YASKAWA SGDV series User Manual Download

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8 Fully-closed Loop Control

8.3.1 Motor Rotation Direction

8-16

(3) Relation between Motor Rotation Direction and External Encoder Pulse Phases

Refer to the table below.

• Set Pn002 to n.1

(forward rotation with forward reference) if the output of the external encoder is cos

lead and the motor is turning counterclockwise; set Pn002 to n.3

(reverse rotation with forward refer-

ence) if it is sin lead. When Pn000 is set to n.

0 and Pn002 to n.1

, manually turn the motor shaft

counterclockwise. If the fully-closed feedback pulse counter (Un00E) counts up, set Pn002 to n.1

. If

the Un00E counts down, set Pn002 to n.3

• The output pulses are phase-B advanced if the motor is turning forward regardless of the setting in Pn000.0.

Parameter

Pn002.3 (External Encoder Usage)

Pn000.0

(Motor

rotation

direction)

Reference
direction

Forward

reference

Reverse

reference

Forward

reference

Reverse

reference

Motor rotation
direction

CCW

External encoder
output

cos lead

sin lead

cos lead

Encoder output pulse

Phase B

lead

Phase A

lead

Phase B

lead

Phase A

lead

Reference
direction

Forward

reference

Reverse

reference

Forward

reference

Reverse

reference

Motor rotation
direction

CCW

External encoder

output

sin lead

cos lead

sin lead

Encoder output pulse

Phase B

lead

Phase A

lead

Phase B

lead

Phase A

lead

Summary of Contents for SGDV series

Page 1: ...o Drives USER S MANUAL For Use with Large Capacity Models Design and Maintenance MANUAL NO SIEP S800000 98C 1 2 3 4 5 6 7 8 9 10 Outline Wiring and Connection Operation Adjustments Utility Functions Fn Monitor Displays Un Fully closed Loop Control Troubleshooting Appendix Panel Display and Operation of Digital Operator ...

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

Page 3: ...m a stan dard Σ V SERVOPACK to a large capacity Σ V SERVOPACK For details refer to 3 4 1 Input Signal Allocations Monitor Displays The monitor display digits are different for P OT and N OT Make sure you are reading the displays correctly when checking signal operation For details refer to 7 3 Monitoring Input Signals Description of Technical Terms The following table shows the meanings of terms u...

Page 4: ... change Setting Unit Factory Setting When Enabled Classification Setup Parameter Meaning When Enabled Classification Pn002 After restart n 0 Factory setting n 1 Uses the absolute encoder as an incremental encoder Uses the absolute encoder as an absolute encoder Setup Parameter number Parameter number Position Torque Control methods for which the parameter applies Speed Speed control Position contr...

Page 5: ...it of parameter Pn002 Indicates the value for the 3rd digit of parameter Pn002 Indicates the value for the 4th digit of parameter Pn002 Pn002 0 x or n x Pn002 1 x or n x Indicates that the value for the 1st digit of parameter Pn002 is x Indicates that the value for the 2nd digit of parameter Pn002 is x Pn002 2 x or n x Pn002 3 x or n x Indicates that the value for the 3rd digit of parameter Pn002 ...

Page 6: ...p Rotational Motor No SIEP S800000 89 Σ V Series User s Manual For Use with Large Capacity Models Design and Maintenance Rotational Motor Command Option Attachable Type This Manual Σ V Series User s Manual Safety Module No SIEP C720829 06 Σ V Series User s Manual INDEXER Module No SIEP C720829 02 Σ V Series User s Manual Operation of Digital Operator No SIEP S800000 55 AC Servomotor Safety Precaut...

Page 7: ...s injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty 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 indicate that fire is prohibited as follows Indicates compulsory acti...

Page 8: ...need not be changed except for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorre...

Page 9: ...d the main circuit magnetic contactor is turned OFF Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in this ...

Page 10: ...er than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particula...

Page 11: ...ing including the wiring to the main circuit terminals has been completed Remove detachable main circuit terminals from the SERVOPACK and the converter prior to wiring Insert only one power line per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with i e short circuits adjacent wires Install a battery at either the host controller or the battery un...

Page 12: ...it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using tuning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK and the converter heatsinks regenerative resistor or servomotor while power is ON...

