YASKAWA SGDS Sigma III Series User Manual Download Page 231 | Manualshive

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8 Adjustments

8-2

8.6 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - 8-23

8.6.1 Feed Forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23
8.6.2 Using the Mode Switch (P/PI Switching)  - - - - - - - - - - - - - - - - - - - - - 8-24
8.6.3 Setting the Speed Bias   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
8.6.4 Speed Feedback Filter Time Constant   - - - - - - - - - - - - - - - - - - - - - - 8-28
8.6.5 Speed Feedback Compensation   - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
8.6.6 Switching Gain Settings   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.6.7 Predictive Control  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-35
8.6.8 Less Deviation Control   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.6.9 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
8.6.10 Vibration Suppression on Stopping  - - - - - - - - - - - - - - - - - - - - - - - - 8-48
8.6.11 Backlash Compensation   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.12 Position Integral  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49

8.7 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-50

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Summary of Contents for SGDS Sigma III Series

Page 1: ...Dlugosza 2 6 Street 51 162 Wroc aw Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS SGDS 08...

Page 2: ...d with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS C...

Page 3: ...SGDS Sigma III Servo Amplifier User Manual for Mechatrolink II Communications...

Page 4: ...liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Page 5: ...ed information Read the chapters marked with to get the information required for your purpose Chapter SERVOPACKs Servomotors and Peripheral Devices Ratings and Character istics System Design Panel Con...

Page 6: ...Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example S ON S...

Page 7: ...operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to i...

Page 8: ...make the system modification The multi turn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreem...

Page 9: ...age or installation temperature conditions Locations subject to humidity outside the range specified in the storage or installation humidity conditions Locations subject to condensation as the result...

Page 10: ...nd prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in t...

Page 11: ...uses main power devices like capacitors and fuses to deteriorate resulting in unexpected problems Observe the following precautions when wiring main circuit terminal blocks Remove the terminal block f...

Page 12: ...un prohibited N OT signals are not effective during zero point search mode using parameter Fn003 When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall...

Page 13: ...s shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this m...

Page 14: ...5 2 3 III Series SERVOPACKs and Applicable Servomotors 2 6 2 4 Selecting Cables 2 7 2 4 1 Cables for SGMAH and SGMPH Servomotors 2 7 2 4 2 Cables for SGMSH Servomotor 2 12 2 4 3 Cables for SGMGH Serv...

Page 15: ...of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 4 2 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 4 4 2 1 Spring Type Standard 4 4 4 2 2 Crimp Type...

Page 16: ...of Linear Scale by Heidenhain 5 16 5 5 2 Connection Example of Linear Scale by Renishaw 5 17 5 6 Others 5 18 5 6 1 Wiring Precautions 5 18 5 6 2 Wiring for Noise Control 5 19 5 6 3 Using More Than On...

Page 17: ...put Positioning EX_POSING 39H 6 34 6 3 29 Homing ZRET 3AH 6 36 6 3 30 Velocity Control VELCTRL 3CH 6 38 6 3 31 Torque Control TRQCTRL 3DH 6 39 6 3 32 Adjusting ADJ 3EH 6 40 6 3 33 General purpose Serv...

Page 18: ...5 7 2 4 Supplementary Information on Trial Operation 7 6 7 3 Settings According to Machine Characteristics 7 8 7 3 1 Switching Servomotor Rotation Direction 7 8 7 3 2 Setting the Overtravel Limit Fun...

Page 19: ...Procedure 8 18 8 5 Manual Tuning 8 20 8 5 1 Explanation of Servo Gain 8 20 8 5 2 Servo Gain Manual Tuning 8 20 8 5 3 Position Loop Gain 8 21 8 5 4 Speed Loop Gain 8 22 8 5 5 Speed Loop Integral Time...

Page 20: ...nd Maintenance 10 24 10 2 1 Servomotor Inspection 10 24 10 2 2 SERVOPACK Inspection 10 24 10 2 3 SERVOPACK s Parts Replacement Schedule 10 25 11 Appendix 11 1 Servomotor Capacity Selection Examples 11...

Page 21: ......

Page 22: ...Servomotors 1 2 1 1 3 Servo Amplifiers 1 3 1 2 Product Part Names 1 3 1 2 1 Servomotors 1 3 1 3 2 Servo Amplifiers 1 5 1 4 Examples of Servo System Configurations 1 6 1 5 Applicable Standards 1 10 1 5...

Page 23: ...on the servomotor and SERVOPACK Refer to the descriptions of model numbers in the following section Does the servomotor shaft rotate smoothly The servomotor shaft is normal if it can be turned smoothl...

Page 24: ...CHARGE L1 L1C L2C B1 B2 U V W L2 SERVOPACK model Serial number Applicable power supply Applicable motor capacity SGDS 02A12A AC OUTPUT S N O N AC INPUT SERVOPACK MODEL YASKAWA ELECTRIC MADE IN JAPAN...

Page 25: ...GH SGMSH SGMUH SGMBH 3000rpm 3000rpm 1500rpm 3000rpm 6000rpm 1500rpm 3000rpm 3000rpm 1500rpm 3000rpm 6000rpm 1500rpm A3 0 03 40 4 0 4 0 A5 0 05 44 4 4 01 0 1 0 1 50 5 0 02 0 2 0 2 55 5 5 04 0 4 0 4 75...

Page 26: ...Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Therefore do not touch the SERVOPACK even after the po...

Page 27: ...1 Outline 1 6 1 4 Examples of Servo System Configurations This section describes examples of basic servo system configuration 1 Connecting to SGMAH and SGMPH Servomotors...

Page 28: ...he following manner Do not directly touch the connector pins provided with the servomotor Particularly the encoder may be damaged by static electricity etc 1 Remove the protective tape and cap from th...

Page 29: ...1 Outline 1 8 2 Connecting to SGMSH SGMGH Servomotors Power Supply Three phase 200VAC SGMGH Servomotor...

Page 30: ...ive resistor Noise filter Molded case circuit breaker MCCB Magnetic contactor I O signal cable SGDS SERVOPACK SGMCS Servomotor Power supply Single phase 100 or 200 VAC R T Protects the power supply li...

Page 31: ...after being installed in the final product Model UL 1 Standards UL File No CSA 2 Standards Certifications SERVOPACK SGDS A12A UL508C E147823 CSA C22 2 No 14 UL Servomotor SGMAH SGMPH SGMSH SGMCS B C D...

Page 32: ...ting Cables 2 7 2 4 1 Cables for SGMAH and SGMPH Servomotors 2 7 2 4 2 Cables for SGMSH Servomotor 2 12 2 4 3 Cables for SGMGH Servomotors 2 16 2 4 4 Cables for SGMCS Servomotor 2 20 2 5 Selecting Per...

Page 33: ...16 bit 16384 x 4 Absolute Encoder SGMAH 01 A A F 4 1 Keyways shaft seals and holding brakes not available on motors with NEMA flanges revision level N Sigma II Servomotor Type Power Supply A Standard...

Page 34: ...2 7hp 30 3 0kW 4 0hp 44 4 4kW 6 0hp 55 5 5kW 7 5hp 75 7 5kW 10hp Power Supply A 200V Accessories 1 Standard C 24VDC Brake S Shaft Seal E Brake and Shaft Seal Shaft Specifications 6 Straight Shaft with...

Page 35: ...oder Specifications Code 3 Remarks Standard Option Specifications 20 bit absolute Flange Specifications Code 1 Remarks Standard Specifications Design Revision Order Code A Specifications Standard Opti...

Page 36: ...ons MECHATROLINK II IF Serial fully closed Interface Supply Voltage Code A F Voltage 02 SGDS A 01 A R 200 V 100 V 100 V input 200 V output Doubled voltage 12 Design Revision Order A B Start from A III...

Page 37: ...400 W 04F 04A 08A 750 W 08A SGMPH Flat Type 3000RPM 4 models 01A 100 W 01F 01A 02A 200 W 02F 02A 04A 400 W 04F 04A 08A 750 W 08A SGMSH Super High Power Capacity 3000RPM 1 model 10A 1 0 kW 10A 15A 1 5...

Page 38: ...g Cables 2 4 1 Cables for SGMAH and SGMPH Servomotors Standard Connection Encoder cable extension from 20 m 65 6 ft up to 50 m 164 ft SGMAH and SGMPH 01 to 04 Servomotor for 100W to 400W SGMAH and 100...

Page 39: ...Power Cable without Brake All JZSP CMM00 A These cables are available in five lengths Use two digits in the part number s last place 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock Power Cable with B...

Page 40: ...hese connector kits include pin and socket Requires use of Amp Crimp Tool 90548 1 See below Stock Motor Power Mating Connector with Brake JZSP CMM9 2 Amp Crimp Tool 90548 1 Crimp tool for Motor Power...

Page 41: ...A These UL and CE compliant cables are available in five lengths Use two digits in the part number s last place 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock 1 5 B5ICE A Power Cable with Interconne...

Page 42: ...nectron Connector for Motor Power Cable with or without Brake IP67 0 1 0 2 0 4 0 8 1 5 FIN07S B2 Solder Cup Stock 2CN Amplifier Mating Connector JZSP CMP9 1 Interconnectron Connector for Encoder Cable...

Page 43: ...tor Standard Connection Battery case SGDS SERVOPACK SGMSS Servomotor Servomotor main circuit cable Encoder cable Required when an absolute encoder is used YASKAWA SERVOPACK 200V SGDS 10A12A SW1 L1 L1C...

Page 44: ...s of the part number 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock 3 0 B2E A B2BE A 4 0 5 0 B3E A B3BE A Encoder Cable incremental or absolute IP67 All JZSP CMP02 B These cables are available in fiv...

Page 45: ...6B18 10S MS3106B20 15S Straight type connector Stock MS3108B18 10S MS3108B20 15S L type connector MS3057 10A MS3057 12A Cable clamp 3 0 4 0 5 0 MS3106B22 22S MS3106B24 10S Straight type connector MS31...

