210 315 14 6 170 Unit mm Approx Mass 8 2 kg 302 5 0 5 mounting pitch 142 0 5 mounting pitch 4 M6 Exterior Mounting Hole Diagram Ground terminals 2 M6 Termin...

Page 76: ...Exterior Mounting Hole Diagram Ground terminals 2 M4 180 0 5 mounting pitch 166 min 140 75 18 25 168 40 2 36 195 17 5 24 5 2 160 20 7 5 7 195 40 Two sets of terminals Unit mm Approx mass 1 0 kg 2 M4 E...

Page 77: ...75 180 160 17 5 15 5 65 93 18 25 2 24 5 168 195 195 7 7 5 23 166 min 93 Two sets of terminals 4 M4 Exterior 200 0 5 mounting pitch 50 0 5 mounting pitch Unit mm Approx mass 2 7 kg Ground terminals 2 M...

Page 78: ...kg 4 M5 Terminals Terminals 8 M5 Ground terminals 2 M5 210 139 71 350 170 75 Exterior Cutout Mounting Hole Diagram 8 5 4 145 0 5 mounting pitch 320 min 7 5 350 315 7 5 17 5 162 min 170 335 0 5 mountin...

Page 79: ...lies 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 CN8 Servomotor Main Circuit Cable Encoder Cable Battery Case Holding brake p...

Page 80: ...r Servomotor Ground cable CN3 CN5 CN7 CN1 CN2 Linear encoder Sensor Cable Linear Encoder Cable Serial Converter Unit Serial Converter Unit Cable R S T External Regenerative 2 Resistor Noise Filter Mol...

Page 81: ...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...

Page 82: ...eat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions Installation Near Sources of Vibration Install a vibration absorber on the installation surface of t...

Page 83: ...ERVOPACK 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...

Page 84: ...CK 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...

Page 85: ...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...

Page 86: ...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 spo...

Page 87: ...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 tempe...

Page 88: ...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 Alti...

Page 89: ...t implement EMC measures and confirm compliance for 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 Th...

Page 90: ...vomotor Main Circuit Cable Shielded cable Encoder Cable Shielded cable Main Circuit Power Cable Shielded cable CN1 CN2 L1C and L2C L1 and L2 U V and W Noise filter Surge absorber Clamp Brake Servomoto...

Page 91: ...ded cable Servomotor Main Circuit Cable Shielded cable Encoder Cable Shielded cable Main Circuit Power Cable Shielded cable CN1 CN2 L1C and L2C L1 and L2 U V and W Noise filter Surge absorber Clamp Br...

Page 92: ...3 3 Power ON Sequence 4 15 4 3 4 Power Supply Wiring Diagrams 4 16 4 3 5 Wiring Regenerative Resistors 4 22 4 3 6 Wiring Reactors for Harmonic Suppression 4 24 4 4 Wiring Servomotors 4 25 4 4 1 Termi...

Page 93: ...4 6 1 Pin Arrangement of Safety Function Signals CN8 4 48 4 6 2 I O Circuits 4 48 4 7 Connecting the Other Connectors 4 50 4 7 1 Serial Communications Connector CN3 4 50 4 7 2 Computer Connector CN7 4...

Page 94: ...e 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 t...

Page 95: ...uit 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...

Page 96: ...l 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 connecting Noise Filters Noise Filters on page 4 6...

Page 97: ...f 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...

Page 98: ...r ground wire output lines and other signal lines in the same duct or bundle them together Connect the Noise Filter ground wire directly to the grounding plate Do not connect the Noise Filter ground w...

Page 99: ...rvomotor 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 throu...

Page 100: ...quence input 4 Alarm Reset input ON to reset alarm General purpose sequence input 6 Reverse External Torque Limit input ON to limit General purpose sequence input 5 Forward External Torque Limit input...

Page 101: ...tion 5 Refer to the following chapter if you use a safety function device Chapter 11 Safety Functions If you do not use the safety function insert the Safety Jumper Connector provided as an accessory...

Page 102: ...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 22 For SGD7S R70A R90A 1R6A and 2R8A If the regenerative ca...

Page 103: ...Wiring Regenerative Resistors on page 4 22 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 Rege...

Page 104: ...cifications and 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...

Page 105: ...her 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...

Page 106: ...you turn it ON again Turn ON the control power supply and the main circuit power supply at the same time or turn ON the control power supply before the main circuit power supply Turn OFF the main cir...

Page 107: ...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 S...

Page 108: ...SGD7S 2R8A Do not connect them 2KM L1 0 V 1Ry 31 32 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 pow...

Page 109: ...ot 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 Contacto...

Page 110: ...e Absorber 1D Flywheel diode 1R External inrush current suppression resistor 31 32 CN1 1Ry 1KM 1Ry 1KM ALM ALM 1FLT B2 1 L1 L2 L3 AC DC 4SA 1TRy 2Ry 1R 2FU 24 V 1TRy 0 V 5SA 2Ry SERVOPACK For servo al...

Page 111: ...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...

Page 112: ...otal power supply 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 Power supply SERVOPACK Servomotor Servomotor M Servomotor L1 L2 L3...

Page 113: ...0F 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...

Page 114: ...ls SGD7S 470A 550A 590A and 780A 1 Connect the R1 and R2 terminals on the Regenerative Resistor Unit to the B1 and B2 terminals on the SERVOPACK 2 Set Pn600 Regenerative Resistor Capacity and Pn603 Re...

Page 115: ...ion Manual Manual No SIEP S800001 32 Refer to the following figures to connect reactors Note 1 Connection terminals 1 and 2 for a DC Reactor are connected when the SERVOPACK is shipped Remove the lead...

Page 116: ...ame Remarks 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 14 Ground terminal CN2 Encoder connector...

Page 117: ...tery 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 H...

Page 118: ...ed by Yaskawa Refer to the following manual for details 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 When Installing a Battery on the Host Controller Insert a diode near the b...

Page 119: ...olute Linear Encoder from Magnescale Co Ltd SR77 and SR87 represents a shielded twisted pair cable Shield Connector shell Connector shell Head SERVOPACK Linear encoder from Heidenhain Corporation Inte...

Page 120: ...a shielded twisted pair cable Serial Converter Unit Linear encoder from Heidenhain Corporation 1 9 3 7 4 2 11 14 1 PG5V PG0V 2 6 1 5 5 6 1 2 CN2 9 3 7 4 2 11 14 Shield Shield Connector shell Connecto...

Page 121: ...wing table gives the Linear Encoder and Interpolator combinations 1 This is the model of the Head with Interpolator 2 This is the model of the Interpolator represents a shielded twisted pair cable Lin...

Page 122: ...VOPACKs 4 31 SL700 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...

Page 123: ...relay circuit to activate the holding brake for an emergency stop The BK Brake signal cannot be used with the default settings You must allocate the output signal Refer to the following section for d...

Page 124: ...e of movement page 5 31 SI2 N OT 43 General purpose Sequence Input 2 Reverse Drive Prohibit Input SI5 P CL 45 General purpose Sequence Input 5 Forward Exter nal Torque Limit Input You can allocate the...

Page 125: ...satisfy the safety requirements add external safety circuits as required Position Control PULS PULS 7 8 Pulse Reference Input One of the following input pulse forms is set Sign pulse train CW CCW pul...

Page 126: ...e differential page 6 73 page 6 87 PAO 34 PBO 35 Encoder Divided Pulse Output Phase B PBO 36 PCO 19 Encoder Divided Pulse Output Phase C Outputs the origin signal once every encoder rotation PCO 20 PS...

Page 127: ...Ground 35 PBO Encoder Divided Pulse Output Phase B 11 SIGN Sign of Refer ence Input 36 PBO Encoder Divided Pulse Output Phase B 12 SIGN Sign of Refer ence Input 37 ALO1 Alarm Code Output 13 PL2 Open...

Page 128: ...ohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset when ON Reverse External Torque Limit input limit when ON Forward External Torque Limit input...

Page 129: ...o ON when ON Reverse Drive Prohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset when ON Reverse External Force Limit input limit when ON Forward...

Page 130: ...B 1 SG FG PULS SIGN SIGN PULS 1 1 0 k 1 0 k 1 0 k CN1 Open collector power supply output for reference pulses 14 15 150 CLR CLR 12 11 150 8 7 150 PSO PSO 48 49 4 4 4 3 Signal ground Battery for absolu...

Page 131: ...4 4 50 TH Positioning Completion ON for completion 3 Position Reference Phase A Phase B Open collector power supply output for reference pulses Servo ON input servo ON when ON Reverse Drive Prohibit i...

Page 132: ...tage 12 V T REF SG 9 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 External Speed Limit 3 max input voltage 12 V 1 SG FG CN1 D A D A 5 5 5 PSO PSO 48 49 4 3 Signal ground Battery for absolute encoder 2 8...

Page 133: ...1 D A D A 5 5 5 50 TH PSO PSO 48 49 4 Speed Limit Output speed limit when ON External Speed Limit max input voltage 12 V Servo ON input servo ON when ON Reverse Drive Prohibit input prohibited when OF...

Page 134: ...line driver outputs or open collector outputs The following diagrams show these by output type Analog Voltage Input Circuit Example for D A Analog Voltage Input Circuit Wiring Example for Forward Ope...

Page 135: ...up voltage Vcc and the pull up resistance R1 Before you wire the circuits confirm that the specifications of the host controller satisfy the values shown in the following table Important Pull Up Volt...

Page 136: ...e connection 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 Refer to the following section...

Page 137: ...utput signals Connect a photocoupler output circuit to a relay or line receiver circuit Note The maximum allowable voltage and current range for photocoupler output circuits are as follows Maximum all...

Page 138: ...s A and B pulses The resulting output 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 circui...

Page 139: ...en 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...