Page 13: ... are sometimes 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 manual are typical examples and may not match the product you received If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices ...

Page 14: ...d product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer tha...

Page 15: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety w...

Page 16: ...ame Model European Directives Harmonized Standards Remarks SERVOPACK SGDV H J Converter SGDV COA Machinery Directive 2006 42 EC EN ISO13849 1 2008 EN 954 1 Certified EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 50178 EN 61800 5 1 Servomotor SGMVV EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage ...

Page 17: ...s Performance Level Safety Integrity Level IEC 61508 SIL2 IEC 62061 SILCL2 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 1 7 10 9 1 h 0 17 of SIL2 Category EN 954 1 Category 3 Performance Level EN ISO 13849 1 PL d Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCave Low Stop Category IEC 60204 1 Sto...

Page 18: ...on and Maintenance 1 16 Chapter 2 Panel Display and Operation of Digital Operator 2 1 2 1 Panel Display 2 2 2 1 1 Status Display 2 2 2 1 2 Alarm and Warning Display 2 2 2 1 3 Hard Wire Base Block Display 2 2 2 1 4 Overtravel Display 2 2 2 2 Operation of Digital Operator 2 3 2 3 Utility Functions Fn 2 4 2 4 Parameters Pn 2 5 2 4 1 Parameter Classification 2 5 2 4 2 Notation for Parameters 2 5 2 4 3...

Page 19: ... 5 Installation Standards 3 43 3 9 6 Connections 3 43 3 10 Noise Control and Measures for Harmonic Suppression 3 46 3 10 1 Wiring for Noise Control 3 46 3 10 2 Precautions on Connecting Noise Filter 3 48 3 10 3 Connecting a Reactor for Harmonic Suppression 3 50 Chapter 4 Operation 4 1 4 1 Setting Switches S2 and S3 for Option Module Functions 4 3 4 2 Basic Functions Settings 4 4 4 2 1 Inspection a...

Page 20: ... Type of Adjustments and Basic Adjustment Procedure 5 3 5 1 1 Adjustments 5 3 5 1 2 Basic Adjustment Procedure 5 4 5 1 3 Monitoring Operation during Adjustment 5 5 5 1 4 Safety Precautions on Adjustment of Servo Gains 5 8 5 2 Tuning less Function 5 11 5 2 1 Tuning less Function 5 11 5 2 2 Tuning less Levels Setting Fn200 Procedure 5 14 5 2 3 Related Parameters 5 16 5 3 Advanced Autotuning Fn201 5 ...

Page 21: ...Detection Signal Fn00E 6 18 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Signal Fn00F 6 19 6 12 Write Prohibited Setting Fn010 6 21 6 13 Servomotor Model Display Fn011 6 23 6 14 Software Version Display Fn012 6 24 6 15 Resetting Configuration Errors in Option Modules Fn014 6 25 6 16 Vibration Detection Level Initialization Fn01B 6 26 6 17 Display of SERVOPACK and Servomotor ...

Page 22: ...5 8 3 2 Sine Wave Pitch Frequency for an External Encoder 8 17 8 3 3 Setting Encoder Output Pulses PAO PBO and PCO 8 17 8 3 4 External Absolute Encoder Data Reception Sequence 8 18 8 3 5 Electronic Gear 8 21 8 3 6 Alarm Detection 8 22 8 3 7 Analog Monitor Signal 8 23 8 3 8 Speed Feedback Method during Fully closed Loop Control 8 23 Chapter 9 Troubleshooting 9 1 9 1 Alarm Displays 9 2 9 1 1 List of...

Page 23: ...6 1 5 1 Ratings 1 6 1 5 2 Basic Specifications 1 7 1 6 SERVOPACK and Converter Internal Block Diagrams 1 10 1 6 1 Three phase 200 V 1 10 1 6 2 Three phase 400 V 1 11 1 7 Examples of Servo System Configurations 1 12 1 8 SERVOPACK Model Designation 1 13 1 9 Converter Model Designation 1 14 1 10 Combinations of Servomotors SERVOPACKs and Converters 1 15 1 11 Inspection and Maintenance 1 16 ...