Page 46: ...ize kW Part Number Comments Item Class without Brake with Brake Power Cable with Connectors IP67 1 0 1 5 2 0 B1CE A B1BCE A Use the following key to specify required cable length last digit of part nu...

Page 47: ...tors Standard Connection Battery case SGDS SERVOPACK SGMSS Servomotor Servomotor main circuit cable Encoder cable Required when an absolute encoder is used YASKAWA SERVOPACK 200V SGDS 10A12A SW1 L1 L1...

Page 48: ...1 3 B1E A B1BE A Use the following key to specify needed cable length last two digits of the part number 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock 2 0 3 0 B2E A B2BE A 4 4 B3E A B3BE A 5 5 7 5 B...

Page 49: ...8B18 10S MS3108B20 15S L type connector MS3057 10A MS3057 12A Cable clamp 2 0 3 0 4 4 MS3106B22 22S MS3106B24 10S Straight type connector MS3108B22 22S MS3108B24 10S L type connector MS3057 12A MS3057...

Page 50: ...he part number 03 3m 05 5m 10 10m standard 15 15m 20 20m Limited Stock 2 0 3 0 B2CE A B3BCE A 4 4 B3CE A 5 5 7 5 B5CE A B5CE A B7BCE A 11 15 B6CE A B6CE A B7BCE A Connector Description D Motor Size kW...

Page 51: ...uit cable Encoder cable Encoder cable SGMCS Servomotor YASKAWA SERVOPACK 200V SGDS 02A12A C N 3 C N 6 C N 1 A B C N 2 C N 4 SW1 CHARGE L1 L1C L2C B1 B2 U V W L2 A SGDS SERVOPACK SGMCS Servomotor YASKA...

Page 52: ...bsolute encoder 3 m 9 84 ft JZSP CMP03 03 JZSP CMP13 03 5 m 16 4 ft JZSP CMP03 05 JZSP CMP13 05 10 m 32 8 ft JZSP CMP03 10 JZSP CMP13 10 15 m 49 2 ft JZSP CMP03 15 JZSP CMP13 15 20 m 65 6ft JZSP CMP03...

Page 53: ...Aviation Electronics Industry Ltd Name Servomotor Model Length Type Specifications Standard Type Flexible Type 1 Servomo tor Main Circuit Cable Connectors Cont Servomotor end connector JN1DS04FK1 2 So...

Page 54: ...operator Digital operator I O signal cable Battery for absolute encoder CN5 DF0300413 PC ON 1 POWER COM S N D0024B958810004 With front cover open Analog monitor cable Name Length Type Figure Refer enc...

Page 55: ...it 3 m 9 84 ft JZSP CLP20 03 4 4 12 5 m 16 4 ft JZSP CLP20 05 10 m 32 8 ft JZSP CLP20 10 15 m 49 2 ft JZSP CLP20 15 20 m 65 6 ft JZSP CLP20 20 Serial Converter Unit For Linear Scale manufactured by He...

Page 56: ...lude a protective grounding circuit Install a ground fault protector to protect the system against overload and short circuit or protective grounding combined with the molded case circuit breaker Main...

Page 57: ...phase 250 VAC 6 A HI 11J 20 A R C M 601BQZ 4 X5053 0 10 01F 0 20 02F FN2070 10 07 Single phase 250 VAC 10 A X5054 0 40 04F FN2070 16 07 Single phase 250 VAC 16 A HI 15J 35 A X5061 Single phase 200 V 0...

Page 58: ...s the manufacturers of each device Main Circuit Power Supply SERVOPACK Model Regenerative Resistor Refer to 4 4 3 and 5 7 Capacity kW SGDS Built in Externally Connected Resistance Capacity W Single ph...

Page 59: ...2 System Selection 2 5 4 Regenerative Resistors 2 28...

Page 60: ...ERVOPACK s Power Supply Capacities and Power Losses 3 12 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 13 3 5 1 Overload Characteristics 3 13 3 5 2 Starting and Stopping Time 3 1...

Page 61: ...100 to 115 VAC 10 to 15 50 60 Hz Control Circuit Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control Method Single or three phase full wave rectification IGBT PWM sine wave driven Feedback Serial e...

Page 62: ...istor Built in Overtravel Prevention OT Dynamic brake stop at P OT or N OT input deceleration to a stop or free run to a stop Electronic Gear 0 001 B A 1000 Protection Overcurrent overvoltage insuffic...

Page 63: ...t average acceleration and deceleration Fully closed Control Position control using the fully closed feedback is available Fully closed Control System Specifications Interface Serial communications in...

Page 64: ...tection class 1X Altitude 1000 m max Conforming to the following standards UL508C CSA C22 2 No 14 EN50178 EN55011 group 1 class A EN61000 6 2 Installation Site Installation in a Control Panel Design t...

Page 65: ...cessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C 32 to 131 F Humidity 90 RH or less Vibrat...

Page 66: ...supply 1KM L1 B1 B2 L2 L1C L2C U V W 15V 5V 12V 5V Digital Operator Personal computer CN3 Current sensor 1KM 1KM Surge protector Power OFF Power ON Open during Servo alarm 1Ry CN2 Servomotor PG Gate...

Page 67: ...0 Control power supply 1KM L1 B1 B2 L2 L1C L2C U V W 15V 5V 12V 5V Digital Operator Personal computer CN3 Current sensor Dinamic brake circuit 1KM 1KM Surge protector Power OFF Power ON Open during Se...

Page 68: ...3 3 SERVOPACK Internal Block Diagrams 3 9 3 3 3 Three phase 200 V 1 0 kW...

Page 69: ...ition speed calculation etc Single phase 200 to 230 V 50 60 Hz 10 15 Noise filter Control power supply 1KM 1KM Surge protector Power OFF Power ON Open during Servo alarm 1Ry Servomotor Gate drive PG o...

Page 70: ...ence calculation Analog voltage converter I O Monitor display R2 A D XX3 XX1 XX2 L1 L2 L3 1MC Noise filter 2 1 C1 FU1 P N R S T 5V 5V 15V 5V 12V 0V POWER L1C L2C Power OFF Power ON 1MC 1MC Surge suppr...

Page 71: ...nstall an external regenerative resistor Note External regenerative resistors are optional Refer to 5 7 Connecting Regenerative Resistors and 4 4 3 External Regenerative Resistor for details Table 3 1...

Page 72: ...apacity of 400 W max B Others like the SGMAH SGMPH and SGMSH servomotors 3 5 2 Starting and Stopping Time The motor starting time tr and stopping time tf under a constant load are calculated using the...

Page 73: ...tor may generate a regeneration overload alarm Take one of the following steps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed Install an externally...

Page 74: ...0 5 1 1 5 2 0 100 200 300 TORQUE N m TORQUE oz in B A SPEED rpm 4000 3000 2000 1000 5000 0 0 1 2 3 4 0 200 400 600 TORQUE N m TORQUE oz in B A SPEED rpm 4000 3000 2000 1000 5000 0 0 2 4 6 8 0 400 800...

Page 75: ...5 0 5 0 75 1 0 TORQUE N m SGMPH 02 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 0 5 1 1 5 2 0 100 200 300 TORQUE N m TORQUE oz in SGMPH 04 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 1 2 3 4 TORQUE N m 0...

Page 76: ...A A SPEED rpm 4000 3000 2000 1000 5000 0 B A TORQUE N m TORQUE lb in 0 10 20 30 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 5 10 20 15 TORQUE N m 0 50 100 150 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0...

Page 77: ...00 min 1 SGMCS 16E 335W 300 400 100 200 0 0 3240 100 min 1 200 min 1 SGMCS 35E 550W 300 400 100 200 0 0 4470 100 min 1 Load moment of inertia 10 4 kg m2 Load moment of inertia 10 4 kg m 2 Load moment...

Page 78: ...el Capacity Range Allowable Load Moment of Inertia Rotor Moment of Inertia Ratio SGMAH 200 V 50 W to 200 W 30 400 W to 750 W 20 SGMPH 200 V 100 W 25 200 W 15 400 W 7 750 W 5 SGMSH 200 V 1 0 kW 5 1 5kW...

Page 79: ...awings SERVOPACK dimensional drawings are grouped according to the mounting method and capacity 1 Base mounted Type Supply Voltage Capacity Reference Section Single phase 100 V 50 W 100 W 200 W 3 7 1...

Page 80: ...1 B2 U V W 5 5 8 45 32 0 5 5 5 139 5 0 5 YASKAWA ELECTRIC MADE IN JAPAN Ground terminal 2 M4 screws 2 M4 screw holes Terminal block Mounting pitch Mounting pitch Mounting Hole Diagram Nameplate 180 6...

Page 81: ...ACK 200V SGDS Ground terminal 2 M4 screws 2 M4 screw holes Terminal block Mounting pitch Mounting Hole Diagram Nameplate Mounting pitch Approx mass 0 9 kg Unit mm CN4 CN2 CN1 CN3 CN6 70 150 180 6 75 1...

Page 82: ...3 7 Dimensional Drawings of Base mounted SERVOPACK Model SGDS 12A 12A 3 23 Three phase 1 5kW...

Page 83: ...3 SERVOPACK Specifications and Dimensional Drawings 3 7 4 Single phase 200 V 800 W Three phase 200 V 1 0 kW 3 24 Three phase 2 0kW 3 0kW...

Page 84: ...Operator 4 8 4 4 2 Cables for Analog Monitor 4 8 4 4 3 External Regenerative Resistor 4 9 4 4 4 Absolute Encoder Battery 4 11 4 4 5 Molded case Circuit braker MCCB 4 12 4 4 6 Noise Filter 4 13 4 4 7...

Page 85: ...F 40 C 104 F 50 C 122 F 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 12 3 5 7 0 8 5 41 33...

Page 86: ...nt 4 Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate 5 Use cable within the allowable moment of inertia 6 Do not use in continuous r...