Page 140: ...5 ON closed Does not activate the HWBB normal operation OFF open Activates the HWBB motor current shut OFF request Item Characteristics Remarks Internal Imped ance 4 7 k Operating Voltage Range 24 V 2...

Page 141: ...efer to the following manual for the operating procedures for the SigmaWin AC Servo Drive Engineering Tool SigmaWin Operation Manual Manual No SIET S800001 34 4 7 3 Analog Monitor Connector CN5 To use...

Page 142: ...pe Settings for the Main Circuit and Control Circuit 5 14 5 3 1 AC Power Supply Input DC Power Supply Input Setting 5 14 5 3 2 Single phase AC Power Supply Input Three phase AC Power Supply Input Sett...

Page 143: ...rake Operating Sequence 5 36 5 13 2 BK Brake Signal 5 37 5 13 3 Output Timing of BK Brake Signal When the Servomotor Is Stopped 5 38 5 13 4 Output Timing of BK Brake Signal When the Servomotor Is Oper...

Page 144: ...5 18 Setting the Origin of the Absolute Encoder 5 54 5 18 1 Setting the Origin of the Absolute Linear Encoder 5 54 5 19 Setting the Regenerative Resistor Capacity 5 57...

Page 145: ...ers Parameters for the basic settings that are required for operation Tuning Parameters Parameters that are used to adjust servo performance The tuning parameters are not displayed by default when you...

Page 146: ...ion 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 enco...

Page 147: ...it Parameters in the Menu Dialog Box The Parameter Editing Dialog Box will be displayed 3 Click the cell of the parameter to edit If the parameter to edit is not displayed in the Parameter Editing Dia...

Page 148: ...settings 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 informa...

Page 149: ...Use the following procedure to prohibit or permit writing parameter settings 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Write Prohibition Setting in th...

Page 150: ...executed page 6 24 Fn00B Manually Adjust Torque Ref erence Offset Cannot be executed page 6 41 Analog Monitor Output Adjustment Fn00C Adjust Analog Monitor Output Offset Cannot be executed page 9 10 F...

Page 151: ...05 Vibration Suppression Cannot be executed page 8 56 Monitor Product Information Fn011 Display Servomotor Model Can be executed page 9 2 Fn012 Display Software Version Can be executed Fn01E Display S...

Page 152: ...hat you can use to initialize the parameter settings and the applicable tool functions Operating Procedure Use the following procedure to initialize the parameter settings 1 Click the Servo Drive Butt...

Page 153: ...ck 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...

Page 154: ...reference Use torque control to output the required torque for operations such as pressing page 6 40 n 3 Internal set speed control Three internal set speeds that are preset in the SERVOPACK are used...

Page 155: ...001 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 supp...

Page 156: ...power sup ply input as a single 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 pow...

Page 157: ...oder 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 I...

Page 158: ...input the S ON signal before you input a speed position or torque reference to start the Servomotor Never input the reference first and then use the S ON signal or turn ON the AC power supply to start...

Page 159: ...ting 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 w...

Page 160: ...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 encod...

Page 161: ...ntinuous 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...

Page 162: ...kspace of the Main Window of the Sig maWin 3 Select Motor Parameter Scale Write in the Menu Dialog Box The Motor Parameter Scale Write Dialog Box will be displayed 4 Click the OK Button Click the Canc...

Page 163: ...mation that is displayed is suitable for your motor and then click the Next Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return 8 C...

Page 164: ...ck the Complete Button 11 Click the OK Button 12 Turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to write the motor parameters Confirming If the Motor Parameters H...

Page 165: ...Moving Coil from one end to the other of the stroke and confirm that only the correct number of feedback pulses is returned If the correct number and only the correct number of pulses is returned the...

Page 166: ...he following condi tions may exist Check the situation and correct any problems The linear encoder pitch is not correct If the scale pitch that is set in Pn282 does not agree with the actual scale pit...

Page 167: ...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 settin...

Page 168: ...ternal 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 t...

Page 169: ...r Polarity detection will be performed when you turn the control power supply to the SERVO PACK OFF and then ON again and then input the S ON signal As soon as polarity detection is completed the S RD...

Page 170: ...ge the sequence input signal allocations Pn50D n X P DET Polarity Detection Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 5 Type Signal Co...

Page 171: ...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...

Page 172: ...parameters settings related to overtravel CAUTION To prevent accidents that may result from contact faults or disconnections use normally closed limit switches Do not change the default settings of t...

Page 173: ...put P OT CN1 42 ON Forward drive is enabled actual operation OFF Forward drive is prohibited forward overtravel N OT CN1 43 ON Reverse drive is enabled actual operation OFF Reverse drive is prohibited...

Page 174: ...he default setting is 800 This setting is large enough to allow you to operate the Servomo tor at the maximum torque However the maximum emergency stop torque that you can actu ally use is the maximum...

Page 175: ...e next motion or command can be executed even if an overtravel warning exists However depending on the processing specifications and programming for warnings in the host controller operation may be af...

Page 176: ...direction from the reference Example A warning will not be output for a forward reference even if the N OT signal turns ON 3 A warning can be detected in either the forward or reverse direction if the...

Page 177: ...the actual 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 t...

Page 178: ...llowing section for information on brake wiring 4 4 4 Wiring the SERVOPACK to the Holding Brake on page 4 32 5 13 2 BK Brake Signal The following settings are for the output signal that controls the b...

Page 179: ...is allocated to CN1 26 Therefore to allocate the con nector pins to the BK signal you must change the settings of the following two parameters Pn50F n 1 Output the BK signal from CN1 25 and CN1 26 Set...

Page 180: ...r supply to the Servomotor will be stopped immediately when an alarm occurs regardless of the setting of this parameter The machine moving part may move due to gravity or an external force before the...

Page 181: ...ts maximum speed even if the brake reference output speed level Rotary Servomotor Pn507 Linear Servomotor Pn583 is higher than the maximum speed ON OFF Rotary Servomotor Pn507 Linear Servomotor Pn583...

Page 182: ...ed 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...

Page 183: ...stop by applying the dynamic brake Refer to the following section for details 5 14 1 Stopping Method for Servo OFF on page 5 42 Motor Stopping Method for Group 2 Alarms When a group 2 alarm occurs the...

Page 184: ...n Time for Servo OFF and Forced Stops Stopping the Servomotor by Setting the Deceleration Time on page 5 33 Parameter Servomotor Stopping Method Status after Servomotor Stops When Enabled Classificati...

Page 185: ...d 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 sa...

Page 186: ...Refer to the relevant manual given below for a diagram that shows the relationships between the motor heat dissipation conditions heat sink size surrounding air temperature and derat ing You can prote...

Page 187: ...hat is n times the reference pulses input from the host controller n is the reference pulse input mul tiplier The difference between using and not using the electronic gear is shown below Rotary Servo...

Page 188: ...ce is trouble some Calculating the number of reference pulses for each reference is not necessary The setting range of the electronic gear depends on the setting of Pn040 n X Encoder Resolution Compat...

Page 189: ...nverter Unit is used When Using a Serial Converter Unit B A Pn20E Pn210 m n Electronic gear ratio Encoder resolution Travel distance per load shaft revolution reference units 7 16 777 216 F 16 777 216...

Page 190: ...C RGH22B 20 JZDP H005 E 1 256 0 078 m JZDP J005 E 1 4 096 0 0049 m Magnescale Co Ltd SR75 LF 4 80 8 192 0 0098 m SR75 MF 80 1 024 0 078 m SR85 LF 4 80 8 192 0 0098 m SR85 MF 80 1 024 0 078 m SL700 4 S...

Page 191: ...Reference Unit 0 001 mm 1 m 0 01 0 005 mm 5 m 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 Paramete...

Page 192: ...alarm Encoder Checksum Alarm Always use the operation to reset the absolute encoder to clear these alarms If an A 8 alarm Internal Encoder Monitoring Alarm occurs turn OFF the power supply to reset th...

Page 193: ...n 3 Select Absolute Encoder Reset in the Menu Dialog Box The Absolute Encoder Reset Dialog Box will be displayed 4 Click the Continue Button Click the Cancel Button to cancel resetting the absolute en...

Page 194: ...d to reset the absolute encoder 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...

Page 195: ...wing 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 Ori...

Page 196: ...at Require Setting before Operation 5 55 3 Click the Continue Button 4 Click the Execute Button 5 Click the Continue Button Click the Cancel Button to cancel setting the origin of the absolute linear...

Page 197: ...r Encoder 5 56 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 11 Polarity Detec...

Page 198: ...sistor 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 alarm...

Page 199: ...1 5 WARN Warning Signal 6 11 6 1 6 TGON Rotation Detection Signal 6 11 6 1 7 S RDY Servo Ready Signal 6 12 6 2 Operation for Momentary Power Interruptions 6 13 6 3 SEMI F47 Function 6 14 6 4 Setting...

Page 200: ...ting for the Encoder Divided Pulse Output 6 52 6 9 Internal Set Speed Control 6 54 6 9 1 Input Signals for Internal Set Speed Control 6 54 6 9 2 Setting the Control Method to Internal Set Speed Contro...

Page 201: ...rts for the Position Data from the Absolute Linear Encoder 6 88 6 13 4 Reading the Position Data from the Absolute Linear Encoder 6 89 6 13 5 Transmission Specifications 6 93 6 13 6 Calculating the Cu...

Page 202: ...6 18 Overheat Protection 6 109 6 18 1 Connecting the Overheat Protection Input TH Signal 6 109 6 18 2 Overheat Protection Selection 6 109...

Page 203: ...ands Pn000 3 the P CON signal CN1 41 will be allocated as the SPD D signal the P CL signal CN1 45 as the SPD A signal and the N CL signal CN1 46 as the SPD B signal Parameter Description When Enabled...

Page 204: ...to the same input circuit a logical OR of the inputs will be used and all of the allocated signals will operate accordingly This may result in unexpected operation Input Signal Input Signal Name Param...