Page 24: ...escribes the part names of SERVOPACKs Use a SERVOPACK together with a converter For details refer to 1 10 Combinations of Servomotors SER VOPACKs and Converters Note For the purpose of this description the SERVOPACK is shown with the front cover removed Always keep the front cover attached when using the SERVOPACK No Name Description Reference DIP switch S3 Refer to the manual of the connected com...

Page 25: ...n terminals DU DV and DW Use these terminals to connect the dynamic brake unit Do not connect servomotors to these terminals Ground terminal Be sure to connect to protect against electrical shock 3 1 Main Circuit Wiring Plunger Pull it to open the plastic cover for use of the option module switch and other components CN3 Connector for digital operator Connects a digital operator option JUSP OP05A ...

Page 26: ...103 and CN104 are equivalent outputs It is normally not necessary to connect CN104 SERVOPACK converter I O connector CN901 Connect this connector to CN901 on the converter Charge indicator Lights orange when the main circuit power sup ply is ON and stays lit as long as the internal capacitor remains charged Therefore do not touch the SERVOPACK even after the power supply is turned OFF if the indic...

Page 27: ... output terminals P and N is abnormal Converter LED indicator FANSTOP Lights red when an error occurs while the con verter fan is running Converter LED indicator MC FAULT Lights red when an error occurs when the inrush current limit relay is used Main circuit DC voltage output terminals P and N Connect these terminals to P and N on the SER VOPACK Regenerative resistor connecting terminals B1 and B...

Page 28: ...er Model SGDV COA 2BAA 3GAA 3GAA Continuous Output Current Arms 116 160 200 Instantaneous Max Output Current Arms 240 340 460 Regenerative Resistor Unit External Main Circuit Power Supply Three phase 200 to 230 VAC 10 to 15 50 60 Hz Control Power Supply Single phase 200 to 230 VAC 10 to 15 50 60 Hz Overvoltage Category III SERVOPACK Model SGDV 750J 101J 131J Converter Model SGDV COA 3ZDA 5EDA 5EDA...

Page 29: ...exposure to water oil or chemicals Free of dust salts or iron dust Pollution Degree 2 Altitude 1000 m or less Others Free of static electricity strong electromagnetic fields magnetic fields or exposure to radioactivity Harmonized Standards Application pending UL508C EN 50178 EN 55011 group 1 class A EN 61000 6 2 EN 1800 3 EN 61800 5 1 EN 954 1 IEC 61508 1 to 4 Mounting Standard Base mounted Option...

Page 30: ...ce Digital operator Model JUSP OP05A 1 E personal computer can be con nected with SigmaWin 1 N Communica tions N Up to 15 stations possible at RS422A Axis Address Setting Set by parameter USB Commu nications CN7 Interface Personal computer can be connected with SigmaWin Communica tions Standard Complies with standard USB1 1 12 Mbps LED Display CHARGE and POWER indicators one 7 segment LED Option M...

Page 31: ...lecting and Connecting a Regenerative Resistor Unit for details on regenerative resistor unit 6 Implement risk assessment and confirm that the safety requirements of the machine have been met Safety Function Input HWBB1 HWBB2 Baseblock signal for power module Output EDM1 Monitoring status of internal safety circuit fixed output Standards 6 Application pending EN 954 Category 3 IEC 61508 SIL2 Optio...

Page 32: ...L1C L2C 㧗㧙 5 V 15 V 24 V 2 24 V 24 V Fan 1 Fan 2 Main circuit power supply Control power supply Voltage sensor Control power supply MC drive Voltage sensor gate drive Voltage sensor Temperature sensor Converter I O SERVOPACK control power supply Panel display Feedback module Safety module Command option module Fan 3 for 55 kW models only Fan 2 Fan 1 Fan 4 Voltage sensor Gate drive Temperature sen...

Page 33: ...nsor Gate drive Fan 4 Fan 3 for 55 kW models only Temperature sensor Converter I O SERVOPACK control power supply Servomotor ENC M CN103 CN104 P24 V 0 V CN901 Control power supply 24 V 6 24 V 5 V 15 V ASIC PWM control etc CPU Position and speed calculation etc CN2 Panel display CN21 CN22 CN31 Feedback module Safety module Command option module P24 V P24 V P24 V 24 V B1 DU DV DW CN115 Dynamic brake...