Page 87: ...main circuit cable connector at SERVOPACK end 51446 0301 Molex Japan Co Ltd 7 pole For 50 to 400 W SERVOPACKs 51446 0701 10 pole For 1 0 kW SERVOPACKs 51446 1001 Connection lever 54932 0000 3 pole 7 p...

Page 88: ...otor main circuit cable connector at SERVOPACK end 51241 0311 Molex Japan Co Ltd 7 pole For 50 to 400 W SERVOPACKs 51241 0711 10 pole For 0 5 to 1 0 kW SERVOPACKs 51241 1011 Plug chained 56125 0018 Pl...

Page 89: ...bles and Peripheral Devices 4 2 2 Crimp Type Option 4 6 3 Plugs Chained Detached 4 0 16 Trademark 4 0 16 17 1 0 67 25 9 1 02 3 1 0 12 6 3 0 25 3 0 12 1 8 0 07 0 3 0 01 min 2 6 0 10 6 8 0 27 0 8 0 03 6...

Page 90: ...y Sumitomo 3M Ltd 1 Dimensional Drawings of Case 2 Cable Size Connector Type Case Connector Type Qty Type Qty DE9411354 10326 52A0 008 1 set 10126 3000VE Soldered 1 37 2 1 46 12 7 0 50 25 8 1 02 31 3...

Page 91: ...al Drawings 4 4 2 Cables for Analog Monitor 1 Cable Type DE9404559 Connect the specified cables to CN5 connector for monitoring the analog monitor signals For the details refer to 8 7 Analog Monitor Y...

Page 92: ...istors for the connection 1 References for External Regenerative Resistor 2 Model Designation Socket DF11 4DS 2C Connector DF11 2428SCF 1000 mm 39 37 in 0 20 0 0 79 Hirose Electric Corporation 3 4 1 2...

Page 93: ...H500 A B G F E 3 5 0 14 4 5 0 18 D D C 4 5 0 18 Lead wire length L 300 11 81 A B C D E F G RH120 182 150 172 16 42 22 20 7 17 5 91 6 77 0 63 1 65 0 87 0 79 8 35 7 09 7 95 0 63 1 73 0 94 1 18 9 06 7 87...

Page 94: ...der Install one of the absolute encoder batteries below 1 Battery Model JZSP BA01 lithium battery Battery ER3V battery made by Toshiba Battery Co Ltd 3 6 V 1000 mAh 2 Battery Installed on the Host Con...

Page 95: ...acturer Encoder cable Lithium battery 3 6 V 1000 mAh ER3V Toshiba Battery Co Ltd Host controller Lithium battery 3 6 V 2000 mAh ER6VC3 Toshiba Battery Co Ltd 130 5 12 75 2 95 Units mm in Phase 3 3W Nu...

Page 96: ...affner EMC Inc 52 Mayfield Ave Edison NJ 08837 1 800 367 5566 http www shaffner com Select one of the following noise filters according to SERVOPACK capacity For more details on selecting current capa...

Page 97: ...4 3 70 130 5 5 14 98 5 3 88 F 0 3 0 012 103 4 06 143 5 63 109 4 29 J 0 2 0 0079 25 0 98 40 1 57 K 0 5 0 020 8 4 0 33 8 6 0 34 L 0 5 0 020 32 4 1 28 M 0 1 0 039 4 4 0 17 5 3 0 21 4 4 0 17 N 0 1 0 039 6...

Page 98: ...l Main Circuit Wiring Examples Dimensions in mm in Model Tolerance FN258L 7 07 FN258L 16 07 A 1 0 039 255 10 04 305 12 01 B 126 0 8 4 96 0 031 142 0 8 5 59 0 031 C 0 6 0 024 50 1 97 55 2 17 D 225 0 8...

Page 99: ...20J Dimensions in mm in Mounting Hole Dimensions in mm in Terminal Symbols Approx mass 0 25 kg 0 551 lb Dimensions in mm in Mounting Hole Dimensions in mm in Terminal Symbols Approx mass 0 38 kg 0 838...

Page 100: ...nded surge protectors are listed below 2 Dimensional Drawings a R C M 601BQZ 4 b R C M 601BUZ 4 Dimensional Drawings Internal Connection Diagram Dimensional Drawings Internal Connection Diagram 4 2 0...

Page 101: ...l Drawings Applicable SERVOPACK Model SGDS AC DC Reactor Model Reactor Specifications Impedance mH Rated Current A Single phase 100 V A5F X5053 20 0 2 0 01F X5053 02F X5054 5 0 3 0 04F X5056 2 0 5 0 S...

Page 102: ...1 Model JEPMC W6022 2 Dimensional Drawings 3 Wiring Specifications Type Cable Model Cable length L MECHATROLINKCommunication Cable with connectors at both ends JEPMC W6003 A5 0 5 m JEPMC W6003 01 1 0...

Page 103: ...al Drawings 4 4 13 Serial Converter Unit for Fully closed Control Converts the analog output of the encoder to digital data Serially input digital data must be used with the SERVOPACK s fully closed c...

Page 104: ...arrangements refer to 5 5 Fully closed Encoder Connections 82 65 52 60 72 90 1 5 3 14 35 23 2 4 40 UNC tap CN2 2 4 40 UNC tap CN1 Nameplate 4 4 2 hole 2 4 2 hole 10 4 M5 tap depth 10 82 65 72 90 1 5...

Page 105: ...4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 13 Serial Converter Unit for Fully closed Control 4 22...

Page 106: ...NK II Communications 5 13 5 4 1 Wiring Example MECHATROLINK II Communications 5 13 5 4 2 MECHATROLINK II Communications Connectors CN6A CN6B 5 14 5 4 3 Precautions for Wiring MECHATROLINK II Cables 5...

Page 107: ...W to 400 W Single phase 100 to 115 V 10 15 50 60 Hz 50 W to 400 W Single phase 200 to 230 V 10 15 50 60 Hz 800 W Single phase 200 to 230 V 10 15 50 60 Hz Note L3 terminal is not used Do not connect 1...

Page 108: ...B Insert the hook of the lever into the top hole which provided with the SERVOPACK and press down to open the wire terminal as shown in Fig A Use a standard flat blade screwdriver blade width of 3 0...

Page 109: ...CN1 1QF R T 1PL FIL 24V Indicator lamp Surge protector Flywhell diode 1PL 1PRT 1D 1QF FIL 1KM 1Ry Molded case circuit breaker Noise filter Magnetic contactor Relay L1 L1C PG SERVOPACK SGDS 12A U V W...

Page 110: ...nic Waves If a countermeasure against power supply harmonic waves is needed for other requirements insert the AC reactor to AC power supply input of the SERVOPACK or insert the DC reactor to the inter...

Page 111: ...inside the SERVOPACK when power is OFF Do not use a DC power supply for 100V SERVOPACK SGDS F A DC power supply will destroy the SERVOPACK which may cause a fatal accident or fire Do not change the f...

Page 112: ...bles between encoder and SERVOPACK and wiring pin numbers differ depending on servomotor model Refer to 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details 5 2 1 Con...

Page 113: ...t 5 8 5 2 2 CN2 Encoder Connector Terminal Layout 1 PG5V PG power supply 5 V 2 PG 0 V PG power supply 0 V 3 BAT Battery For an absolute encoder 4 BAT Battery For an absolute encoder 5 PS PG serial sig...

Page 114: ...15 7 SO3 Control power supply for sequence signal Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF Extemal latch signal 1 Latched when ON Extemal latch signal 2 L...

Page 115: ...eral purpose input General purpose input General purpose input General purpose input Zero point return deceleration switch input Reverse run prohibited input Servo alarm output Control power supply fo...

Page 116: ...uit CN1 connector terminals 17 18 phase A signal 19 20 phase B signal 21 22 phase C signal are explained below Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PB...

Page 117: ...quence output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Note The maximum allowable voltage and current capacities for photocoupler output circuits...

Page 118: ...rmer SERVOPACK first station Pulse transformer Host controller Pulse transformer Terminating Multiple Axis Connections represents twisted pair wires Always connect a Terminator JEPMC W6020 120 between...

Page 119: ...d is less than the max number of stations the remaining channels can be used as communications retry channels Number of communications retry channels Max number of stations Number of actual stations c...

Page 120: ...g diagram is shown below Note 1 The total cable length must be L1 L2 Ln 50 2 The length of the cable stations L1 L2 Ln must be 0 5 m or more O N OF F Host controller L1 Ln L2 Terminator YASKAWA SERVOP...

Page 121: ...SERVOPACK Serial converter unit SGDS 12A JZSP CLP20 Connection cable by Heidenhain Corp Linear encoder by Heidenhain Corp JZDP A003 000 CN4 CN1 CN2 17 series connector model 17JE 13090 02 D2C socket...

Page 122: ...ons SERVOPACK Serial converter unit SGDS 12A JZSP CLP20 Linear encoder by Renishaw Inc JZDP A005 000 CN4 CN1 CN2 D sub 15 pin connector 17 series connector model 17 JE 13090 02 D2C socket by DDK Ltd S...

Page 123: ...ovides no mechanism to prevent noise interference 5 To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as pos...

Page 124: ...the machine a switching noise current will flow from the SERVOPACK power unit through motor stray capacitance The above grounding is required to prevent the adverse effects of switching noise For grou...

Page 125: ...lines in the same duct or bundle them together Table 5 2 Noise Filters Main Circuit Power SERVOPACK Model Recommended Noise Filter Capacity kW SGDS Model Specifications Single phase 100 V 0 05 A5F FN...

Page 126: ...nd wires 4 When grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to the gr...

Page 127: ...can share a single molded case circuit braker QF or noise filter Always select a QF or noise filter that has enough specifications for the total power capacity load conditions of those servos For det...

Page 128: ...ansfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary damaging the SERVOPACK CAUTION Primary Voltage Secondary Voltage 380 to 480 VAC 380 to 480 VAC 200 VAC 1...

Page 129: ...ctor as shown in the following diagram Note 1 The DC reactor s 1 and 2 terminals are short circuited before shipment Remove the lead wire between these two terminals and connect the DC reactor 2 AC DC...