Page 205: ...tion for information on the I O signal monitor 9 2 3 I O Signal Monitor on page 9 7 Parameter Setting Pin No Description 0 40 A reverse signal a signal with before the signal abbreviation such as the...

Page 206: ...mple 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...

Page 207: ...6 0 Rotation Detection Pn50E n X TGON 1 2 3 4 5 6 0 Servo Ready Pn50E n X S RDY 1 2 3 4 5 6 0 Torque Limit Detection Pn50F n X CLT 1 2 3 4 5 6 0 Speed Limit Detection Pn50F n X VLT 1 2 3 4 5 6 0 Brak...

Page 208: ...ontroller e g HMI Refer to the following sections for the relationship between the alarm code output and the alarms warnings 12 2 1 List of Alarms on page 12 5 12 3 1 List of Warnings on page 12 48 AL...

Page 209: ...of the Servomotor rotates at the setting of Pn502 Rotation Detection Level or faster or the setting of Pn581 Zero Speed Level or faster The TGON signal is allocated to CN1 27 and CN1 28 by default Not...

Page 210: ...vo ON signal is input for the first time after the control power supply was turned ON In that case when the first S ON signal is input polarity detection is started immediately and the S RDY signal tu...

Page 211: ...t power supply 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...

Page 212: ...ponse to an A 971 warning Undervoltage The host controller removes the torque limit after the Undervoltage warning is cleared Execution with the SERVOPACK Pn008 n 2 The torque is limited in the SERVOP...

Page 213: ...Setting Range Setting Unit Default Setting When Enabled Classification 20 to 50 000 1 ms 20 Immediately Setup This function handles momentary power interruptions for the voltage and time ranges stipu...

Page 214: ...s 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 a...

Page 215: ...nt in speed control with analog voltages V REF Speed Reference Input Signal Input the V REF Speed Reference Input signal to the SERVOPACK to operate the Servomotor at a speed that is proportional to t...

Page 216: ...eed reference voltage V 0 12 12 Motor speed min 1 Speed reference voltage V Example For Rotary Servomotors Linear Servomotors Speed Ref erence Input SPD D Signal Rotation Direction Motor Speed For SGM...

Page 217: ...e Servomotor moves at a very low speed the offset needs to be eliminated by adjusting the offset You can adjust the speed reference offset either automatically or manually Pn300 Speed Reference Input...

Page 218: ...set 1 Confirm that the servo is OFF in the SERVOPACK 2 Input a 0 V reference voltage from the host controller or an external circuit 3 Click the Servo Drive Button in the workspace of the Main Window...

Page 219: ...s for Speed Control 6 Application Functions 6 21 6 Click the Adjust Button The value that results from automatic adjustment will be displayed in the New Box This concludes the procedure to automatical...

Page 220: ...ble tool functions Operating Procedure Use the following procedure to manually adjust the speed reference offset 1 Input a 0 V reference voltage from the host controller or an external circuit 2 Click...

Page 221: ...ngs for Speed Control 6 Application Functions 6 23 4 Click the Speed Reference Tab 5 Use the 1 and 1 Buttons to adjust the value in the Speed Reference Box to 0 This concludes the procedure to manuall...

Page 222: ...eed Reference Input signal You set the speed reference filter in Pn307 Speed Reference Filter Time Constant It is normally not necessary to change this parameter If the setting is too high the respons...

Page 223: ...in if the Servomotor oscillates during zero clamping If gain selection is used you must also adjust Pn106 Second Position Loop Gain ZCLAMP Zero Clamping Signal Use the ZCLAMP signal to enable zero cla...

Page 224: ...Pn580 OFF open Zero clamping is disabled If you set the parameter to keep the ZCLAMP always active Pn50D n 7 for speed con trol zero clamping will be applied whenever the speed reference is equal to...

Page 225: ...s 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...

Page 226: ...ng Level Used with a Rotary Servomotor Pn580 Zero Clamping Level Used with a Linear Servomotor Note The soft start function is used for the acceleration deceleration time of the speed reference ZCLAMP...

Page 227: ...between internal set speed control and speed control Set Pn305 Soft Start Acceleration Time to the required acceleration time Set Pn306 Soft Start Deceleration Time to the required deceleration time S...

Page 228: ...reference Refer ence pulse form Refer ence pulse input n Elec tronic gear B A Smo othing Deviation counter Speed control section Current control section Power amplifier Servomotor Current feedback Fe...

Page 229: ...ive logic n 1 CW and CCW pulse trains positive logic n 2 90 phase differen tial pulses 1 n 3 2 n 4 4 n 5 Sign and pulse train negative logic n 6 CW and CCW pulse trains negative logic Parameter Meanin...

Page 230: ...marks Sign and pulse train SIGN and PLUS signals Maximum reference frequency 4 Mpps maximum reference frequency for open collector output 200 kpps t1 t2 t3 t7 0 025 s t4 t5 t6 0 5 s 0 125 s T 0 125 s...

Page 231: ...N1 15 Position deviation clear input CLR CN1 14 Parameter Reference Form Clear Timing When Enabled Classification Pn200 n 0 default setting Clear position deviation when the signal is at high level Af...

Page 232: ...e Input Multiplication Switching Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 5 PSELA Reference Pulse Input Multiplication Switching Outp...

Page 233: ...ference input Pn218 Reference Pulse Input Multiplier Setting Range Setting Unit Default Setting When Enabled Classification 1 to 100 1 1 Immediately Setup CAUTION If you change the reference pulse inp...

Page 234: ...age position reference movement time Pn217 is shown below Pn216 Position Reference Acceleration Deceleration Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 6...

Page 235: ...is equal to or less than the setting of the positioning completed width Pn522 The setting of the positioning completed width has no effect on final positioning accuracy Note If the parameter is set to...

Page 236: ...th Pn524 Note Normally set Pn524 to a value that is larger than the setting of Pn522 Positioning Completed Width Parameter Description When Enabled Classification Pn207 n 0 default setting Output the...

Page 237: ...e the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 8 Reference Pulse Inhibition Settings To use reference pulse inhibition set Pn000 n...

Page 238: ...t Gain to define the relationship between the analog voltage reference and the motor output torque Parameter Meaning When Enabled Classification Pn000 n 2 Torque control After restart Setup Type Signa...

Page 239: ...automatically or manually Automatically Adjusting the Torque Reference Offset To automatically adjust the torque reference offset the amount of offset is measured and the torque reference voltage is a...

Page 240: ...e of the Main Window of the SigmaWin 4 Select Adjust the Speed and Torque Reference Offset in the Menu Dialog Box The Adjust the Speed and Torque Reference Offset Dialog Box will be displayed 5 Click...

Page 241: ...fset to a desired value To check an offset that was set automatically Preparations The following conditions must be met to manually adjust the reference offset The parameters must not be write prohibi...

Page 242: ...e Main Window of the SigmaWin 3 Select Adjust the Speed and Torque Reference Offset in the Menu Dialog Box The Adjust the Speed and Torque Reference Offset Dialog Box will be displayed 4 Click the Tor...

Page 243: ...tection Signal Allo cation to allocate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 8 Selecting the Speed Limit You set the speed...

Page 244: ...log voltage reference Parameter Meaning When Enabled Classification Pn408 n 0 default setting Use the smaller of the maximum motor speed and the setting of Pn407 or Pn480 as the speed limit After rest...

Page 245: ...o Name Remarks Output PAO CN1 33 Encoder Divided Pulse Output Phase A Rotary Servomotors These encoder divided pulse output pins output the number of pulses per motor resolution that is set in Pn212 N...

Page 246: ...ovement 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...

Page 247: ...bled Classification Pn081 n 0 default 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 o...

Page 248: ...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 wh...

Page 249: ...tion is passed for the first time in the reverse direction after the power supply is turned ON However after the origin detection position is passed in the forward direction and the encoder s phase C...

Page 250: ...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 o...

Page 251: ...rial Converter 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 U...

Page 252: ...rection Signal Allocation Pn50C n X SPD A Internal Set Speed Selection Input Signal Allocation Pn50C n X SPD B Internal Set Speed Selection Input Signal Allocation Refer to the following section for d...

Page 253: ...or Parameter Meaning When Enabled Classification Pn000 n 3 Internal set speed control with contact commands After restart Setup Pn301 Internal Set Speed 1 Setting Range Setting Unit Default Setting Wh...

Page 254: ...FF OFF Reverse Stops the motor with an internal speed of 0 OFF ON Operates the motor with internal set speed 1 which is set in Pn301 ON ON Operates the motor with internal set speed 2 which is set in...

Page 255: ...l set speeds with the soft start function The shock that results from speed changes is reduced by using the soft start function SPEED1 Motor speed SPEED3 SPEED2 SPEED1 SPEED2 SPEED3 0 Speed 3 The acce...

Page 256: ...4 Internal set speed control Speed control with external references After restart Setup n 5 Internal set speed control Position control n 6 Internal set speed control Torque control n 7 Position cont...

Page 257: ...lse train reference from the host computer After position control is started the COIN Positioning Completion signal is output Use the COIN signal to confirm that the con trol method has changed Input...

Page 258: ...or Setting of Pn000 n X n 4 n 5 n 6 Input C SEL Must be allocated ON closed Speed control Position control Torque control OFF open Internal set speed control Internal set speed control Internal set sp...

Page 259: ...ethod Selection to switch between the following control methods Switching between speed control with analog references and speed control with zero clamp ing Switching between normal position control a...

Page 260: ...al Pn50D n X ZCLAMP Zero Clamping Input Signal Allocation Pn50D n X INHIBIT Reference Pulse Inhibit Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on...

Page 261: ...imits The torque is always limited with the setting of a parameter Speed control position control or torque control 6 11 1 External Torque Limits The torque is limited with an input signal from the ho...