Page 34: ...DU DW DBON DB24 3 6 3 Motor fan cable Regenerative resistor 4 SGMVV Servomotor Motor main circuit cable Battery case when an absolute encoder is used Encoder cable Thermostat cable When not using the safety function use the SERVOPACK with the safety function jumper connector inserted When using the safety function insert a connection cable specifically for the safety function Safety function devic...

Page 35: ...e Specifications Code Interface 01 Analog voltage and pulse train reference rotational servomotor 11 MECHATROLINK II communications ref erence rotational servomotor 21 MECHATROLINK III communications reference rotational servomotor under development E1 Command option for rotational servomotor 11th 12th digits Software Specification Code Specification 00 Standard 7th digit Design Revision Order 1st...

Page 36: ...ative converter 4th 5th 6th digits Power Supply Capacity and Voltage Specifications Code Power Supply Capacity Voltage 2BA 22 kW 200 V 3GA 37 kW 3ZD 30 kW 400 V 5ED 55 kW 7th digit Design Revision Order 1st 2nd 3rd digits 4th 5th 6th digits 7th digit COA 3ZD A 8th 9th 10th 11th 12th 13th digits 000000 8th 9th 10th 11th 12th 13th digits Hardware Specifications Code Specifications 000000 Base mounte...

Page 37: ... Servomotor SERVOPACK Converter Motor speed Model SGMVV Capacity Model SGDV Model SGDV COA Three phase 200 VAC 1500 min 1 2BA B 22 kW 121H 2BAA 3ZA B 30 kW 161H 3GAA 3GA B 37 kW 201H 800 min 1 2BA D 22 kW 121H 2BAA 3ZA D 30 kW 161H 3GAA 3GA D 37 kW 201H Three phase 400 VAC 1500 min 1 2BD B 22 kW 750J 3ZDA 3ZD B 30 kW 3GD B 37 kW 101J 5EDA 4ED B 45 kW 131J 5ED B 55 kW 800 min 1 2BD D 22 kW 750J 3ZD...

Page 38: ...and contact your Yaskawa representative After an examination of the part in question we will determine whether the parts should be replaced or not Item Frequency Procedure Comments Exterior At least once a year Check for dust dirt and oil on the surfaces Clean with compressed air Loose Screws Check for loose terminal block and connector screws Tighten any loose screws The parameters of any SERVOPA...

Page 39: ...atus Display 2 2 2 1 2 Alarm and Warning Display 2 2 2 1 3 Hard Wire Base Block Display 2 2 2 1 4 Overtravel Display 2 2 2 2 Operation of Digital Operator 2 3 2 3 Utility Functions Fn 2 4 2 4 Parameters Pn 2 5 2 4 1 Parameter Classification 2 5 2 4 2 Notation for Parameters 2 5 2 4 3 Setting Parameters 2 6 2 5 Monitor Displays Un 2 8 ...

Page 40: ...e in the following order 2 1 4 Overtravel Display If overtravelling occurs the display will change in the following order Display Meaning Rotation Detection TGON Lights if motor speed exceeds the value set in Pn502 Factory setting 20 min 1 Baseblock Lights for baseblock Servomotor power OFF Reference Input Lights when a reference is being input Command Option Module Communications Status Display L...

Page 41: ...eration examples of utility functions Fn parameters Pn and monitor displays Un when using a digital operator are described in this chapter Operations can be also performed with SigmaWin For more information on the usage of the digital operator refer to Σ V Series USER S MANUAL Operation of Digital Operator No SIEP S800000 55 ...

Page 42: ...e servomotor stops If the origin search completed normally Complete is displayed on the right top on the screen 5 When the origin search is completed press the Key The status display changes from RUN to BB and the servomotor turns OFF The display Complete changes to Z Search 6 Press the Key The display returns to the main menu of the utility function 7 To enable the change in the setting turn the ...

Page 43: ... 0 Set each parameter individu ally Tuning Parameters Parameters for tuning con trol gain and other parame ters Set Pn00B 0 to 1 There is no need to set each parameter individually Pn406 Emergency Stop Torque Setting Range 0 to 800 1 800 After change Setting Unit Factory Setting When Enabled Classification Setup Parameter number Position Torque The control methods for which the parameters applies ...