Page 130: ...the amount of regenerative energy exceeds the processing capacity of the SERVOPACK then install an external regenerative resistor The following table shows the specifications of the SERVOPACK s built...

Page 131: ...mperature increases to between 200 C and 300 C The resistors must be used at or below the rated values Check with the manufacturer for the resistor s load characteristics Use regenerative resistors at...

Page 132: ...when connecting an external regenerative resistor Connect an external regenerative resistor between B1 and B2 terminals Note The user must provide the regenerative resis tor Disconnect the wiring betw...

Page 133: ...5 Wiring 5 7 2 Connecting Externally Regenerative Resistors 5 28...

Page 134: ...8 Start Synchronous Communications SYNC_SET 0DH 6 14 6 3 9 MECHATROLINK II Connection CONNECT 0EH 6 15 6 3 10 Disconnection DISCONNECT 0FH 6 16 6 3 11 Read Non volatile Parameter PPRM_RD 1BH 6 17 6 3...

Page 135: ...e Latch Mode LTMOD_OFF 29H 6 47 6 4 9 Status Monitoring SMON 30H 6 48 6 5 Command Data Field 6 49 6 5 1 Latch Signal Field Specifications LT_SGN 6 49 6 5 2 Option Field Specifications OPTION 6 50 6 5...

Page 136: ...to the following manuals MECHATROLINK System User s Manual SIE S800 26 1 MECHATROLINK Servo Command User s Manual SIE S800 26 2 6 1 2 System Configuration The following illustration shows system conf...

Page 137: ...ss than the max number of stations the remaining channels can be used as communications retry channels Number of communications retry channels Max number of stations Number of actual stations connecte...

Page 138: ...he factory setting for the station address is 41H SW2 bit 3 OFF SW1 1 Table 6 2 Station Address Settings Bit 3 of SW2 SW1 Station Address Bit 3 of SW2 SW1 Station Address OFF 0 Disabled ON 0 50H OFF 1...

Page 139: ...ion Command Response 1 00H 00H Processing classifications Network com mand group Synchronization classifications Asynchronous 2 ALARM Processing time Within transmis sion cycle Subcommand Can be used...

Page 140: ...ine parameters The setting value is enabled with the Set Up Device command CONFIG Can be used during any phase A warning will occur and the command will be ignored in the following cases If a warning...

Page 141: ...he Set Up Device command CONFIG transmission after setting Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During phases other than phases...

Page 142: ...der version are 00 Byte ID_RD Description Command Response 1 03H 03H Processing classifications Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time...

Page 143: ...K will change to Servo OFF if this command is received when the SERVOPACK is Servo ON A warning will occur and the command will be ignored in the following cases During phase 1 Command warning1 A 95A...

Page 144: ...he latest alarm or warning codes A warning will occur and the command will be ignored in the following cases If a Digital Operator is connected Command warning1 A 95A If ALM_RD_MOD is not within range...

Page 145: ...ERVOPACK The data format of alarm code is as follows Note 1 When ALM_RD_MOD 0 or 1 the alarm code 1 byte long of the II SERVOPACK is returned 2 When ALM_RD_MOD 2 or 3 the alarm code 2 byte long of the...

Page 146: ...alarm or warning status Current alarm warning status Alarm status history warning history is not preserved The ALM_CLR_MOD specifications are shown in the following table A warning will occur and the...

Page 147: ...ng edge However if WDT errors are being masked by parameter Pn800 0 processing is completed when this command is received During phase 1 a MECHATROLINK II command warning1 A 95A will occur and the com...

Page 148: ...the transmission cycle is 0 5 ms transmission cycle ms COM_TIM 32 ms and the communications cycle is set in multiples of 0 5 ms A warning will occur and the command will be ignored in the following ca...

Page 149: ...mand Cannot be used 3 STATUS Releases the MECHATROLINK II connection The SERVOPACK changes communication to phase 1 Can be used during any phase When this command is received the following operations...

Page 150: ...s Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within communi cations cycle Subcommand Cannot be used 3 STATUS This command is not supported...

Page 151: ...d with the Set Up Device command CONFIG transmission communication after setting Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During ph...

Page 152: ...nica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within communi cation cycle Subcommand Cannot be used 3 STATUS Sets coordinates REFE can also enable home...

Page 153: ...3 STATUS Applies brake This command is enabled when the parameter Pn50F 2 is not set to 0 This command is enabled only while the servo is OFF Can be used during phases 2 and 3 A warning will occur an...

Page 154: ...cycle Subcommand Cannot be used 3 STATUS Applies brake This command is enabled when Pn50F 2 is set to 1 Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the f...

Page 155: ...s the present position when an absolute encoder is used The reference point home position ZPOINT and software limits will be enabled when an absolute encoder is used Can be used during phases 2 and 3...

Page 156: ...ot be used 3 STATUS Turns sensor OFF The position data is not specified The reference point home position ZPOINT and software limits will be enabled Can be used during phases 2 and 3 If an incremental...

Page 157: ...or details Use DEN output complete to confirm stop completion Latch processing which is dependent on LATCH EX_POSING and SVCTRL will be cancelled ZRET latch processing and ZRET home position alignment...

Page 158: ...r data such as SMON or POSING appended to the command response LPOS is forcefully returned to MONITOR2 for one communication cycle When there is no monitor data such as PRM_RD or ALM_RD appended to th...

Page 159: ...cur and the command will be ignored Check that CMDRDY is 1 to confirm that the Release Latch Mode command has been received It takes 500 s max for the Release Latch Mode command to start Interference...

Page 160: ...me Within communi cations cycle Subcommand Can be used 3 STATUS Reads the current status of the SERVOPACK Can be used during phases 2 and 3 During phase 1 Command warning 1 A 95A will occur and the co...

Page 161: ...ing phase 1 During alarm occurrence when ALM of STATUS is 1 If SENS_ON has not been completed when the absolute encoder is used OPTION field can be selected Refer to 6 5 2 Option Field Specifications...

Page 162: ...S Turns the SERVOPACK OFF Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning 1 A 95A will occur and the command will be ignored Processing time is set in Pn506 Brake re...

Page 163: ...ommand will be ignored in the following cases During phases other than phase 3 Command warning 1 A 95A If the SERVOPACK is Servo OFF Command warning 1 A 95A If the output speed difference from the pre...

Page 164: ...ications OPTION for details The target position TPOS is a signed 4 bytes It is set using an absolute position in the reference coordinate system The target speed TSPD is an unsigned 4 bytes Setting ra...

Page 165: ...TSPD exceeds the limit Data setting warning 2 A 94B OPTION field can be used Refer to 6 5 2 Option Field Specifications OPTION for details The target speed TSPD is a signed 4 bytes The direction is d...

Page 166: ...ed during phases 2 and 3 A command warning will occur and the command will be ignored in the following cases During phases other than phase 3 Command warning 1 A 95A If the SERVOPACK is Servo OFF Comm...

Page 167: ...be used Refer to 6 5 2 Option Field Specifications OPTION for details The target position TPOS is a signed 4 bytes reference unit It is set using an absolute position in the reference coordinate syste...

Page 168: ...positioning is performed according to the final travel distance for external positioning specified in the parameter Pn814 Final Travel Distance for External Positioning When no latch signal is input...

Page 169: ...distance Pn819 After the completion of positioning the coordinate system is set so that the position reached is 0 Can be used during phases 2 and 3 A command warning will occur and the command will be...

Page 170: ...inear Acceleration Parameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Sw...

Page 171: ...gn Soft start acceleration deceleration can also be used by setting the parameters During execution of this command the following bits for STATUS are allocated D8 ZSPD zero speed bit 0 Zero speed not...

Page 172: ...has signed 4 bytes of data The unit for torque reference is maximum motor torque 40000000H The direction is specified by the sign When the designation for TOREF is larger it is clamped at the maximum...

Page 173: ...his command is for maintenance Data monitoring and adjustments can be done Use as SUBCODE 01H When SUBCODE 0 the operation is compatible with SERVOPACKs in the II series Refer to 11 3 Using the Adjust...

Page 174: ...the SET_L command is set to 0 The latch signal cannot be changed while SET_L is set to 1 Motion Any of the motions listed in the following table can be executed Refer to each motion item for operating...

Page 175: ...ase 1 Command warning 1 A 95A will occur for POSING and FEED and the commands will be ignored For INTERPOLATE in all other phases except phase 3 Command warning 1 A 95A will occur and the command will...

Page 176: ...be used COM_MOD Communications mode Refer to the following table COM_TIM Communications cycle ms Set the multiple number of 2 ms in the range of 2 to 32 ms 2 ms COM_TIM 32 ms A command warning will o...

Page 177: ...sponse Processing classifications Network com mand group Processing time Within communi cations cycle 17 00H 00H Not operation command This command can be used with any main commands 18 Substatus 19 2...

Page 178: ...OFF INTERPOLATE POSING FEED LATCH EX_POSING ZRET VELCTRL TRQCTRL 18 Substatus 19 NO NO 20 21 SIZE SIZE 22 PARAMETER PARAMETER 23 24 25 26 27 28 29 Byte ALM_RD Description Command Response Processing c...

Page 179: ...18 Substatus 19 NO NO 20 21 SIZE SIZE 22 PARAMETER 23 24 25 26 27 28 29 Byte PPRM_WR Description Command Response Processing classifications Data communica tions command group Processing time Within 2...

Page 180: ...nds NOP SMON SV_ON OFF INTERPOLATE POSING FEED VELCTRL TRQCTRL 18 LT_SGN Substatus 19 SEL_MON3 4 SEL_MON3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 Byte LTMOD_OFF Description Command Response...

Page 181: ...time Within communications cycle 17 30H 30H Reads the monitoring information specified in SEL_MON3 4 This command has the same function as the main command SMON This command can be used only with the...

Page 182: ...e second byte of the above main commands or the eighteenth byte reserved area of the subcommands Refer to the following table for details on bit allocation Latch Signal Field Latch Signal Selection EX...