Page 262: ...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 5 Pn483 Fo...

Page 263: ...Pn403 Reverse 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 Defau...

Page 264: ...e 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...

Page 265: ...e is no polarity for the input voltage of the analog voltage reference for the force limit The absolute value of a positive or negative voltage is input and a force limit that corresponds to the absol...

Page 266: ...n402 Forward Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 800 Immediately Setup Pn403 Reverse Torque Limit Setting Range Setting Unit Default Setting...

Page 267: ...ce during force control because the analog voltage is input with the T REF Torque Reference Input signal Pn300 T REF V REF Pn101 Pn100 Pn400 Pn415 SERVOPACK P CL signal N CL signal Torque limit Speed...

Page 268: ...ON closed Applies the forward external torque limit The torque is limited to the smallest of the ana log reference or the setting of Pn402 or Pn404 OFF open Cancels the forward external torque limit T...

Page 269: ...verse External Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup Pn415 T REF Filter Time Constant Setting Range Setting Unit Default...

Page 270: ...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...

Page 271: ...ot 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 is not required Parameter Meanin...

Page 272: ...on 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 with...

Page 273: ...encoder The pulse counter at the host controller will not count pulses when the multiturn data com munications message is input because only phase A is input Counting starts from the position of the a...

Page 274: ...locate input signals 6 1 1 Input Signal Allocations on page 6 5 Reading the Position Data from the Absolute Encoder without Using the SEN Signal Set Pn50A to n 1 and set Pn515 to n 7 The signal is alw...

Page 275: ...the SERVOPACK Using an External Pull Up Power Supply Type Signal Connector Pin No Signal Status Meaning Input SEN CN1 40 to CN1 46 OFF open Does not request the position data from the absolute encoder...

Page 276: ...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 t...

Page 277: ...se Output Speed for the Position of the Absolute 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...

Page 278: ...ht characters P the sign the 5 digit multiturn data and CR which indicates the end of the message Data Format of PSO Signal As shown below the message format for a Rotary Servomotor consists of 17 cha...

Page 279: ...er output pulses encoder pulses x setting of Pn212 Encoder pulses M Current position of the multiturn data of the absolute encoder PO Position of the current position within one rotation Encoder outpu...

Page 280: ...ion the upper limit to the number of revolutions that can be counted by an absolute encoder will eventually be exceeded The multiturn limit is used in cases like this to prevent fractions from being p...

Page 281: ...ng section for the procedure to change the multiturn limit settings in the encoder 6 12 9 Multiturn Limit Disagreement Alarm A CC0 on page 6 84 Pn205 Multiturn Limit Setting Range Setting Unit Default...

Page 282: ...e multiturn limit setting 1 Click 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...

Page 283: ...tton 6 Click the OK Button 7 Turn the power supply to the SERVOPACK OFF and ON again An A CC0 alarm Multiturn Limit Disagreement will occur because setting the multiturn limit in the Servomotor is not...

Page 284: ...2 9 Multiturn Limit Disagreement Alarm A CC0 6 86 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 t...

Page 285: ...ear Encoder Refer to the following sections for information on the connections between an absolute linear encoder the SERVOPACK and the host controller 4 4 3 Wiring the SERVOPACK to the Encoder on pag...

Page 286: ...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...

Page 287: ...he procedure to allocate input signals 6 1 1 Input Signal Allocations on page 6 5 Reading the Position Data from the Absolute Linear Encoder without Using the SEN Signal Set Pn50A to n 1 and set Pn515...

Page 288: ...K Using an External Pull Up Power Supply Type Signal Connector Pin No Signal Status Meaning Input SEN CN1 40 to CN1 46 OFF open Does not request the position data from the absolute linear encoder This...

Page 289: ...aintain the SEN signal at the high level for at least 1 3 seconds when you turn it OFF before you turn it ON again as shown in the following figure The SEN signal is not acknowledged while the servo i...

Page 290: ...ead the position data from the absolute linear encoder The upper 16 bit position data with sign are sent according to the transmission specifications The lower 20 bit data is output as a pulse train P...

Page 291: ...the message format consists of eight characters P the sign the 5 digit upper 15 bit position data and CR which indicates the end of the message Data Format of PSO Signal The data format for a Linear S...

Page 292: ...are output as 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 set...

Page 293: ...shown below 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...

Page 294: ...e of the Main Window of the SigmaWin 2 Select Software Reset in the Menu Dialog Box The Software Reset Dialog Box will be displayed 1 Always confirm that the servo is OFF and that the motor is stopped...

Page 295: ...oftware reset The Main Window will return 4 Click the Execute Button 5 Click the OK Button to end the software reset operation All settings including parameters will have been re calculated When you f...

Page 296: ...tion 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...

Page 297: ...n 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 Vi...

Page 298: ...Level 6 15 3 Operating Procedure 6 100 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 t...

Page 299: ...using the SigmaWin 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 af...

Page 300: ...just 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 th...

Page 301: ...Continue Button 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 wil...

Page 302: ...Current Detection Signal Offsets Dialog Box will be displayed 4 Click the Continue Button If the offset is incorrectly adjusted with this function the Servomotor characteristics may be adversely affe...

Page 303: ...tion 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 phase V C...

Page 304: ...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 per...

Page 305: ...Servomotor 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 OF...

Page 306: ...d Stop Input signal is OFF and the S ON Servo ON Input signal is input the forced stop state will be maintained even after the FSTP signal is turned ON Turn OFF the S ON signal to place the SERVOPACK...

Page 307: ...a Serial Converter Unit connect the connector for the polarity sensor and thermo stat cable of the Linear Servomotor to the Serial Converter Unit If you do not use a Serial Converter Unit connect the...

Page 308: ...the parameters in the Servomotor are enabled and the following parameters are disabled Overheat Alarm Level Pn61B Overheat Warning Level Pn61C Overheat Alarm Filter Time Pn61D Pn61B Overheat Alarm Lev...

Page 309: ...8 7 4 Trial Operation from the Host Controller for the Servomotor without a Load 7 10 7 4 1 Preparing the Servomotor for Trial Operation 7 11 7 4 2 Trial Operation for Speed Control 7 13 7 4 3 Trial O...

Page 310: ...on is checked with no load Do not connect the Servomotor to the machine Chapter 3 SERVOPACK Installation 2 Wiring and Connections Wire and connect the SERVOPACK First Servomotor operation is checked w...

Page 311: ...st Controller for the Servo motor without a Load 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...

Page 312: ...ons before Trial Operation on page 7 6 4 Power ON 5 Setting Parameters in the SERVOPACK 6 Setting the Origin of the Absolute Linear Encoder Note This step is necessary only for an Absolute Linear Serv...

Page 313: ...Servomotor without a Load on page 7 7 2 Trial Operation from the Host Controller for the Servomotor without a Load 7 4 Trial Operation from the Host Controller for the Servo motor without a Load on pa...

Page 314: ...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 inspecti...

Page 315: ...N 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 Enable...

Page 316: ...tting 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...

Page 317: ...utton 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...

Page 318: ...ion sequence for trial operation from the host controller for the Servomotor without a load is given below Preparations Trial Operation with Speed Control Trial Operation with Position Control Positio...

Page 319: ...llowing section for information on the default I O signal set tings 4 2 Basic Wiring Diagrams on page 4 9 1 Wire the I O signals from the host controller Refer to the following section for details 4 2...

Page 320: ...Check the status of the I O signals Using the SigmaWin Monitor Wiring Check Using the Panel Operator or Digital Operator Un005 Input Signal Monitor The correct states of the input signals are given in...

Page 321: ...ure 1 Adjust the speed reference input gain Pn300 The default setting of Pn300 is for the rated speed at 6 V If you want to use this setting do not adjust Pn300 and proceed to the next step To change...

Page 322: ...that the procedure described in 7 4 2 Trial Operation for Speed Control on page 7 13 has been completed Operating Procedure 1 Turn ON the power supplies to the SERVOPACK 2 Set Pn212 Number of Encoder...

Page 323: ...check for example the number of pulses for one rotation For safety set the number of references pulses for approximately the following motor speeds Rotary Servomotors 100 min 1 Linear Servomotors 100...

Page 324: ...r or Digital Operator Un008 Motor Speed Monitor 14 Confirm that the input reference pulse speed and the motor speed i e the values from steps 12 and 13 are the same 15 Stop the pulse reference from th...

Page 325: ...ignal output from the SERVOPACK Refer to the following sections for information on wiring and the related parameter settings 4 4 4 Wiring the SERVOPACK to the Holding Brake on page 4 32 5 13 Holding B...

Page 326: ...ction and change the wiring to match the system configuration 15 1 Examples of Connections to Host Controllers on page 15 2 7 5 3 Operating Procedure 1 Enable the overtravel signals 5 12 2 Setting to...

Page 327: ...tion was performed on the Servomotor without a load 9 Check the settings of the parameters for the control method and confirm that the Servo motor operates according to machine operating specification...

Page 328: ...ne 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 The program jogging ope...

Page 329: ...omotor 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 Waiti...

Page 330: ...up Pn535 Program 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 Ra...

Page 331: ...ssification 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 Imm...

Page 332: ...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 the...

Page 333: ...arches 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 motor is o...

Page 334: ...gin 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 Sigm...

Page 335: ...tup work and to prevent damage to the machine that may result from possible malfunctions The operation of the motor can be checked with this test regardless of whether the motor is actually connected...

Page 336: ...020 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...

Page 337: ...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 S...

Page 338: ...erence Off set page 6 41 Analog Monitor Out put Adjustment Fn00C Adjust Analog Monitor Output Offset page 9 10 Fn00D Adjust Analog Monitor Output Gain page 9 10 Motor Current Detec tion Offset Adjust...