Page 44: ...n 㨚㧜㧜㧜㧜 MECHA Step Display after Operation Keys Operation 1 Press the Key to select the main menu of parame ters and monitor displays 2 Press the or Key to move the cursor to Un 3 Press the or Key to change Un to Pn 4 Press the Key to move the cursor to the column on the right of Pn 5 Press the arrow keys to display Pn304 To move the cursor to different columns Key To change the settings Key 6 Pr...

Page 45: ... the right of Pn 5 Press the Key to display Pn008 6 Press the Key to move the cursor to Pn008 0 7 Press the Key once to move the cursor to Pn008 1 8 Press the Key to change the setting of Pn008 1 to 1 9 Press the Key to write the settings 㧮㧮 ޓޓޓޓޓޓ 㧙㧼㧾㧹㧛㧹㧻㧺㧙㨁㨚㧜㧜㧜㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧞㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜㧮㧮 ޓޓޓޓޓޓ 㧙㧼㧾㧹㧛㧹㧻㧺㧙㨁㨚㧜㧜㧜㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧞㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜㧮...

Page 46: ...I O signal status and SERVOPACK internal status For details refer to 7 2 Viewing Monitor Displays The digital operator shows numbers beginning with Un The following four settings are the factory settings 㧮㧮 ޓޓޓޓޓޓ 㧙㧼㧾㧹㧛㧹㧻㧺㧙㨁㨚㧜㧜㧜㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧞㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜 MECHA Shows the setting of Un000 motor rotating speed as 0 min 1 ...

Page 47: ...3 4 2 Output Signal Allocations 3 27 3 5 Examples of Connection to Host Controller 3 29 3 5 1 Sequence Input Circuit 3 29 3 5 2 Sequence Output Circuit 3 31 3 6 Wiring Communications Using Command Option Modules 3 33 3 7 Encoder Connection 3 34 3 7 1 Encoder Signal CN2 Names and Functions 3 34 3 7 2 Encoder Connection Examples 3 34 3 8 Selecting and Connecting a Regenerative Resistor Unit 3 36 3 8...

Page 48: ...ection 3 2 3 10 Noise Control and Measures for Harmonic Suppression 3 46 3 10 1 Wiring for Noise Control 3 46 3 10 2 Precautions on Connecting Noise Filter 3 48 3 10 3 Connecting a Reactor for Harmonic Suppression 3 50 ...

Page 49: ...4 P㧘N DU㧘DV㧘DW M II Terminals Name Specifications P N Main circuit DC voltage input termi nals Connect these terminals to the P and N terminals on the converter U V W Servomotor terminals Connect these terminals to the Servomotor terminals CN103 CN104 Control power input connectors CN103 is the 24 VDC 15 input CN104 takes the same input but it is normally not necessary to connect it DU DV DW Dynam...

Page 50: ... connector model 231 202 026 000 Manufactured by Wago Company of Japan Ltd P N Main circuit DC voltage output ter minals Connect these terminals to the P and N terminals on the SERVO PACK Ground terminal Connect this terminal to the power supply ground terminal and then ground it B1 B2 Regenerative resistor connection terminals Connect these terminals to the regenerative resistor unit 1 2 DC react...

Page 51: ...PVC or metal ducts take into account the reduction of the allowable current Use a heat resistant wire under high surrounding air or panel temperatures where polyvinyl chloride insulated wires will rapidly deteriorate Cable Type Allowable Conductor Temperature C Symbol Name IV 600 V polyvinyl chloride insulated wire 60 HIV 600 V grade heat resistant polyvinyl chloride insulated wire 75 Nominal Cros...

Page 52: ...P N M8 3 0 Bus bar attached to the converter L1 L2 L3 M8 3 0 38 1 R38 8 1 2 M8 3 0 38 1 R38 8 CN101 L1C L2C Connector 1 25 16 B1 B2 M8 3 0 8 8 R8 8 M8 9 0 to 11 0 38 1 R38 8 SGDV 161H SGDV COA3GAA SERVO PACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 100 4 0 CB100 S8 DU DV DW M6 3 0 5 5 10 R5 5 6 M8 9 0 to 11 0 100 4 0 100 8 Converter P N M10 12 to 20 Bus bar attached to the conver...