Page 183: ...D8 N CL P CL P PI CLR V PPI 0 0 G SEL Bit Name Description Set Value Details D0 0 D1 0 D2 0 D3 ACCFIL Acceleration deceleration filter Note Never change acceleration deceleration filter during output...

Page 184: ...Servo ON 0 Servo OFF 1 Servo ON D4 PON Main power supply ON 0 Main power supply OFF 1 Main power supply ON D5 MLOCK Machine lock status always released 0 Machine lock released D6 ZPOINT Home position...

Page 185: ...tion control mode 1 Within positioning proximity range V_LIM Speed limit 0 Speed limit not detected Torque control mode 1 Speed limit detected D12 P_SOT Forward software limit 0 Out of range 1 Within...

Page 186: ...reference units s Speed control Maximum speed 40000000H A TSPD Target speed Position torque control reference units s Speed control Maximum speed 40000000H B TRQ Torque reference The rated torque is 1...

Page 187: ...CN1 input signal selected in Pn81E 0 0 OFF 1 ON D13 IO13 CN1 input signal selected in Pn81E 1 0 OFF 1 ON D14 IO14 CN1 input signal selected in Pn81E 2 0 OFF 1 ON D15 IO15 CN1 input signal selected in...

Page 188: ...cution Timing Motion commands POSING INTERPOLATE and the OPTION command data field are executed 425 s after they are received 6 6 2 Monitor Data Input Timing The monitor I O and status data is the dat...

Page 189: ...ONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent Proce dure Item Command Description Phase 1 Turn ON control and main circuit power sup...

Page 190: ...nection CONNECT Establish communications Start the WDT count 2 or 3 4 Check information such as device ID ID_RD Read information such as device type 2 or 3 5 Set device PPRM_WR 2 Set the necessary par...

Page 191: ...for processing or canceling when the OT signal is input 1 Processing When the OT Signal Is Input 1 Monitor the OT signal or send a stop command if the OT signal will be input Use either of the follow...

Page 192: ...nction 7 8 7 3 3 Software Limit Settings 7 11 7 4 Settings According to Host Controller 7 13 7 4 1 Sequence I O Signals 7 13 7 4 2 Using the Electronic Gear Function 7 14 7 4 3 Acceleration Decelerati...

Page 193: ...ameters Pn200 to Pn281 Pn803 to Pn808 Set position parameters such as the reference pulse input form and electric gear ratio Speed Parameters Pn300 to Pn384 Set speed parameters such as speed referenc...

Page 194: ...t set parameters For these parameters the Y indicates the location of the bit where the setting is made to select a function The position of each digit in hexadecimal code is shown below Each hexadeci...

Page 195: ...the trial operation procedure for MECHATROLINK II communications 1 Preparations for Trial Operation To prevent accidents initially conduct trial operation with no load connected to the servomotor Bef...

Page 196: ...ning setting 10000 current position 10000 with absolute encoders Rapid traverse speed 400 Make sure the servomotor is operating in the proper direction according to the reference If the reference and...

Page 197: ...y or external force when power is lost The SERVOPACK uses the brake interlock output BK signal to control holding brake operation when using servomotors with brakes To prevent faulty operation due to...

Page 198: ...Power supply Three phase 200 V L1 L2 L3 SERVOPACK Servomotor with brakes U V W M PG Encoder C N 2 Magnetic Contactor Single phase 200 V Brake control relay Brake power supply LPDE 1H01 100 V input LPS...

Page 199: ...n forces movable machine parts to stop if they exceed the allowable range of motion The forward reverse run prohibited function uses software to stop the SERVOPACK This method may not satisfy the stan...

Page 200: ...N OT CN1 8 at low level when ON Reverse rotation allowed Normal operation status CN1 8 at high level when OFF Reverse run prohibited forward rotation allowed Forward rotation end Reverse rotation end...

Page 201: ...Brake Parameter Description Pn001 n 0 Stops the servomotor the same way as changing to Servo OFF according to Pn001 0 n 1 Decelerates the servomotor to a stop at the preset torque value or less and t...

Page 202: ...e software limits can be enabled under the following conditions Under all other circumstances the software limits will not be enabled even if a software limit is exceeded The ZRET command has been exe...

Page 203: ...mit zone is set according to the or direction the negative limit must be less than the positive limit The negative limit must be less than the positive limit Parameter Description Pn801 n 0 No softwar...

Page 204: ...er supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily...

Page 205: ...enerating pulses to be used for control without having to consider the machine deceleration ratio or the number of encoder pulses SERVOPACK Photocoupler 4 3 24 23 2 1 26 25 CN1 24 V 0 V SO3 SO3 BK SO1...

Page 206: ...in physics 0 01 mm 0 0004 in 0 001 mm 0 00004 in 0 1 0 01 inch 4 Determine the load travel distance per load shaft revolution in reference units When the ball screw pitch is 5 mm 0 20 in and the refe...

Page 207: ...o Set the electronic gear ratio according to machine specifications Ball Screw Circular Table Belt and Pulley 5 0 001 5000 reference unit Load shaft P Pitch P 1 revolution P reference unit Load shaft...

Page 208: ...0 00004 in Travel distance per load shaft revolution 6 mm 0 001 mm 6000 Electronic gear ratio B A 32768 4 1 6000 1 Pn20E Pn210 Preset Values Pn20E 13107200 Pn210 36000 17 bit incremental encoder Load...

Page 209: ...Bias Speed loop Current loop M Pn210 Pn20E Pn210 Pn102 Pn210 Pn20E Pn10A Pn107 Pn109 Servomotor PG Position data inter polation SERVOP ACK position control Encoder Bias addition range Pn108 B A B A Po...

Page 210: ...tion Parameter Set the first step linear deceleration when 2 step deceleration is used Speed Time Pn80B Pn80A Pn80C Pn80E Pn80F Pn80D Pn80A First step Linear Acceleration Parameter Setting Range Setti...

Page 211: ...ntial function filter is used for the position reference filter 9 Movement Average Position Reference Filter Movement Average Time Set the average time of movement when a movement averaging filter is...

Page 212: ...ed as the MECHATROLINK II NEAR width in STATUS The NEAR output signal width will also be changed 3 Home Position Width Set the home position detection ZPOINT width 4 Final Travel Distance for External...

Page 213: ...on for homing When the set value of Pn819 is negative or not enough to decelerate a deceleration stop will be performed and the movement begins again in the reverse direction Parameter Meaning Pn816 n...

Page 214: ...nput signal allocations This parameter is set to 1 Do not change this setting Parameter Function Pn000 to Pn825 Specify SERVOPACK functions set servo gains etc Fn000 to Fn01E Execute auxiliary functio...

Page 215: ...factory set for the P OT input signal Any terminal from CN1 8 to 13 can be allocated to the P OT signal through the Pn50A 3 setting 13 SI0 7 SI1 8 SI2 9 SI3 10 SI4 11 SI5 12 SI6 CN1 P OT Parameter De...

Page 216: ...R logic when multiple signals are allocated to the same input circuit 3 Allocating Other Input Signals Input signal allocation can be changed as shown below INFO Input Signal Parameter Description Nam...

Page 217: ...l ON 8 Sets signal OFF D ON when CN1 10 input signal is OFF H level E ON when CN1 11 input signal is OFF H level F ON when CN1 12 input signal is OFF H level 9 to F Sets signal OFF External Latch Sign...

Page 218: ...l on the left from the CN1 25 and 26 output terminal Speed Coinci dence Detection V CMP Pn50E 1 0 to 3 Same as above Rotation Detection TGON Pn50E 2 0 to 3 Same as above Servo Ready S RDY Pn50E 3 0 to...

Page 219: ...ameter settings 2 Analog Monitor The monitor signal of analog monitor can be changed with parameters Pn006 and Pn007 Parameter Description Pn800 n 0 Check performed Factory setting n 1 Ignore communic...

Page 220: ...rake is an emergency stop function Do not repeatedly start and stop the servomotor using the SV_ON SV_OFF command or by repeatedly turning power ON and OFF 1 Dynamic brake DB The dynamic brake is a co...

Page 221: ...topped servomotor Brake torque is at least 120 of the rated motor torque 1 Wiring Example Use the SERVOPACK sequence output signal BK and the brake power supply to form a brake ON OFF circuit The foll...

Page 222: ...machine may move slightly due to gravity depending on machine configuration and brake characteristics If this happens use this parameter to delay Servo OFF timing This setting sets the brake ON timin...

Page 223: ...eration The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after Servo OFF The time set at Pn508 has elapsed since Servo OFF The actual setting w...

Page 224: ...the multi turn data of absolute encoder is to be set to zero Perform the setup using a digital operator The absolute encoder can also be initialized by using a MECHATROLINK II Adjusting ADJ command Re...

Page 225: ...ey Description Display Open the Utility Function Mode main menu and select Fn008 B B F U N C T I O N F n 0 0 7 F n 0 0 8 F n 0 0 9 F n 0 0 A Press the Key The display is switched to the execution disp...

Page 226: ...ulti turn data will change to 0 Set Pn205 to m 1 The setting is enabled by turning OFF the control power and turning it ON again Changing the multi turn limit may change the absolute position data Be...

Page 227: ...urred The setting is enabled by turning OFF the control power and turning it ON again Alarm Display Explanation A CC0 The multi turn limit values for the encoder and SERVOPACK are different A C C 0 F...

Page 228: ...tings are as shown in the following figure To set encoder position X as the machine home position 0 set Pn808 to X Pn808 Pn809 Absolute Home Position Offset Setting Range Setting Unit Factory Setting...

Page 229: ...7 Operation 7 7 4 Absolute Encoder Home Position Offset 7 38...

Page 230: ...Machine Rigidity Setting 8 11 8 2 6 Saving the Results of Normal Autotuning 8 12 8 2 7 Procedure for Saving the Results of Normal Autotuning 8 12 8 3 Advanced Autotuning 8 13 8 3 1 Advanced Autotuning...