Page 339: ...ontrol page 8 51 Vibration Suppres sion Fn205 Vibration Suppression page 8 56 Monitoring Product Information Fn011 Display Servomotor Model page 9 2 Fn012 Display Software Ver sion Fn01E Display SERVO...

Page 340: ...tion Overflow Alarm Level 8 8 8 3 4 Vibration Detection Level Setting 8 10 8 3 5 Setting the Position Deviation Overflow Alarm Level at Servo ON 8 10 8 4 Tuning less Function 8 12 8 4 1 Application Re...

Page 341: ...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...

Page 342: ...de Selection 8 73 8 12 5 Current Gain Level Setting 8 73 8 12 6 Speed Detection Method Selection 8 74 8 12 7 Speed Feedback Filter 8 74 8 12 8 Proportional Control P Control 8 74 8 13 Manual Tuning 8...

Page 343: ...for the conditions of your machine The basic tuning procedure is shown in the following flowchart Make suitable adjustments considering the conditions and operating requirements of your machine End S...

Page 344: ...osition reference input from the host controller while the machine is in operation You can use this function for fine tuning after you perform autotuning without a host reference Gains e g position lo...

Page 345: ...Methods Reference Mechanical Analysis The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed as waveforms or numeric data Speed control position c...

Page 346: ...eform while you adjust the servo gains Check the adjustment results with the following response waveforms Position Control Speed Control Torque Control Item Unit Rotary Servomotor Linear Servomotor To...

Page 347: ...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 dete...

Page 348: ...he 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 acc...

Page 349: ...sition Deviation Overflow Alarm Level at Servo ON Setting Range Setting Unit Default Setting When Enabled Classification 1 to 1 073 741 823 1 reference unit 5 242 880 Immediately Setup Pn528 Position...

Page 350: ...verflow Alarm Level at Servo ON 8 Tuning 8 11 Related Warnings Warning Number Warning Name Meaning A 901 Position Deviation Overflow Warning at Servo ON This warning occurs if the servo is turned ON w...

Page 351: ...ment of inertia If that occurs set the tuning less load level to 2 Pn170 n 2 or reduce the tuning less rigidity level Pn170 n X To ensure safety make sure that you can perform an emergency stop at any...

Page 352: ...et the tuning less levels The tuning less function must be enabled Pn170 n 1 The test without a motor function must be disabled Pn00C n 0 Procedure Use the following procedure to set the tuning less l...

Page 353: ...ibra tion occurs during position control If an alarm occurs implement the following measures Resonant Sound Decrease the setting of Pn170 n X or the setting of Pn170 n X Excessive Vibration during Pos...

Page 354: ...cute 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 Spee...

Page 355: ...of inertia is a basic parameter for adjusting gains It must be set as accurately as possible Although the load moment of inertia can be calculated from the weight and structure of the mechanisms doin...

Page 356: ...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 feedforw...

Page 357: ...ty around moving parts This function involves automatic operation with vibration Make sure that you can perform an emergency stop to turn OFF the power supply at any time There will be movement in bot...

Page 358: ...ly not necessary to change these settings If the default speed loop gain is too high for the machine i e if vibration occurs lower the setting It is not necessary to increase the setting any farther I...

Page 359: ...screw pitch Confirm Button Click this button to display the Reference Confirmation Dialog Box Detailed Setting Area You can change the settings by moving the bars or directly inputting the settings t...

Page 360: ...data is being transferred Next Button This button is enabled only when the data has been transferred correctly You cannot use it if an error occurs or if you cancel the transfer before it is complete...

Page 361: ...s are performed from 2 to 7 times and then verified The number of measurements is displayed in upper left corner of the dialog box A progress bar at the bottom of the dialog box will show the progress...

Page 362: ...parameter is displayed here After you click the Writing Results Button the value that was found with operation and measurements will be displayed as the new setting Back Button This button is disable...

Page 363: ...on 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 execut...

Page 364: ...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...

Page 365: ...n103 is set correctly 2 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 3 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cance...

Page 366: ...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...

Page 367: ...lt 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 prec...

Page 368: ...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 369: ...ected automatically and suitable settings will be made for that vibration When the settings have been completed the indicators for the functions that were used will light at the lower left of the dial...

Page 370: ...he positioning completed width Pn522 Change the mode from 2 to 3 If machine vibration occurs suppress the vibration with the anti resonance control function and the vibration sup pression function An...

Page 371: ...y set Pn160 to n 1 Adjust automatically default setting Vibration will be detected during autotuning without a host reference and anti resonance con trol will be automatically adjusted Pn561 Overshoot...

Page 372: ...rformed with the mode selection set to 2 or 3 feed forward Pn109 the speed feedforward input V REF and the torque feedforward input T REF will be disabled To use the speed feedforward input V REF the...

Page 373: ...ompensation Gain Yes Pn123 Friction Compensation Coefficient Yes Pn124 Friction Compensation Frequency Correction No Pn125 Friction Compensation Gain Correction Yes Pn401 First Stage First Torque Refe...

Page 374: ...ontroller is equal to or lower than the setting of the positioning completed width Pn522 Rotary Servomotors When the movement speed for the reference from the host controller is equal to or lower than...

Page 375: ...tuning less function must be disabled Pn170 n 0 The parameters must not be write prohibited 8 7 3 Applicable Tools The following table lists the tools that you can use to perform autotuning with a hos...

Page 376: ...ecute 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 th...

Page 377: ...or 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 especial...

Page 378: ...d then click the Start tuning Button 10 Confirm safety around moving parts and click the Yes Button The motor will start operating and tuning will be executed Vibration that occurs during tuning will...

Page 379: ...overshooting within the positioning completed width but the positioning completed width may be extended Possible Cause Corrective Action Main circuit power supply is OFF Turn ON the main circuit powe...

Page 380: ...tio No Pn121 Friction Compensation Gain Yes Pn123 Friction Compensation Coefficient Yes Pn124 Friction Compensation Frequency Correction No Pn125 Friction Compensation Gain Correction Yes Pn401 First...

Page 381: ...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...

Page 382: ...aWin Tuning Tuning 8 8 4 Operating 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 Ma...

Page 383: ...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 inert...

Page 384: ...shooting 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 ga...

Page 385: ...tch 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 Functio...

Page 386: ...dure 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...

Page 387: ...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...

Page 388: ...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 wi...

Page 389: ...on 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 Fi...

Page 390: ...heck 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 met...

Page 391: ...ions Make sure that you can perform an emergency stop at any time Parameters will be set automatically when anti resonance control adjustment is executed This may greatly affect the response before an...

Page 392: ...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 res...

Page 393: ...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 pre...

Page 394: ...efault 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 Cl...

Page 395: ...detection of vibration frequencies again after adjusting the setting of Pn560 Note As a guideline change the setting 10 at a time If the setting of this parameter is lowered the detection sensitivity...

Page 396: ...erating 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 vibratio...

Page 397: ...ion has been eliminated click the Finish Button The updated value will be saved in the SERVOPACK This concludes the procedure to set up vibration suppression No settings related to vibration suppressi...

Page 398: ...cution 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 cont...

Page 399: ...or 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 Ther...

Page 400: ...ct Ripple Compensation in the Menu Dialog Box The Ripple Compensation Dialog Box will be displayed 3 Click the OK Button Tool Function Reference Panel Operator You cannot set up speed ripple compensat...

Page 401: ...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 Butt...

Page 402: ...nce 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 writte...

Page 403: ...pple compensation use Pn423 n 0 Disable speed ripple compensation to disable it If you enable speed ripple compensation a compensation reference will be applied to reduce ripple even when stopped at a...

Page 404: ...ompensation Pn423 n 0 Disable detection of A 942 Pn423 n 1 Pn427 Speed Ripple Compensation Enable Speed Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 0 Imm...

Page 405: ...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 Gai...

Page 406: ...ching 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 F...

Page 407: ...bled 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...

Page 408: ...o 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 Swit...

Page 409: ...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 Ga...

Page 410: ...nsation 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 c...

Page 411: ...ce value when the motor is stopped with the servo ON 4 Set the torque reference value found in step 3 in Pn476 Gravity Compensation Torque 5 Turn the servo ON and OFF a few times and fine tune Pn476 s...

Page 412: ...decreased the level of noise will be lowered but the response characteristic of the SERVOPACK will also be reduced Adjust the current gain level within the range that maintains the SERVOPACK response...

Page 413: ...speed control section uses proportional integral control PI control if the reference remains at zero during speed control The integral effect may cause the Servomotor to move To pre vent that you can...

Page 414: ...in n 1 Position control with pulse train references n 2 Torque control with analog references You cannot change to P control n 3 Internal set speed control with contact commands You must allocate the...

Page 415: ...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...

Page 416: ...increase 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...

Page 417: ...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...

Page 418: ...can be reduced or removed with a notch filter Notch filters are set with three parameters for the notch filter frequency notch filter Q value and notch filter depth This section describes the notch f...

Page 419: ...er if the value is too small vibration can actually increase The notch filter is disabled if the notch filter depth d is set to 1 0 i e if Pn419 is set to 1 000 The notch filter frequency characterist...

Page 420: ...cy Setting Range Setting Unit Default Setting When Enabled Classification 50 to 5 000 1 Hz 5 000 Immediately Tuning Pn41B Fourth Stage Notch Filter Q Value Setting Range Setting Unit Default Setting W...

Page 421: ...ending on the machine conditions overshooting and vibration may occur and operation may not be stable If the critical gain condition expressions are not met operation will become more unstable and the...

Page 422: ...e manual For example with Pn100 Speed Loop Gain Pn100 40 0 is used to indicate a setting of 40 0 Hz In the following adjusted value guidelines the decimal places are also given Model Following Control...

Page 423: ...occur 4 If overshooting occurs or if the response is different for forward and reverse operation fine tune model following control with the following settings model following control bias in the forw...

Page 424: ...he response is different for forward and reverse operation use the following parameters for fine tuning If you decrease the settings the response characteristic will be lowered but overshooting will b...