Page 53: ...R22 8 CN101 24 V 0 V Connector 1 25 16 B1 B2 M8 3 0 8 8 R8 8 M8 9 0 to 11 0 22 4 R22 8 SGDV 101J SGDV COA5EDA SERVO PACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 38 1 R38 8 DU DV DW M6 3 0 3 5 12 3 5 6 M8 9 0 to 11 0 38 1 R38 8 Converter P N M10 12 to 20 Bus bar attached to the converter L1 L2 L3 M10 12 to 20 38 1 R38 10 1 2 M10 12 to 20 38 1 R38 10 CN101 24 V 0 V Connector 1 25 ...

Page 54: ... Tools by J S T Mfg Co Ltd Body Head Dies 3 5 6 YHT 2210 R5 5 6 R8 8 R8 10 YHT 8S YPT 150 1 TD 221 TD 211 R14 10 Body only YPT 150 1 or Body YF 1 Head YET 150 1 TD 222 TD 211 R22 8 TD 223 TD 212 R38 8 R38 10 TD 224 TD 212 R60 8 R60 10 TD 225 TD 213 100 8 R100 10 CB100 S8 TD 228 TD 214 ...

Page 55: ...Bus bar attached to the converter L1 L2 L3 M8 3 0 1 0 1 2 M8 3 0 1 0 CN101 L1C L2C Connector 14 B1 B2 M8 3 0 6 M8 9 0 to 11 0 1 0 SGDV 161H SGDV COA3GAA SERVOPACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 3 0 DU DV DW M6 3 0 10 M8 9 0 to 11 0 3 0 Converter P N M10 12 to 20 Bus bar attached to the converter L1 L2 L3 M10 12 to 20 3 0 1 2 M10 12 to 20 3 0 CN101 L1C L2C Connector 14 B...

Page 56: ...01 24 V 0 V Connector 14 B1 B2 M8 3 0 8 M8 9 0 to 11 0 3 SGDV 101J SGDV COA5EDA SERVOPACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 1 DU DV DW M6 3 0 10 M8 9 0 to 11 0 1 Converter P N M10 12 to 20 Bus bar attached to the converter L1 L2 L3 M10 12 to 20 2 1 2 M10 12 to 20 2 CN101 24 V 0 V Connector 14 B1 B2 M10 12 to 20 8 M8 9 0 to 11 0 2 SGDV 131J SGDV COA5EDA SERVOPACK P N M10 12...

Page 57: ... Kit Model 3 SGDV 121H SGDV COA2BAA SERVOPACK U V W R60 8 TP 060 black JZSP CVT9 121H E DU DV DW R5 5 6 TP 006 black R60 8 Converter L1 L2 L3 R60 8 TP 060 black JZSP CVT9 2BA E 1 2 R60 8 TP 060 white B1 B2 R14 8 TP 022 white R60 8 SGDV 161H SGDV COA3GAA SERVOPACK U V W CB80 S8 TP 100 black JZSP CVT9 161H E DU DV DW R5 5 6 TP 006 black 80 8 Converter L1 L2 L3 80 10 TP 100 black JZSP CVT9 3GA1 E 1 2...

Page 58: ...3 SGDV 750J SGDV COA3ZDA SERVOPACK U V W R38 8 TP 038 black JZSP CVT9 750J E DU DV DW R5 5 6 TP 006 black R38 8 Converter L1 L2 L3 R38 8 TP 038 black JZSP CVT9 3ZD E 1 2 R38 8 TP 038 white B1 B2 R8 8 TP 014 white R38 8 SGDV 101J SGDV COA5EDA SERVOPACK U V W R60 8 TP 060 black JZSP CVT9 101J E DU DV DW R5 5 6 TP 006 black R60 8 Converter L1 L2 L3 R38 10 TP 038 black JZSP CVT9 5ED1 E 1 2 R38 10 TP 0...

