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YASKAWA SGDV-R70F, Manual

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part number X15-03-04

Digital

board part number X15-02-09 with jumper installed

Motor Encoder cable

with batter or battery adaptor JZSP-CSP12-E

Standoff MPN number Hex6.35x17.46 and MM number 100536

Installation

Hardware Kit

Remove cover

Remove mounting screw

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Summary of Contents for SGDV-R70F

Page 1: ...10 Yaskawa Analog Drive Interface Board Diagram Sigma5 User Manual EtherCAT Network Module Yaskawa Sigma 7 Ethercat RapidPath Absolute Encoders Homing Yaskawa Analog Monitor Output Yaskawa Drive Reso...

Page 2: ...1 2 R90A 1 2 1R6A 2 4 2R8A 3 4 3R8A 3 4 5R5A 6 8 7R6A 6 8 120A 7 5 8 180A 10 10 200A 15 16 330A 25 25 470A 29 32 550A 37 Breaker 590A 54 Breaker 780A 73 Breaker 1R9D 1 4 2 3R5D 2 9 4 5R4D 4 3 6 8R4D...

Page 3: ...n the SERVOPACK is incorrect The software version of SERVOPACK that caused the alarm is older than that of the written parameter Check Fn012 to see if the set software version agrees with that of the...

Page 4: ...atio Pn20E Pn210 A 044 Semi closed Fullyclosed Loop Control Parameter Setting Error The setting of the fully closed module does not match with that of Pn002 3 Check the settings of Pn002 3 The setting...

Page 5: ...e used so frequently The generated regenerative resistor value exceeded the SERVOPACK regenerative energy processing capacity Check the regenerative load ratio Un00A to see how many times the regenera...

Page 6: ...peration Reconsider the system including servo machine and operating conditions The setting of parameter Pn600 is smaller than the external regenerative resistor s capacity Check the external regenera...

Page 7: ...y voltage within the specified range The external regenerative resistance is too high for the actual operating conditions Check the operating conditions and the regenerative resistance Select a regene...

Page 8: ...gain Pn100 The moment of inertia ratio Pn103 value is greater than the actual value or is greatly changed Check the moment of inertia ratio Set the moment of inertia ratio Pn103 to an appropriate val...

Page 9: ...isplay Fn000 to see if the overload alarm was reported Change the method for resetting the alarm A 7A0 cont Heat Sink Overheated Detected when the heat sink temperature exceeds 100 C Excessive load or...

Page 10: ...r by checking the grounding and other wiring A 850 Encoder Overspeed Detected when the control power supply was turned ON Detected on the encoderside The servomotor was running at 200 min 1 or higher...

Page 11: ...eplace the external encoder A b10 Speed Reference A D Error Detected when the servo is ON A malfunction occurred in the speed reference input section Clear and reset the alarm and restart the operatio...

Page 12: ...Replace the SERVOPACK A C10 Servo Overrun Detected Detected when the servomotor power is ON The order of phases U V and W in the servomotor wiring is incorrect Check the servomotor wiring Confirm that...

Page 13: ...from the encoder FG A C92 Encoder Communications Timer Error Noise interference occurred on the I O signal line from the encoder Take countermeasures against noise for the encoder wiring Excessive vi...

Page 14: ...l converter unit and SERVOPACK is incorrect or contact is faulty Check the external encoder wiring Correct the cable wiring The specified cable is not used between serial converter unit and SERVOPACK...

Page 15: ...encoder in the opposite direction or change the setting of the external encoder usage method Pn002 3 to reverse the direction Mounting of the load e g stage and external encoder joint installation are...

Page 16: ...erator and the SERVOPACK is faulty Check the connector contact Insert securely the connector or replace the cable Malfunction caused by noise interference Keep the digital operator or the cable away f...

Page 17: ...File Type Document Name View Download Print Sigma 5 Series User Manual Launch Keywords Yaskawa software guide manual drive servo manufacturer list yaskawa Sigma 5 Series User Manual...

Page 18: ...File Type Document Name View Download Print Yaskawa Brake Wiring Launch Keywords Brake yaskawa wiringbrake 24vbrake 24v motors z axis stuck braking motor Brake Wiring for Yaskawa...

Page 19: ...cument Name View Download Print Drive Interface Board Diagram for Yaskawa Launch Keywords Yaskawa boards pinout pin numbers schematic interface board X15 02 09 X15 02 09 Drive Interface Board Diagram...

Page 20: ...ew Download Print Yaskawa Analog Drive Interface Board Diagram Launch Keywords cn1 analog yaskawa pinout diagram sheet layout analogio i o i o board yaskawaboard X15 02 10 X15 02 10 Yaskawa Analog Dri...

Page 21: ...load Print Sigma5 User Manual EtherCAT Network Module Launch Keywords Yaskawa network ethernet sigma 5 five sigma7 schematic manufacturer drives drive servo motor control yaskawa Sigma SIGMA Sigma5 Us...

Page 22: ...as you can and still get motion and jog into the hard stops and then manually turn ballscrew back 1 4 turn 3 Jog to middle of travel and scribe a line across the axis slide 2 Click Reset Absolute Enco...

Page 23: ...5 Read Position actual internal value 6 Set the negative of that value to home offset 7 Cycle power to drive...