Page 425: ...lies feedforward compensation to position control to shorten the positioning time Note If you set the feedforward value too high the machine may vibrate As a guideline use a setting of 80 or less Pn14...

Page 426: ...OPACK speed control M Pn400 T REF V REF KFF KP Pn300 Pn307 Pn30C Pn415 Pn426 ENC Speed feedforward average movement time Encoder divided pulse output Linear Servomotor Pn281 Rotary Servomotor Pn212 Di...

Page 427: ...up n 1 Use T REF as an external torque limit input n 2 Use T REF as a torque feedback input n 3 Use T REF as an external torque limit input when P CL or N CL is active Pn400 Torque Reference Input Gai...

Page 428: ...Pn181 n 2 Use the accelera tion reference as the condition Pn10E Pn182 n 3 Use the position deviation as the condition Pn10F n 4 Do not use mode switching Pn10C Mode Switching Level for Torque Referen...

Page 429: ...to P control Pn10C Mode Switching Level for Force Reference Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 200 Immediately Tuning Pn181 Mode Switching Level for Spee...

Page 430: ...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...

Page 431: ...servo tuning and as reference for considering changes to the machine The performance of the servo cannot be completely utilized depend ing on the rigidity of the machine You may need to consider makin...

Page 432: ...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 pha...

Page 433: ...ibility 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 prohibit...

Page 434: ...rvo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Easy FFT in the Menu Dialog Box The Easy FFT Dialog Box will be displayed Click the Cancel Button to cancel Easy FFT You...

Page 435: ...ection in the Measure ment condition Area and then click the Start Button The motor shaft will rotate and measurements will start When measurements have been completed the measurement results will be...

Page 436: ...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 ex...

Page 437: ...ing Status and Operations 9 5 9 2 3 I O Signal Monitor 9 7 9 3 Monitoring Machine Operation Status and Signal Waveforms 9 8 9 3 1 Items That You Can Monitor 9 8 9 3 2 Using the SigmaWin 9 9 9 3 3 Usin...

Page 438: ...e listed below Monitor Items Information on SERVOPACKs Model Type Serial Number Manufacturing Date Software version SW Ver Remarks Information on Servomotors Model Type Serial Number Manufacturing Dat...

Page 439: ...you can use Fn011 and Fn012 to monitor this information Refer to the following sections for the differences in the monitor items compared with the SigmaWin 13 4 16 Display Servomotor Model Fn011 on pa...

Page 440: ...VOPACK Status 9 2 1 Servo Drive Status Use the following procedure to display the Servo Drive status Start the SigmaWin The Servo Drive status will be automatically displayed when you go online with a...

Page 441: ...rence Input Signal SIGN Sign Reference Input Signal CLR Position Deviation Clear Input Signal PSEL Reference Pulse Input Multi plication Input Signal FSTP Forced Stop Input Signal Output Signal Status...

Page 442: ...Status Monitor for the SERVO PACK Select Monitor in the SigmaWin Menu Dialog Box The Operation Pane and Status Pane will be displayed in the Monitor Window You can flexibly change the contents that ar...

Page 443: ...Button You can also use the above window to check wiring Checking Input Signal Wiring Change the signal status at the host controller If the input signal status on the window changes accordingly then...

Page 444: ...d External encoder speed Electronic gear Electronic gear Deviation counter Motor load position deviation Speed conversion Fully closed Deviation counter Completion of position reference distribution P...

Page 445: ...n in the workspace of the Main Window of the Sig maWin 2 Select Trace in the Menu Dialog Box The Trace Dialog Box will be displayed Trace Objects You can trace the following items Data Tracing Trace O...

Page 446: ...Inhibit Input Signal G SEL Gain Selection Input Signal P DET Polarity Detection Input Signal FSTP Forced Stop Input Signal SEN Absolute Data Request Input Signal PULS Pulse Reference Input Signal SIGN...

Page 447: ...Command Speed Rotary Servomotor 1 V 1 000 min 1 Linear Servomotor 1 V 1 000 mm s The input reference pulses will be multi plied by n to output the position com mand speed n 06 Reserved parameter Do no...

Page 448: ...g 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...

Page 449: ...utput 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...

Page 450: ...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...

Page 451: ...elines 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 i...

Page 452: ...ton 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 Panel Operator or Digital Operator you can...

Page 453: ...t 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 stil...

Page 454: ...s 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 Numer...

Page 455: ...0 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...

Page 456: ...or oscillation resulting in unstable positioning The following figure shows an example of the system configuration The connected devices and cables depend on the type of external linear encoder that...

Page 457: ...16 Input Signal Selections Pn50E Pn50F Pn510 Pn514 and Pn517 Out put Signal Selections SERVO PACK or host con troller 2 Check operation with the Servomotor connected to the machine with semi closed lo...

Page 458: ...m 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 s...

Page 459: ...Pn000 n X Motor direction 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 th...

Page 460: ...d 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 refer...

Page 461: ...tting Setting Example If a single pulse multiplied by 4 is output for 1 m the setting would be 20 If a single pulse multiplied by 4 is output for 0 5 m the setting would be 40 The encoder divided puls...

Page 462: ...Settings This section describes the alarm detection settings Pn51B and Pn52A Pn51B Motor Load Position Deviation Overflow Detection Level This setting is used to detect the difference between the fee...

Page 463: ...g 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...

Page 464: ...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 Parame...

Page 465: ...11 5 11 2 6 Operation without a Host Controller 11 5 11 2 7 S RDY Servo Ready Output Signal 11 6 11 2 8 BK Brake Output Signal 11 6 11 2 9 Stopping Methods 11 6 11 2 10 Settings to Clear the Position...

Page 466: ...njury 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...

Page 467: ...8 the EDM1 signal must be mon itored by the host controller If the EDM1 signal is not monitored by the host controller the level will be safety performance level c PLc and SIL1 The following hazards e...

Page 468: ...ill turn OFF and the SERVOPACK will enter the HWBB state If you turn ON the HWBB1 and HWBB2 signals in this state the SERVOPACK will enter a base block BB state and will be ready to acknowledge the S...

Page 469: ...for operation without a host controller However if the HWBB operates during execution of the following functions leave the execution mode for the function and then enter it again to restart operation...

Page 470: ...X However if the dynamic brake is enabled Pn001 n 0 or n 1 observe the following precautions HWBB1 HWBB2 ON normal operation S ON Servo ON Input Signal SERVOPACK Status S RDY Servo Ready Output Signa...

Page 471: ...ay result An A d00 alarm Position Deviation Overflow may occur If you turn ON the servo after changing from HWBB state to BB state the Servomotor may move for the accumulated position deviation Theref...

Page 472: ...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...

Page 473: ...ource 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...

Page 474: ...or is operating a stop command is received from the host controller the motor stops and the servo is turned OFF The guard is opened The worker leaves the guarded area after completing work The guard i...

Page 475: ...hat 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 er...

Page 476: ...he 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 u...

Page 477: ...5 12 2 1 List of Alarms 12 5 12 2 2 Troubleshooting Alarms 12 12 12 2 3 Resetting Alarms 12 42 12 2 4 Displaying the Alarm History 12 43 12 2 5 Clearing the Alarm History 12 44 12 2 6 Resetting Alarm...

Page 478: ...ill 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 Lo...

Page 479: ...rops 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...

Page 480: ...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 SERVOP...

Page 481: ...the alarm has been removed No You cannot clear the alarm List of Alarms An alarm number flashes on the display Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble...

Page 482: ...om the default setting Gr 1 No H H H A 0b0 Invalid Servo ON Com mand Alarm The S ON Servo ON signal was input from the host con troller after a utility function that turns ON the Servomo tor was execu...

Page 483: ...lin ear kinetic energy exceeded the capacity of the dynamic brake resistor Gr 1 Yes L L L A 731 A 740 Inrush Current Limiting Resistor Overload The main circuit power sup ply was frequently turned ON...

Page 484: ...r Gr 1 Yes H H H A 8A3 External Absolute Encoder Position Error An error occurred in the posi tion data of the external encoder Gr 1 Yes H H H A 8A5 External Encoder Over speed An overspeed error occu...

Page 485: ...arity Detection The overtravel signal was detected during polarity detection Gr 1 Yes L H L A C52 Polarity Detection Not Completed The servo was turned ON before the polarity was detected Gr 1 Yes L H...

Page 486: ...setting of Pn529 or Pn584 Speed Limit Level at Servo ON limits the speed when the servo is turned ON This alarm occurs if reference pulses are input and the set ting of Pn520 Position Devi ation Overf...

Page 487: ...was ON Gr 2 Yes H L H A F50 Servomotor Main Circuit Cable Disconnection The Servomotor did not operate or power was not supplied to the Servomotor even though the S ON Servo ON signal was input when t...

Page 488: ...red 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 s...

Page 489: ...d Servomotor capacities page 1 8 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 t...

Page 490: ...e that the setting of the Fully closed Mod ule agrees with the setting of Pn002 n X page 10 6 A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match The SERVOPACK and Serv...

Page 491: ...nd ON again Or execute a software reset page 6 96 A 100 Overcurrent Detected An overcurrent flowed through the power tran sistor or the heat sink overheated The Main Circuit Cable is not wired correct...

Page 492: ...eck the regenerative load ratio in the Sig maWin Motion Monitor Tab Page to see how frequently the regenera tive resistor is being used Change the regenerative resistance to a value larger than the SE...

Page 493: ...ircuits 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 wh...

Page 494: ...600 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...

Page 495: ...or during 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 Regene...

Page 496: ...tting to match the actual power supply page 5 14 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 th...

Page 497: ...o or 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 occurr...

Page 498: ...op Gain page 8 76 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 I...

Page 499: ...730 and 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...

Page 500: ...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 e...