Page 59: ...y Head Dies R5 5 6 YHT 2210 R8 8 YHT 8S YPT 150 1 TD 221 TD 211 R14 8 Body only YPT 150 1 or Body YF 1 Head YET 150 1 TD 222 TD 211 R22 10 TD 223 TD 212 R38 8 R38 10 TD 224 TD 212 R60 8 TD 225 TD 213 70 8 70 10 TD 226 TD 213 80 8 80 10 CB80 S8 TD 227 TD 214 100 8 R100 10 TD 228 TD 214 150 8 CB150 S10 TD 229 TD 215 ...

Page 60: ...er Select the power supply specifications for the parts in accordance with the input power supply The typical main circuit wiring examples are shown below When turning ON the control power supply and the main circuit power supply turn them ON at the same time or turn the main circuit power supply after the control power supply When turning OFF the power supplies first turn the power for the main c...

Page 61: ...CN901 CN103 CN103 CN101 CN2 DU DV DW CN115 N N 2QF Three phase 200 VAC Regenerative resistor unit Servo power supply ON Servo power supply OFF Converter SERVOPACK Dynamic brake unit Fan Thermostat 1QF Molded case circuit breaker 2QF Molded case circuit breaker 1FIL Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay 1PL Indicator lamp...

Page 62: ...r lamp 1SA Surge absorber 2SA Surge absorber 3SA Surge absorber 1D Flywheel diode Thermostat Dynamic brake unit Three phase 400 VAC Regenerative resistor unit DC power supply 24 V 1 2 1FLT 3SA Fan M ENC 24 V 0 V ALM ALM CN1 31 32 1D 1Ry 1Ry 1Ry U V W DB24 DBON P P SERVOPACK Converter B1 B2 L1 L2 L3 24 V 0 V U V W R S T 1QF 2KM 1KM 1KM 2KM 1SA 2SA 1KM 1KM Servo power supply ON Servo power supply OF...

Page 63: ...o power Three phase 400 VAC Relay terminal Relay terminal Relay terminal Relay terminal Relay terminal Relay terminal 1QF Molded case circuit breaker 2QF Molded case circuit breaker 3QF Molded case circuit breaker 4QF Molded case circuit breaker 1FIL Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay 1PL Indicator lamp 1SA Surge abso...

Page 64: ...rs is recommended Be sure to ground at only one point Ground the servomotor directly if the servomotor is insulated from the machine The signal cable conductors are as thin as 0 2 mm2 or 0 3 mm2 Do not impose excessive bending force or tension Use a molded case circuit breaker 1QF or fuse to protect the main circuit The SERVOPACKs and converters connect directly to a commercial power supply They a...

Page 65: ...ct a fuse to the input side Select the fuse or molded case circuit breaker for the input side from among models that are compliant with UL standards The table above also provides the nominal values of current capacity and inrush current Select a fuse and a molded case circuit breaker which meet the cutoff characteristics shown below Main circuit control circuit No breaking at three times the curre...

Page 66: ... Main Circuit s Capacitor The following table shows the discharging time of the main circuit s capacitor Input Voltage Combinations Discharging Time min SERVOPACK Model SGDV Converter Model SGDV COA Three phase 200 VAC 121H 2BAA 20 161H 3GAA 25 201H 3GAA 30 Three phase 400 VAC 750J 3ZDA 5 101J 5EDA 10 131J 5EDA 10 ...

Page 67: ... PACK and the converter The busbars are different for different converter models CN901 I O signal connector between the SERVOPACK and converter CN103 Control power supply input connector I O signal connection cable 24 VDC control power supply cable SERVOPACK Converter M II Cable Name Cable Model Cable Length Description IO signal connection cable JZSP CVI02 A4 E 0 4 m This cable connects the CN901...

Page 68: ... figure Note The shapes of the ends of the busbars are different for the SERVOPACK and converter connections and for the P ter minal and N terminal connections 2 SGDV COA3GAA COA5EDA Converters The busbars can be connected in any direction Converter s P terminal Converter s N terminal SERVOPACK s P terminal SERVOPACK s N terminal M II M II ...

Page 69: ...on module For details refer to the manual for the command option module that is connected Signal Pin No Name Function Refer ence Section P OT N OT 42 43 Forward run prohibited Reverse run prohibited With overtravel prevention Stops servomotor when movable part travels beyond the allowable range of motion 4 2 2 SI1 41 Command option module input 1 Connects the external input signal used in the comm...