Page 24: ...Wire the analog input to the analog monitors on CN5 Use a cable as shown below Yaskawa Analog Monitor Output Sigma 7 Pulse and Direction Drive Wiring Setup Options...

Page 25: ...Factor and Offset Analog Monitor 1 Pn006 XX02 Load Meter...

Page 26: ...to 20 00 Proof Actual Output Voltage Pn552 0 01 Actual Rated Torque Substitute Max Output Voltage for Actual Output Voltage and Max Torque for Actual Rated Torque Max Output Voltage Pn552 0 01 Max Ra...

Page 27: ...ring Pn20E 64 Encoder Output Pn212 4096 Double Resolution Step pulses per motor turn 32 768 Description Parameter Value Electronic Gearing Pn20E 32 Encoder Output Pn212 8192 Mach4 or Mach3 Adjustment...

Page 28: ...ENC EXTN Cbl W BAT 0 3M Battery adapter 100536 Hex6 35x17 46 Standoff for Apollo III board 150063 6 32 1 4 SS PAN PH Apollo III Absolute Encoder license Use the VSI Device Manager to confirm the Abso...

Page 29: ...t will not work with the Absolute Encoder interface Yaskawa servo motors need a battery on the encoder cable to use the Absolute Encoder feature A new encoder cable can be purchased with the battery i...

Page 30: ...Servo Adaptor board part number X15 02 09 with jumper installed Motor Encoder cable with batter or battery adaptor JZSP CSP12 E Standoff MPN number Hex6 35x17 46 and MM number 100536 Installation Hard...

Page 31: ...Install Standoff Install Buffer Board...

Page 32: ...Reinstall mounting screw Install jumper on servo adaptor J5 pin 2 3 next to the labeled SEN...

Page 33: ...Install wire from Buffer Board to all Yaskawa servo adaptors for SEN signal...

Page 34: ...Install Motor Encoder Cable with Battery...

Page 35: ...on Setup Set up the encoder when the servo ON signal S ON is OFF Software and Parameters Setup Yaskawa Servo Drive Servo Drive Parameters Servo Drive Absolute Encoder Setup The rotational data will be...

Page 36: ...the absolute encoder Read the number of encoder pulses per revolution in parameter Pn212 Now we need to multiply the encoder pulses by 4 to convert them to encoder counts Example Encoder Pulses Pn212...

Page 37: ...encoder positions from the Servo Drives and mark each axis as Homed When the Control software is disabled and you press Reset the control will update the encoder positions again Another option is to...

Page 38: ...m all the motors mapped to the axis and find the difference between the master motor encoder and the slave motor encoder If the motor encoder positions match then all motors are synced and ready for m...

Page 39: ...anging the value to negative will fix this problem Control Parameters are where many of the features and machine functions are setup There are many common parameters that are the same across all machi...

Page 40: ...Now you can view and edit any of the Control Parameters Use the Predefined Filters or enter your own search terms in the Filter box...

Page 41: ...n the USB folder copied over Open SigmaWin and connect to drive If drive is not showing go to device manager and find the yaskawa drive and update drivers found on server production product servo yask...

Page 42: ...eady you will have to enter tuning less mode Press OK and then cycle power on the drive 6 Click the Execute button to calculate inertia NOTE If worse than 500 5 1 ratio your motor will likely not work...

Page 43: ...7 Select the No Reference Input Option in the Autotuning Area and then click the Autotuning Button 8 Configure Conditions...

Page 44: ...g 4 Edit distance if necessary 3 revs is default 5 Select Start tuning using the default settings can be done without this option but this is the typical way to do your first tune 9 Select Next 1 Turn...

Page 45: ...t value for each parameter 5 Then make both drives match each parameter If additional tuning is required you can run through the same procedure above but modify selections on Mode Selection and Mechan...

Page 46: ...parameter setting have to hold it for a second or two Record this number so you know your reference point Press the up down arrow to change the setting Press and hold the Data key when done Repeat fo...

Page 47: ...and select the needed parameter file It may give you a warning just select yes Check the Select all box in the lower left then click Write in the lower right The drive should now have the correct par...

Page 48: ...manual was written for the full version of TwinCAT but will be mostly correct for using the EtherCATCfg exe Open EtherCATCfg exe from the desktop under MachMotion Programs and Drivers Shortcut Enter t...

Page 49: ...ble the auto gain adjustment Run the first step of Auto Tuning with SigmaWin to calculate the Moment of Inertia Ratio and save that to the drive Also verify that the calculated percent is less than 40...

Page 50: ...eady you will have to enter tuning less mode Press OK and then cycle power on the drive 6 Click the Execute button to calculate inertia NOTE If worse than 500 5 1 ratio your motor will likely not work...

Page 51: ...7 Select the No Reference Input Option in the Autotuning Area and then click the Autotuning Button 8 Configure Conditions...

Page 52: ...g 4 Edit distance if necessary 3 revs is default 5 Select Start tuning using the default settings can be done without this option but this is the typical way to do your first tune 9 Select Next 1 Turn...

Page 53: ...t value for each parameter 5 Then make both drives match each parameter If additional tuning is required you can run through the same procedure above but modify selections on Mode Selection and Mechan...

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