Page 501: ...absolute 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 Encode...

Page 502: ...led 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 con...

Page 503: ...er 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 861 Motor Over heated The su...

Page 504: ...ttached 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...

Page 505: ...fer ence A D Error Detected when the servo is turned ON A malfunction occurred in the read ing section for the torque reference input Reset the alarm and restart operation page 12 42 A failure occurre...

Page 506: ...ll occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs th...

Page 507: ...ures against 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 l...

Page 508: ...coder 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 externa...

Page 509: ...ion 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 Polarit...

Page 510: ...y separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder page 4 5 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON...

Page 511: ...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 SERVOPACK may be faulty...

Page 512: ...a 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 e...

Page 513: ...nverter Unit Replace the Serial Con verter 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 Le...

Page 514: ...al encoder installation orientation are backward Check the motor direc tion and the external encoder installation ori entation Install the external encoder in the opposite direction or change the sett...

Page 515: ...connected Safety Option Module Connect a compatible Safety Option Module A Eb1 Safety Function Signal Input Tim ing Error The delay between activation of the HWBB1 and HWBB2 input sig nals for the HW...

Page 516: ...rvomotor did not operate or power was not supplied to the Servomotor even though the S ON Servo ON signal was input when the Servomotor was ready to receive it A failure occurred in the SERVOPACK The...

Page 517: ...t again 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 alar...

Page 518: ...o other connector pins Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 5 Resetting Alarms Using the Panel Operator Simultaneously press the UP and the DOWN Keys on...

Page 519: ...lick the Alarm History Tab 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 Pa...

Page 520: ...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...

Page 521: ...s 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 Optio...

Page 522: ...6 Resetting Alarms Detected in Option Modules 12 46 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 d...

Page 523: ...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 Res...

Page 524: ...surrounding temperature of the control PCB is abnormal H L H A 913 Internal Temperature Warning 2 Power Board Temperature Error The surrounding temperature of the power PCB is abnormal H L H A 920 Reg...

Page 525: ...4 A 9b0 Pn00F n X Preventative Maintenance Warning Selection page 9 17 Continued from previous page Warning Number Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 Warning Number Warning Name P...

Page 526: ...ob lems Check the operation reference and motor speed Remove the mechanical problem The overload warning level Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suita...

Page 527: ...urred 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 surrou...

Page 528: ...ted 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...

Page 529: ...ion stored in the encoder does not agree with the speed ripple compensa tion information stored in the SERVOPACK Reset the speed ripple compensation value on the SigmaWin page 8 60 Set Pn423 to n 1 Do...

Page 530: ...y have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures...

Page 531: ...h the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used page 6 73 N...

Page 532: ...ety input signals HWBB1 or HWBB2 were not turned ON Check the HWBB1 and HWBB2 input signals Turn ON the HWBB1 and HWBB2 input sig nals If you are not using the safety function con nect the Safety Jump...

Page 533: ...onnectors and correct the wiring Servomotor Moves with out a Refer ence Input Speed control The speed reference input is not appro priate Check between the speed reference input V REF and signal groun...

Page 534: ...mounting 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 Bala...

Page 535: ...re 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 sep...

Page 536: ...g is Kv 40 0 Hz Set Pn100 to an appro priate value The setting of Pn102 Posi tion Loop Gain is too high Check the setting of Pn102 The default setting is Kp 40 0 s Set Pn102 to an appro priate value T...

Page 537: ...separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter...

Page 538: ...e overtravel limit switches e g check for cable damage and loose screws Correct the wiring of the overtravel limit switches There is a mistake in the allo cation of the P OT or N OT Forward Drive Proh...

Page 539: ...cause 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 separate them from the FG of the encoder...

Page 540: ...ange Replace the Servomo tor or linear encoder A failure occurred in the SERVOPACK Replace the SERVO PACK Servomotor Overheated The surrounding air tempera ture is too high Measure the surrounding air...

Page 541: ...ttings 13 6 13 2 2 Setting Parameters That Require Selection of Functions 13 7 13 3 Monitor Display Un Operations on the Panel Operator 13 8 13 3 1 Basic Monitor Display Operations 13 8 13 3 2 Input S...

Page 542: ...Write Prohibition Setting Fn010 13 23 13 4 16 Display Servomotor Model Fn011 13 24 13 4 17 Display Software Version Fn012 13 25 13 4 18 Multiturn Limit Setting after Multiturn Limit Disagreement Alar...

Page 543: ...the operating procedures in each function mode Panel display Panel Operator Key No Key Name Function MODE SET Key Changes the display Confirms settings UP Key Increases the setting DOWN Key Decreases...

Page 544: ...digit on the Panel Operator display may flash Refer to the following section and implement countermeasures against noise 4 1 2 Countermeasures against Noise on page 4 5 During Position Control COIN Po...

Page 545: ...es that the P OT Forward Drive Prohibit signal is open Example Operation in Progress Status Test without Motor in Progress Indicates that the test without a motor is in progress The status display cha...

Page 546: ...to display Pn100 2 Press the DATA SHIFT Key for approximately one second The current setting of Pn100 will be dis played 3 Press the DATA SHIFT Key to move the digit that is flashing to 4 You can chan...

Page 547: ...Press the DATA SHIFT Key Press the DATA SHIFT Key Lower four digits Press the DATA SHIFT Key Middle two digits Displayed for a negative number Step Panel Display after Operation Keys Operation 1 Pres...

Page 548: ...to display the status of allocated signals on the LED segments of the Panel Operator Interpreting the Display LED Segments If the input signal that corresponds to the display digit number is OFF the t...

Page 549: ...ments of the Panel Operator Interpreting the Display LED Segments If the output signal that corresponds to the display digit number is OFF the top LED segment will be lit Display Digit Number Input Pi...

Page 550: ...the signal that corresponds to the display digit number is OFF the bottom LED segment will be lit The allocations are given in the following table Display Digit Number Output Pin Numbers Signal Name D...

Page 551: ...aximum motor speed setting for the current encoder output resolution setting Select which signal to monitor with Pn080 n X Calculation Method for Maximum Speed or Encoder Output Pulses If Pn080 n 0 th...

Page 552: ...S800001 33 Step Panel Display after Operation Keys Operation 1 Press the MODE SET Key to enter Utility Function Mode If Fn000 is not displayed press the UP Key or DOWN Key to display Fn000 2 Press th...

Page 553: ...or approximately one sec ond The display shown at the left will appear 4 Press the MODE SET Key to turn ON the servo 5 The Servomotor will operate at the speed set in Pn304 or Pn383 while the UP Key f...

Page 554: ...ng to the setting of Pn000 n X as shown in the following table Rotary Servomotors Note This is the direction when viewed from the load side of the Servomotor Linear Servomotors Note The direction in w...

Page 555: ...the initial movement direction of the operation pattern The operation will start after the preset waiting time Additional Information Press the MODE SET Key during operation The servo will turn OFF a...

Page 556: ...parameters When the initialization has been completed donE will flash on the display and then the display shown on the left will appear again 5 To enable the change to the setting turn the power suppl...

Page 557: ...yed 4 Continue pressing the UP Key until PGCL5 is dis played Note If you press the wrong key no oP will flash on the display for approximately one second and the display will return to the original Ut...

Page 558: ...donE will flash on the dis play for approximately one second and then the dis play shown on the left will appear 6 Press the DATA SHIFT Key for approximately one second to return the display to Fn009...

Page 559: ...enter Utility Function Mode 2 Press the UP Key or DOWN Key to display Fn00b 3 Press the DATA SHIFT Key for approximately one second The display shown on the left will appear Note If write protection...

Page 560: ...ss the UP Key or DOWN Key to adjust the offset 6 Press the DATA SHIFT Key The display shown on the left will appear again 7 Press the MODE SET Key The display will change to the monitor output for cha...

Page 561: ...or DOWN Key to adjust the gain 10 Press the DATA SHIFT Key for approximately one sec ond Ch2 G will be displayed and then Fn00D will be displayed again Continued from previous page Step Panel Display...

Page 562: ...he amount of offset Change the setting by approximately 10 units at a time in the direction that reduces the torque ripple to find the value that minimizes the torque ripple and set that value Adjustm...

Page 563: ...play Fn010 3 Press the DATA SHIFT Key for approximately one sec ond The display shown at the left will appear 4 Press the UP Key or DOWN Key and set one of the fol lowing P 0000 Write permitted defaul...

Page 564: ...3 Example Press the DATA SHIFT Key for approximately one second to display the Servomotor voltage and model codes 4 Example Press the MODE SET Key The Servomotor capacity will be displayed Continued o...

Page 565: ...000 indicates a standard model If anything other than y 0000 is displayed a customized SERVOPACK is being used 7 Press the DATA SHIFT Key for approximately one second to return the display to Fn011 Co...

Page 566: ...012 Continued from previous page Step Panel Display after Operation Keys Operation MODE SET DATA MODE SET DATA Step Panel Display after Operation Keys Operation 1 Press the MODE SET Key to enter Utili...

Page 567: ...the left will appear 6 Press the MODE SET Key again The alarms in the Option Module will be cleared donE will flash on the display and the display shown on the left will appear again 7 Press the DATA...

Page 568: ...Key for approximately one sec ond to return the display to Fn01b Continued from previous page Step Panel Display after Operation Keys Operation MODE SET DATA MODE SET DATA Step Panel Display after Op...

Page 569: ...e motor type alarm donE will flash on the display and the display shown on the left will appear again 5 Press the DATA SHIFT Key for approximately one second to return the display to Fn021 6 To enable...

Page 570: ...el setting display for the tun ing less levels will appear Note If the response waveform shows overshooting if the load moment of inertia exceeds the allowable level i e outside the scope of product w...

Page 571: ...Tuning Setting 0 Performs tuning giving priority to stability 1 Performs tuning giving priority to response Note The rigidity type is always 2 5 If the servo is OFF i e if power is not supplied to th...