Page 231: ...Bias 8 28 8 6 4 Speed Feedback Filter Time Constant 8 28 8 6 5 Speed Feedback Compensation 8 28 8 6 6 Switching Gain Settings 8 30 8 6 7 Predictive Control 8 35 8 6 8 Less Deviation Control 8 40 8 6...

Page 232: ...the servo gain adjustment methods consider the following possible causes Autotuning does not suit the operating conditions Adjust gain with manual adjustments Refer to 8 5 Manual Tuning The selection...

Page 233: ...ed automatically and a notch filter is automatically adjusted while detecting vibration to find servo gains suitable for the machine characteristics This autotuning function is performed using utility...

Page 234: ...the compensation can be set as a percentage If the speed loop gain increases the position loop gain also increases however sometimes the servo rigidity decreases Position Speed 8 6 5 Gain Switching P...

Page 235: ...Pn308 A standard 1st order delay filter for the speed feedback The feedback speed is smoother The response is delayed if a larger value is set Position Speed 8 6 4 Torque Reference Filters Pn401 Pn40...

Page 236: ...s low and mechanical vibration occurs easily such as a belt driven mechanism or a friction is high The speed reference is a stepwise reference If your system s operation conditions include any of thes...

Page 237: ...nfirming motor operation WARNING START Operate with factory settings Set Pn110 0 to 0 Operation OK Load moment of interia varies Operation OK Perform normal autotuning Set Pn110 0 to 1 Adjust the mach...

Page 238: ...at the beginning of operation may cause minor differences in the calculation results of the load moment of inertia causing differences in the SERVOPACK responsiveness each time the power supply is tu...

Page 239: ...will decrease If the setting is too large however vibration may result depending on the machine configuration Set the machine rigidity starting at a low value and increasing it within the range where...

Page 240: ...t o t u n i n g 0 6 D o n e M a c h i n e R i g i d i t y S e t t i n g s f o r O n l i n e A u t o t u n i n g 0 6 Operation Key Description Display Display the main menu of the utility function mode...

Page 241: ...e that was saved for the Moment of Inertia Ratio Pn103 will be used to start normal autotuning Always set the correct moment of inertia ratio when normal autotuning is not used If the moment of inerti...

Page 242: ...ngs are changed if required Torque related function switch Pn408 0 or Pn408 2 1st step notch filter frequency Pn409 2nd step notch filter frequency Pn40C Advanced Autotuning Operation Example Advanced...

Page 243: ...a ratio in Pn103 before using this function 3 Advanced autotuning sets the servo gain according to the Positioning Completed Width Pn522 Set the Positioning Completed Width to the value that will be u...

Page 244: ...vibration occurs or 60 of the gain limit Kv 15 Hz to 100 Hz about five seconds to complete the tuning 1 Normal 70 of the gain where vibration occurs or 70 of the gain limit Kv 30 Hz to 140 Hz about 10...

Page 245: ...he utility function mode appears If the tuning operation or the calculation of the moment of inertia is disabled NO OP is displayed and highlighted and then the main menu of the utility function mode...

Page 246: ...he gain setting level LEVEL for example from 0 Loose to 1 Normal or increase the set value for Pn522 positioning completion width and re execute the advanced autotuning B B F U N C T I O N P n 0 1 6 P...

Page 247: ...dure is used for one parameter autotuning Press the Key and the values of each gain before tuning are displayed Press the Key The tuning level change screen appears Level tuning level setting range 1...

Page 248: ...0 9 7 Operation Key Description Display If you change the value of the Level by pressing the or Key the values for the other servo gains will change To move the cursor between the lower two digits pre...

Page 249: ...ness The positioning time in position control can be reduced Perform the manual tuning in the following cases If the advanced autotuning and one parameter tuning did not give a satisfactory result To...

Page 250: ...s not vibrate Pn102 Position Loop Gain Kp Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 0 1 s 40 0 s Immediately The responsiveness of the position loop in the SERVOPA...

Page 251: ...on of the speed reference The SERVOPACK will be most stable and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the mechanical system T...

Page 252: ...eed Forward Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 1 0 Immediately Pn10A Feed Forward Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation...

Page 253: ...time constant the SERVOPACK s Soft Start Time Constants Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn216 1 Selecting the Mode Switch Setting The SERVOPACK provides the...

Page 254: ...e Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed set in parameter Pn10D Operating Example In...

Page 255: ...acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed Using the Error Pulse Level to Switch Modes This...

Page 256: ...increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Increase speed loop gain Overshoot Undershoot...

Page 257: ...acteristics The Bias Addition Width Pn108 specifies when the Bias Pn107 is added and the width is expressed in position error pulse units The bias input will be added when the position error pulse val...

Page 258: ...ain even though the speed loop gain units 0 1 Hz are different form the position loop gain units 0 1 s 3 Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analo...

Page 259: ...1 when Condition B is established Switching Delay stays unchanged if the switching condition is established This function is effective when the switching conditions are not stable or a precised timin...

Page 260: ...ng table shows the gain combinations for Less Deviation Control The setting methods for the Switching Condition Switching Delay and Switching Time are the same as for PI and I P control Refer to 8 6 8...

Page 261: ...ation No integral compensation Use integral compensation IMPORTANT Parameter Function Pn139 n 0 Manual gain switching n 1 Automatic switching pattern 1 n 0 Switching condition A Positioning completion...

Page 262: ...etting Setting Validation 0 15 to 512 00 ms 0 01 ms 20 00 ms Immediately Pn130 4th Position Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 0 1 s 40 0 s Immedi...

Page 263: ...Setting Unit Factory Setting Setting Validation 0 30 to 32 00 ms 0 01 ms 0 72 ms Immediately Pn1A7 Auxiliary Control Switches Setting Range Setting Unit Factory Setting Setting Validation 1121 Immedia...

Page 264: ...operates by anticipating the future position reference in order to perform high speed positioning In contrast Predictive Control for Locus Tracking follows the actual locus of the position reference b...

Page 265: ...reference For low rigidity machines use the Predictive Control for Locus Tracking if the vibration increases when stopping with this method n X Reserved Do not change n X Reserved Do not change Pn151...

Page 266: ...ratio will also have the benefit of reducing the settling time If the weighting ratio is set too high the torque may become oscillating and overshooting may occur The following diagram shows the typic...

Page 267: ...ol for Positioning Pn150 n 1 The machine is controlled by anticipating the position reference to be input The operation starts at the same time as the command input which reduces the positioning time...

Page 268: ...ing Pn150 1 0 Operation with the Predictive Control function s basic adjustments Is Positioning Control or Locus Tracking Control being used Locus Tracking Control Positioning Control The position loo...

Page 269: ...iation Control Not using Less Deviation Control Position Position Error Time Time Position reference Host reference Using Less Deviation Control with Reference filter Using Less Deviation Control with...

Page 270: ...Setting Setting Validation 0 to 500 Hz 1 Hz 37 Hz Immediately Pn1AA Position Proportional Gain Setting Range Setting Unit Factory Setting Setting Validation 0 to 500 Hz 1 Hz 60 Hz Immediately Pn1AB Sp...

Page 271: ...will be disabled regardless of the setting in Pn110 n x Parameter Meaning Pn10B n 0 Standard position control n 1 Use Less Deviation Control n 2 Use Less Deviation Control with Reference filter n 3 Re...

Page 272: ...changes of Pn119 Set the Gain related Application Switches to Use Less Deviation Control with Reference filter Pn10B 2 2 Turn the power OFF and ON again No Yes No Yes No Yes Are the response results s...

Page 273: ...F n 0 1 6 F n 0 1 7 Operation Key Description Display Display the main menu of the utility function mode and select Fn015 Press the Key The gain values before the tuning are displayed Scroll the displ...

Page 274: ...Control function a Utility Functions The following utility functions will be disabled even if they are selected Rigidity setting during normal autotuning Fn001 Save moment of inertia ratio data obtain...

Page 275: ...actory setting 3rd Step Torque Reference Filter Pn411 Torque reference after filternng 2nd Step 2nd Torque Reference Filter Pn40F Pn410 1st Step Notch Filter Pn409 Pn40A Pn408 Torque Relqted Function...

Page 276: ...104 2 10 10 3 104 Phase Frequency Hz 400 300 200 100 0 deg 300 200 100 0 100 2 10 10 3 10 4 2 10 10 3 10 4 400 300 200 100 0 Notch filter Gain db Frequency Hz Notch filter Phase deg Frequency Hz Para...

Page 277: ...ration on stopping lowers the internal servo gain only when stopping After the time specified for the Vibration Suppression Starting Time Pn421 has elapsed from the time the difference of position ref...

Page 278: ...idation 0 00 to 655 35 ms 0 01 ms 0 00 ms Immediately Position Position Parameter Meaning Pn207 n 0 Disabled Factory Setting n 1 Compensate in forward direction n 2 Compensate in reverse direction Pn2...

Page 279: ...1 and 2 are calculated by the following equations Pin Number Line Color Signal Name Description 1 Red Analog monitor 2 Motor speed 1 V 1000 RPM 2 White Analog monitor 1 Torque reference 1 V 100 Rated...

Page 280: ...ation Torque Pn422 subtract from Torque reference 1 V 100 Rated torque Pn006 Factory Setting n 03 Position error 0 05 V reference unit n 04 Position amp error 0 05 V reference unit Position error afte...

Page 281: ...0 Pn550 Analog Monitor 1 Offset Voltage Setting Range Setting Unit Factory Setting Setting Validation 1000 0 to 1000 0 0 1 V 0 0 V Immediately Pn551 Analog Monitor 2 Offset Voltage Setting Range Setti...

Page 282: ...2 1 Specifications 9 3 9 2 2 Analog Signal Input Timing 9 4 9 2 3 Connection Example of Linear Scale by Heidenhain 9 5 9 2 4 Connection Example of Linear Scale by Renishaw 9 6 9 2 5 Connection Cable b...

Page 283: ...closed control The SERVOPACK model for fully closed control is SGDS 02A Serial converter unit Encoder cable Cable with connectors at both ends Linear encoder Provided by the customer SGDS 02A SERVOPA...

Page 284: ...al Resolution Input 2 phase sine wave 1 256 pitch Max Response Frequency 250 kHz Analog Input Signals cos sin Ref Differential input amplitude 0 4 V to 1 2V Input signal level 1 5 V to 3 5V Pole Senso...

Page 285: ...l be counted up Precautions 1 Never perform insulation resistance and withstand voltage tests 2 When analog signals are input to the serial converter unit noise influence on the analog signals affects...

Page 286: ...5 0 59 3 0 12 14 35 0 57 23 0 91 2 4 40 UNC tapped holes CN2 2 4 40 UNC tapped holes CN1 Nameplate 4 4 2 0 17 holes 2 4 2 0 17 holes 10 4 M5 tapped holes depth 10 0 39 Dimensions in mm in 17 series co...

Page 287: ...3 23 65 2 56 72 2 84 90 3 54 1 5 0 59 3 0 12 14 35 0 57 23 0 906 300 30 11 81 1 18 4 M5 tapped holes depth 10 0 39 2 4 40 UNC tapped holes CN1 CN2 Nameplate 4 4 2 0 17 holes 2 4 2 0 17 holes 10 0 39 5...

Page 288: ...ngth L Cable with connectors at both ends Connection between SERVOPACK connector CN4 and serial converter unit JZSP CLP20 03 JZSP CLP20 05 JZSP CLP20 10 JZSP CLP20 15 JZSP CLP20 20 3 m 9 84 in 5 m 15...

Page 289: ...losed Control Note Either an incremental or an absolute encoder can be used SERVOPACK MECHATROLINK II movement reference Elec tronic gear Divider Error counter Pitch M PG Machine Serial converter unit...

Page 290: ...using a fully closed encoder for the reversed rotation mode the signal PBO is reversed and output Pn51B Excessive Error Level Between Servomotor and Load Position Setting Range Setting Unit Factory S...

Page 291: ...ameters must be set Pn000 n X for semi closed control and Pn002 n X for fully closed control Change the settings according to your required specifications Incorrect settings may cause run away of the...

Page 292: ...Alarm Display Table 10 3 10 1 3 Warning Displays 10 6 10 1 4 Troubleshooting of Alarm and Warning 10 7 10 1 5 Troubleshooting for Malfunction without Alarm Display 10 20 10 2 Inspection and Maintenanc...

Page 293: ...splayed letter by letter on the indicator on the front panel of the SERVOPACK Bit data Bit Position as shown in the figure Bit Data Display Contents Motor rotation detection Lit when the servomotor is...

Page 294: ...the setting conditions DB stop N A A 050 Combination Error SERVOPACK and servomotor capacities do not match each other DB stop Available A 100 Overcurrent or Heat Sink Overheated An overcurrent flowed...

Page 295: ...A A b33 Current Detection Error 3 Phase W current sensor is faulty DB stop N A A bF0 System Alarm 0 Internal program error 0 of SERVOPACK occurred DB stop N A A bF1 System Alarm 1 Internal program er...

Page 296: ...or 7 Zero speed stop N A A E40 MECHATROLINK II Transmission Cycle Setting Error Transmission cycle setting of MECHATROLINK II is incorrect Zero speed stop Available A E50 MECHATROLINK II Synchronizati...

Page 297: ...itch of Pn310 A 920 Regenerative Overload This warning occurs before the regenerative overload alarm A 320 occurs If the warning is ignored and operation continues a regenerative overload alarm may oc...

Page 298: ...ned ON The control power supply lowered and sometimes ranged from 30 VAC to 60 VAC Correct the power supply and set Fn005 to initialize the parameter The SERVOPACK EEPROM and the related circuit are f...

Page 299: ...range by changing program JOG movement speed Pn533 Increase program JOG movement speed Pn533 Occurred when attempting to execute advanced autotuning F017 after changing electronic gear ratio Pn20E Pn2...

Page 300: ...m has been reset by turning OFF the power too many times Change the method to reset the alarm The overload or regenerative power exceeds the regenerative resistor s capacity Reconsider the load and op...

Page 301: ...curred when the main circuit power supply was turned ON In the DC power input mode AC power is supplied through L1 and L2 or L1 L2 and L3 For AC power input Pn001 2 0 For DC power input Pn001 2 1 In t...

Page 302: ...wiring The encoder wiring is incorrect Correct the encoder wiring Malfunction occurred due to noise interference in the encoder wiring Take measures against noise for the encoder wiring A SERVOPACK f...

Page 303: ...turned ON A SERVOPACK board fault occurred Replace the SERVOPACK Occurred during operations other than the turning ON OFF of the main circuit A SERVOPACK board fault occurred Replace the SERVOPACK Oc...

Page 304: ...n the absolute encoder was used as an incremental a SERVOPACK board fault occurred Replace the SERVOPACK When the control power supply was turned ON using an absolute encoder Setting Pn002 2 0 The bat...

Page 305: ...again If this alarm occurs frequently replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK Occurred during operation A serial converter unit malfunctioned Turn the SERVO...

Page 306: ...ct encoder cable specifications Use tinned annealed copper twisted pair or twisted pair shielded wire with a core of at least 0 12 mm2 0 0002 in2 Noise interference occurred because the wiring distanc...

Page 307: ...on Wiring of cable between serial converter unit and SERVOPACK is incorrect or faulty contact Correct the cable wiring The specified cable is not used between serial converter unit and SERVOPACK Use t...

Page 308: ...uring MECHATROLINK II communications WDT data of host controller was not updated correctly Update the WDT data at the host controller correctly A SERVOPACK fault occurred Replace the SERVOPACK A E51 M...

Page 309: ...ault occurred Replace the SERVOPACK Occurred when the servomotor was running The contact in three phase power supply wiring is faulty Correct the power supply wiring Three phase power supply is unbala...

Page 310: ...running Do not run the servomotor in servo OFF status Make the setting so that the errors are cleared in servo OFF status Adjust the detection level A 910 Overload Warning for the alarms A710 and A72...

Page 311: ...etting To validate new setting of this parameter turn OFF the power and ON again Turn OFF the power and ON again A 94A Data Setting Warning 1 Occurred when PRM_RD PRM_WR or PPRM_WR command was sent Di...

Page 312: ...election Encoder type differs from parameter setting Check incremental or absolute encoder Set parameter Pn002 2 to the encoder type being used Servo ON SV_ON command is not sent Check the command sen...

Page 313: ...or near the high current line Install a surge protector to the encoder cable FG varies by influence of machines such as welder on the servomotor side Check if the machine is correctly grounded Ground...

Page 314: ...er cable with the specified specifications Noise interference because the encoder cable distance is too long The wiring distance must be 20 m 65 6 ft max The encoder cable distance must be within the...

Page 315: ...ft max The encoder cable distance must be within the specified range Noise influence due to damaged encoder cable Check if the encoder cable is bent or its sheath is damaged Correct the encoder cable...

Page 316: ...higher than normal Exterior According to degree of contamination Clean with cloth or compressed air Insulation Resistance Measurement At least once a year Disconnect SERVOPACK and test insulation resi...

Page 317: ...before shipping Be sure to confirm that the parameters are properly set before starting operation Table 10 8 Periodical Part Replacement Part Standard Replacement Period Replacement Method Operating C...

Page 318: ...tive Resistors 11 6 11 2 List of Parameters 11 11 11 2 1 Utility Functions List 11 11 11 2 2 List of Parameters 11 12 11 2 3 Monitor Modes 11 37 11 3 Using the Adjusting Command ADJ 3EH 11 38 11 3 1 A...

Page 319: ...Feeding distance 0 275 m Ball screw length LB 1 0 m Feeding time tm 1 2 s max Ball screw diameter DB 0 03 m Friction coefficient 0 2 Ball screw lead PB 0 01 m Mechanical efficiency 0 9 90 Coupling ma...

Page 320: ...ue 2 39 N m Instantaneous peak torque 7 16 N m Servomotor moment of inertia 2 10 10 4 kg m2 SERVOPACK allowable load moment of inertia 31 5 10 4 kg m2 8 Verification on the Provisionally Selected Serv...

Page 321: ...in Linear motion section mass M 80 kg Positioning distance 0 25 m Ball screw length LB 0 8 m Positioning time tm Less than 1 2 s Ball screw diameter DB 0 016 m Electrical stop accuracy 0 01 mm Ball sc...

Page 322: ...ERVOPACK Rated output 200 W Rated motor speed 3000 RPM Rated torque 0 637 N m Instantaneous peak torque 1 91 N m Motor moment of inertia 0 116 10 4 kg m2 SERVOPACK allowable load moment of inertia 3 4...

Page 323: ...rative Resistors 1 Simple Calculation When driving a servomotor with the horizontal axis check the external regenerative resistor requirements using the calculation method shown below a SERVOPACKs wit...

Page 324: ...rnal regenerative resistor is needed Operating Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regeneration mode operati...

Page 325: ...on speed RPM If the above calculation determines that the amount of regenerative power Wk processed by the built in resistor is not exceeded then an external regenerative resistor is not required If t...

Page 326: ...generated torque N m in continuous regeneration mode operation period NMG Servomotor rotation speed RPM for same operation period as above tG Same operation period s as above b Servomotor Winding Resi...

Page 327: ...t power supply voltage and its absorbable energy A5F to 02F AC Input Power Supply Voltage Vms SERVOPACK for 100 V Absorb able Energy J 04F 0 15 20 30 39 29 14 20 47 50 35 10 5 25 40 100 110 120 90 Mod...

Page 328: ...rtia ratio data obtained from normal autotuning Fn008 Absolute encoder multi turn reset and encoder alarm reset Fn00C Manual zero adjustment of analog monitor output Fn00D Manual gain adjustment of an...

Page 329: ...rward direction Sets CW as forward direction Reverse Rotation Mode Reserved Do not change Rotation Direction Selection Reserved Do not change Reserved Do not change Reserved Do not change 4th digit 3r...