Page 572: ...reference amplitude will increase the detection accuracy the vibration and noise in the machine will increase momentarily Increase the reference ampli tude a little at a time and observe the results 2...

Page 573: ...the machine will increase momentarily Increase the reference amplitude a little at a time and observe the results 9 Press the MODE SET Key The optimum notch filter for the detected resonance frequenc...

Page 574: ...hapter provides information on the parameters 14 1 List of Parameters 14 2 14 1 1 Interpreting the Parameter Lists 14 2 14 1 2 List of Parameters 14 3 14 2 Parameter Recording Table 14 34 Parameter Li...

Page 575: ...ith pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed...

Page 576: ...th pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed c...

Page 577: ...ximum torque and then servo lock the motor 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...

Page 578: ...EF as an external torque limit input when P CL or N CL is ON page 6 69 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All page 6 45 1 Use V REF as an e...

Page 579: ...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 D...

Page 580: ...otor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0...

Page 581: ...in Pn001 n X page 5 42 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...

Page 582: ...e dynamic brake 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 thr...

Page 583: ...ance warnings page 9 17 1 Detect preventative maintenance warnings n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter...

Page 584: ...Pn10C 2 Mode Switching Level for Torque Reference 0 to 800 1 200 All Immedi ately Tuning page 8 89 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit...

Page 585: ...n 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...

Page 586: ...ely Tuning page 8 66 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning page 8 56 Pn14B 2 Vibration Suppression 2 Correction 10 to 1 000 1 100 All Immedi ately Tu...

Page 587: ...ntinued 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 Refere...

Page 588: ...less function Immedi ately n X Reference Pulse Form Reference 0 Sign and pulse train positive logic page 6 30 1 CW and CCW pulse trains positive logic 2 Two phase pulse trains with 90 phase different...

Page 589: ...page 10 10 Pn281 2 Encoder Output Resolu tion 1 to 4 096 1 edge pitch 20 All After restart Setup page 6 52 Pn282 4 Linear Encoder Scale Pitch 0 to 6 553 600 0 01 m 0 Linear After restart Setup page 5...

Page 590: ...up page 8 76 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 All Immedi ately Setup page 5 33 Pn30C 2 Speed Feedforward Average Movement Time 0 to 5 100 0 1 ms 0 All Immedi...

Page 591: ...3 Pn407 2 Speed Limit during Torque Control 0 to 10 000 1 min 1 10000 Rotary Immedi ately Setup page 6 45 Pn408 2 Torque Related Func tion Selections 0000 hex to 1111 hex 0000 hex All Setup Pn409 2 Fi...

Page 592: ...Frequency 50 to 5 000 1 Hz 5000 All Immedi ately Tuning page 8 81 Pn418 2 Third Stage Notch Filter Q Value 50 to 1 000 0 01 70 All Immedi ately Tuning page 8 81 Pn419 2 Third Stage Notch Filter Depth...

Page 593: ...Selection When Enabled 0 Disable speed ripple compensation Immedi ately 1 Enable speed ripple compensation n X Speed Ripple Compensation Information Disagreement Warning Detec tion Selection When Enab...

Page 594: ...etection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection Con firmation Force Refer ence 0 to 200 1 100 Linear Immedi ately Tuning Pn498 2 Polarity Detection Allow ab...

Page 595: ...3 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X P CON Proportional Control Sign...

Page 596: ...llocation Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed page 12 42 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2...

Page 597: ...gnal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input s...

Page 598: ...closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OF...

Page 599: ...X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 6 11 n X S RDY Servo Ready Signal Allocatio...

Page 600: ...erminal 5 Output the signal from the CN1 38 output terminal 6 Output the signal from the CN1 39 output terminal n X Reserved parameter Do not change n X PSELA Reference Pulse Input Multiplication Swit...

Page 601: ...ot change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Allocation Reference 0 Disabled the above signal output is not used page 9 17 1 Output the signal from the...

Page 602: ...when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 inpu...

Page 603: ...otor to stop 8 Set the signal to always enable drive always disable forcing the motor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B...

Page 604: ...ng Related Selections 0000 hex to 0005 hex 0000 hex All Immedi ately Setup page 7 20 Pn531 4 Program Jogging Travel Distance 1 to 1 073 741 824 1 refer ence unit 32768 All Immedi ately Setup page 7 20...

Page 605: ...up page 6 27 Pn583 2 Brake Reference Out put Speed Level 0 to 10 000 1 mm s 10 Linear Immedi ately Setup page 5 36 Pn584 2 Speed Limit Level at Servo ON 0 to 10 000 1 mm s 10000 Linear Immedi ately Se...

Page 606: ...ynamic brake option Refer to the following manual for details 7 Series AC Servo Drive 7S 7W SERVOPACK with Dynamic Brake Hardware Option Specifications Prod uct Manual Manual No SIEP S800001 73 6 The...

Page 607: ...Selec tions D After restart Pn00F 0000 hex Application Function Selec tions F After restart Pn010 0001 hex Axis Address Selection for UART USB Communica tions After restart Pn021 0000 hex Reserved par...

Page 608: ...Following Control Related Selections Immediately Pn141 500 Model Following Control Gain Immediately Pn142 1000 Model Following Control Gain Correction Immediately Pn143 1000 Model Following Control Bi...

Page 609: ...c Gear Ratio Denominator After restart Pn212 2048 Number of Encoder Output Pulses After restart Pn216 0 Position Reference Acceler ation Deceleration Time Constant Immediately after the motor stops Pn...

Page 610: ...2 800 Forward Torque Limit Immediately Pn403 800 Reverse Torque Limit Immediately Pn404 100 Forward External Torque Limit Immediately Pn405 100 Reverse External Torque Limit Immediately Pn406 800 Emer...

Page 611: ...n426 0 Torque Feedforward Aver age Movement Time Immediately Pn427 0 Speed Ripple Compensa tion Enable Speed Immediately Pn456 15 Sweep Torque Reference Amplitude Immediately Pn460 0101 hex Notch Filt...

Page 612: ...After restart Pn50E 3211 hex Output Signal Selections 1 After restart Pn50F 0000 hex Output Signal Selections 2 After restart Pn510 0000 hex Output Signal Selections 3 After restart Pn512 0000 hex Ou...

Page 613: ...fi cation Immediately Pn553 100 Analog Monitor 2 Magnifi cation Immediately Pn55A 1 Power Consumption Moni tor Unit Time Immediately Pn560 400 Residual Vibration Detec tion Width Immediately Pn561 100...

Page 614: ...P Positioning Module for Position Control 15 3 15 1 3 Example of Connections to Yokogawa Electric s F3NC3 0N Positioning Module for Position Control 15 4 15 1 4 Example of Connections to an OMRON Posi...

Page 615: ...ction must be connected at the connector 8 Set the parameters so that the servo can be turned ON and OFF with the S ON Servo ON signal AO_0 NREF PAL PCL AI_0 VTG 0 V for 24 V DO_2 PCON DO_3 24V DI_2 Z...

Page 616: ...applicable to the SERVOPACK and Yokogawa Electric s F3YP2 0P Positioning Module are shown in the diagram 2 Incorrect wiring may damage the Positioning Module or SERVOPACK Wire all connections carefull...

Page 617: ...8a 9a 10a 11a 12a 13a 1b 1a 7 8 11 12 34 33 36 35 PULS CW PULS CW SIGN CCW SIGN CCW PBO PBO PAO PAO 4 2 SEN 3 SG 3 14 15 CLR CLR 2 2 k 1 2 W 31 32 ALM ALM 20a 19a 20 19 PCO PCO 21 22 BAT 3 BAT 3 1 CN1...

Page 618: ...the same way 6 All normally closed input terminals that are not used at the Position Control Unit s I O connector section must be connected at the connector 7 Set the parameters so that the servo can...

Page 619: ...en 5 The above wiring diagram shows the connections for only one axis If you will use other axes make con nections to the SERVOPACK in the same way 6 All normally closed input terminals that are not u...

Page 620: ...Multiturn Limit Dis agreement Alarm Reset Option Module Configura tion Error Fn014 Reset Option Module Configuration Error Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Le...

Page 621: ...min 1 Un007 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 cont...

Page 622: ...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...

Page 623: ...4 AC reactor wiring 4 24 additional adjustment functions 8 66 alarm code output 12 5 alarm reset possibility 12 5 alarm tracing 9 18 ALM 6 10 ALM Servo Alarm signal 6 10 ALO1 6 10 ALO2 6 10 ALO3 6 10...

Page 624: ...ompensation 8 71 grounding 4 8 group 1 alarms 5 42 group 2 alarms 5 42 H hard wire base block HWBB 11 3 HWBB input signal specifications 11 5 hard wire base block HWBB state 11 4 detecting errors in H...

Page 625: ...8 83 PLUS 6 31 polarity detection 5 27 polarity sensor 5 26 position control 6 30 position integral 8 91 position loop gain 8 77 position reference input circuits 4 43 positioning completed width 6 3...

Page 626: ...Speed Reference Input Gain 6 19 Spring Opener 4 14 Status Monitor 9 5 stopping by applying the dynamic brake 5 41 stopping method for servo OFF 5 42 storage humidity 2 6 storage temperature 2 6 surro...

Page 627: ...nput current of control power supply Chapter 14 Deletion Pn52D November 2015 6 0 All chapters Addition Information on SERVOPACKs with single phase 100 VAC power sup ply inputs Preface Revision Informa...

Page 628: ...50A 590A and 780A SERVOPACKs 4 2 4 4 3 4 5 3 6 12 1 Addition Information on Battery for absolute encoder 5 16 1 5 18 1 Addition Information on Linear Encoders ST1381 and ST1382 from Mitutoyo Corporati...

Page 629: ...0099 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...

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