Page 330: ...e N A Set VLIM to 0 VLIM operates as the speed limit value Velocity Control VELCTRL Option Refer to 6 3 30 Velocity Control 0 1 2 3 4 Unused Uses fully closed encoder pulse without phase C incremental...

Page 331: ...reference speed 1 V 1000 min Reserved Do not change Motor load position error 0 01 V 1 reference unit Positioning completion signal positioning completed 5 V positioning not completed 0 V Speed feed f...

Page 332: ...eference speed 1 V 1000 min Reserved Do not change Motor load position error 0 01 V 1 reference unit Positioning completion signal positioning completed 5V positioning not completed 0V Speed feed forw...

Page 333: ...9 Feed Forward Gain 2 0 to 100 1 0 8 6 1 Pn10A Feed Forward Filter Time Constant 2 0 00 to 64 00 ms 0 01 ms 0 00 ms Note Can be changed at any time and immediately validated after changing Called an o...

Page 334: ...nd is sent Parameter No Name Data Size Setting Range Units Factory Setting Changing Method Reference Section 0 1 2 3 4 0 1 Uses internal torque reference as the switching condition Level setting Pn10C...

Page 335: ...0 ms Pn135 Gain Switching Waiting Time 1 2 0 to 65535 ms 1 ms 0 ms 8 6 6 Pn136 Gain Switching Waiting Time 2 2 0 to 65535 ms 1 ms 0 ms The parameter Pn111 setting is enabled only when the parameter P...

Page 336: ...Units Factory Setting Changing Method Reference Section 0 1 0 1 2 3 4 5 Manual gain switching Automatic gain switching pattern 1 Changes automatically 1st gain to 2nd gain when the switching conditio...

Page 337: ...01 ms 0 72 ms Pn1A4 Torque Reference Filter Time Constant 2 0 00 to 25 00 ms 0 01 ms 0 30 ms 8 6 8 Note Can be changed at any time and immediately validated after changing Called an online parameter V...

Page 338: ...ing Changing Method Reference Section 0 1 2 3 0 1 2 0 1 n 4th digit 3rd digit 2nd digit 1st digit Do not perform integral compensation processing Perform integral compensation processing Factory setti...

Page 339: ...changed at any time and immediately validated after changing Called an online parameter Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated whe...

Page 340: ...s 8 6 9 Pn402 Forward Torque Limit 2 0 to 800 1 800 Pn403 Reverse Torque Limit 2 0 to 800 1 800 Pn404 Forward External Torque Limit 2 0 to 800 1 100 Pn405 Reverse External Torque Limit 2 0 to 800 1 10...

Page 341: ...ravity Compensation Torque 2 200 00 to 200 00 0 01 0 00 Pn456 Sweep Torque Reference Amplitude 2 1 to 800 1 15 Pn501 Zero Clamp Level 2 0 to 10000 RPM 1 RPM 10 RPM Pn502 Zero Speed Level 2 1 to 10000...

Page 342: ...3 4 5 6 7 8 9 A B 0 1 ON when CN1 13 input signal is ON L level ON when CN1 7 input signal is ON L level ON when CN1 8 input signal is ON L level ON when CN1 9 input signal is ON L level ON when CN1 1...

Page 343: ...9 input signal is ON L level ON when CN1 10 input signal is ON L level ON when CN1 11 input signal is ON L level ON when CN1 12 input signal is ON L level Sets signal ON Sets signal OFF ON when CN1 13...

Page 344: ...a Size Setting Range Unit Factory Setting Changing Method Reference Section Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change 4th digit 3rd digit 2nd digit 1s...

Page 345: ...anging Method Reference Section 0 1 2 3 0 to 3 Do not use Outputs the signal from CN1 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output ter...

Page 346: ...gnal ON Sets signal OFF Inputs the reversal signal from CN1 13 input terminal Inputs the reversal signal from CN1 7 input terminal Inputs the reversal signal from CN1 8 input terminal Inputs the rever...

Page 347: ...er a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM_WR command...

Page 348: ...0 0 V 8 7 Pn551 Analog Monitor 2 Offset Voltage 2 1000 0 to 1000 0 V 0 1 V 0 0 V 1 Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor 2 The...

Page 349: ...A 95 Ignores communications warning A 96 Ignores both data setting warning A 94 and communications warning A 96 Ignores both command warning A 95 and communications warning A 96 Ignores data setting...

Page 350: ...2 100 Pn80E 2nd Step Linear Deceleration Constant 2 1 to 65535 10000 reference units s2 100 Pn80F Deceleration Constant Switching Speed 2 0 to 65535 100 reference units s 0 Pn810 Exponential Function...

Page 351: ...1823 Reference Unit 100 Pn81B Reserved Do not change Pn81C Reserved Do not change Pn81D Reserved Do not change Note Can be changed when DEN 1 Immediately validated after changing Do not change when DE...

Page 352: ...r Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter...

Page 353: ...bits Reference Unit 000DH Fully Closed Encoder Count Upper 32 bits Reference Unit 0010H Un000 Motor Rotation Speed RPM 0011H Un001 Speed Reference RPM 0012H Un002 Torque Reference 0013H Un003 Rotation...

Page 354: ...nce pulse speed displayed only in position control mode RPM Un008 Error counter position error amount displayed only in position control mode reference unit Un009 Accumulated load ratio in percentage...

Page 355: ...the load moment of inertia during operation in order to maintain the target value for speed loop gain or position loop gain Normal autotuning may not work well in the following cases When the cycle f...

Page 356: ...rform tuning Set Pn110 0 to1 Adjust the machinerigidity setting Set Pn110 0 to 2 Y es Load moment of inertia changes Operation OK Adjust the friction compensation Set Pn110 0 to 2 End Make servogain a...

Page 357: ...ng command ADJ 3EH The procedure for making changes is shown below The machine rigidity can be set also by changing the utility function Fn001 using a digital operator 1 By setting byte 1 of the MECHA...

Page 358: ...rocessing the factory set values in the SERVOPACK To save the results of normal autotuning and use them as the initial values set in the SERVOPACK when the SERVOPACK is turned ON again it is necessary...

Page 359: ...application makes few changes there is no need to continue calculating the moment of inertia while the system is in operation Instead continue to use the value that was calculated when the system was...

Page 360: ...nter the Setup Mode 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 CMDRDY of STATUS is set to 1 and CAD...

Page 361: ...etting Mode will be entered 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 CMDRDY of STATUS is set to 1...

Page 362: ...can be set 2 Send the following data in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 100EH in the CDATA field 3 CMDRDY of STATUS is set to 1 and CADDR...

Page 363: ...40 0 Hz Speed Loop Gain Pn101 20 00 ms Speed Loop Integral Time Constant Pn102 40 0 s Position Loop Gain Pn103 0 Moment of Inertia Ratio Pn104 40 0 Hz 2nd Speed Loop Gain Pn105 20 00 ms 2nd Speed Loop...

Page 364: ...t Setting Pn207 0010 Position Reference Function Switch Pn209 Reserved Do not change Pn20A 32768 pitches Rev Number of External Scale Pitch Pn20E 4 Electronic Gear Ratio Numerator Pn210 1 Electronic G...

Page 365: ...Torque Reference Filter Time Constant Pn420 100 Damping for Vibration Suppression on Stopping Pn421 1000 ms Vibration Suppression Starting Time Pn422 0 00 Gravity Compensation Torque Pn456 15 Sweep To...

Page 366: ...me Pn536 one time Number of Times of Program JOG Movement Pn540 200 0 Hz Gain Limit Pn550 0 0 V Analog Monitor 1 Offset Voltage Pn551 0 0 V Analog Monitor 2 Offset Voltage Pn600 0 W Regenerative Resis...

Page 367: ...proach Speed 2 Pn819 Pn81A 100 refer ence units Final Travel Distance for homing Pn81D Reserved Do not change Pn81E 0000 Input Signal Monitor Selection Pn820 Pn821 0 reference units Latching Area Uppe...

Page 368: ...8 13 alarm display and troubleshooting 10 7 alarm display table 10 3 alarm reset 10 3 ALM 5 11 ALM_CLR 6 13 ALM_RD 6 11 6 45 aluminum electrolytic capacitor replacement 10 25 ambient storage humidity...

Page 369: ...ol power input terminal 5 2 cooling fan replacement 10 25 CSA standards 1 10 D DC power supply input 5 6 DC reactor terminal connection 5 2 debug function 7 28 DEC 5 10 deceleration ratio 7 15 details...

Page 370: ...tion control 8 40 line driver output circuit 5 11 load moment of inertia 3 14 11 38 load regulation 3 2 LT_SGN 6 41 6 49 LTMOD_OFF 6 26 6 47 LTMOD_ON 6 25 6 47 M machine rigidity changing 11 40 machin...

Page 371: ...tion monitor 7 28 output circuit interface 5 11 output signal connections 7 14 output signals 5 11 output circuit signal allocation 7 26 output signal selections 7 26 overload characteristics 3 13 ove...

Page 372: ...5 regenerative resistor capacity 5 26 regenerative resistor terminal 5 2 regenerative resistors 5 25 calculating the required capacity 11 6 selection 2 27 relays replacement 10 25 release brake 6 21 r...

Page 373: ...dimensional drawings 3 20 installation 3 5 internal block diagrams 3 7 load moment of inertia 3 13 model designations 2 5 nameplate 1 3 overload characteristics 3 13 power losses 3 12 ratings and spec...

Page 374: ...g of alarm 10 7 troubleshooting of warning 10 7 TRQCTRL 6 39 turn sensor OFF 6 23 turn sensor ON 6 22 U UL standards 1 10 undershooting 8 24 using more than one SERVOPACK 5 22 V V CMP 5 11 VELCTRL 6 3...

Page 375: ...Sigma II User s Manual Index Index 8...

Page 376: ...5000 Fax 44 12 3645 8182 Internet http www yaskawa co uk YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg 901 188 3 1 Ga Euljiro Joong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 2639 YASKAWA ELE...

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