Page 70: ...ON S RDY CLT VLT WARN NEAR Can be allocated Positioning completion Speed coincidence detection Rotation detection Servo ready Torque limit Speed limit detection Warning Near The allocation of an output signal to a pin can be changed in accordance with the function required PAO PAO 33 34 Phase A signal Encoder output pulse signals for two phase pulse train with 90 phase differential 4 2 5 4 5 5 PBO...

Page 71: ...al Allocations The number of pins on the CN1 connector is different on a large capacity Σ V SERVO PACK 50 pins and a standard Σ V SERVOPACK 26 pins If you are using both types of SERVOPACK use the correct connector model numbers when ordering and the cor rect signal assignments SO1 BK SO1 BK SO2 SO2 SO3 ALM ALM 25 26 27 28 31 32 24VIN 24 V 3 3 kΩ 47 42 44 43 45 46 SI0 SI1 P OT N OT SI4 SI5 SI6 Gen...

Page 72: ...ll allocated signals resulting in an unexpected machine operation Input Signal Names and Parameters Validity Level Input Signal CN1 Pin Numbers Connection Not Required SERVOPACK judges the connection 40 41 42 43 44 45 46 Always ON Always OFF Forward Run Prohibited Pn50A 3 H P OT 0 1 2 3 4 5 6 7 8 L P OT 9 A B C D E F Reverse Run Prohibit ed Pn50B 0 H N OT 0 1 2 3 4 5 6 7 8 L N OT 0 A B C D E F Inp...

Page 73: ...and Option Module Input 1 1 Pn511 0 L SI1 0 1 2 3 4 5 6 7 8 H SI1 9 A B C D E F Command Option Module Input 4 1 Pn511 1 L SI4 2 2 2 2 4 5 6 7 8 H SI4 2 2 2 2 D E F Command Option Module Input 5 1 Pn511 2 L SI5 2 2 2 2 4 5 6 7 8 H SI5 2 2 2 2 D E F Command Option Module Input 6 1 Pn511 3 L SI6 2 2 2 2 4 5 6 7 8 H SI6 2 2 2 2 D E F DB Answer Pn515 2 L DBANS 0 1 2 3 4 5 6 7 8 H DBANS 9 A B C D E F co...

Page 74: ... Limit Detection Pn50F 1 VLT 1 2 3 0 Brake Pn50F 2 BK 1 2 3 0 Warning Pn50F 3 WARN 1 2 3 0 Near Pn510 0 NEAR 1 2 3 0 Pn512 0 1 Polarity inversion of CN1 25 26 0 Not invert at factory setting Pn512 1 1 Polarity inversion of CN1 27 28 Pn512 2 1 Polarity inversion of CN1 29 30 Output Signal CN1 Pin Numbers Invalid 㧔not use㧕 25 26 27 28 29 30 Brake Pn50F 2 BK 1 2 3 0 The parameter set values to be use...

Page 75: ...ty must be 50 mA minimum The SERVOPACK s input circuit uses bidirectional photocoupler Select either the sink circuit or the source circuit according to the specifications required for each machine Note The connection example in 3 3 3 shows sink circuits The ON OFF polarity differs between when a sink circuit is connected and when a source circuit is connected Relay Circuit Example Open collector ...

Page 76: ...t Circuit As for wiring input signals for safety function input signals make common 0 V It is necessary to make an input signal redundant Input Signal Connection Example 24 V power supply Switch Fuse HWBB1 4 3 HWBB1 HWBB2 HWBB2 3 3 kΩ CN8 3 3 kΩ SERVOPACK 6 5 3 3 kΩ 3 3 kΩ ...

Page 77: ...al and 19 20 phase C signal are explained below These terminals output the following signals via the line driver output circuits Output signals for which encoder serial data is converted as two phases pulses PAO PAO PBO PBO Origin pulse signals PCO PCO Connect the line driver output circuit through a line receiver circuit at the host controller Incorrect wiring or incorrect voltage application to ...

Page 78: ...DM1 EDM1 0 V 8 7 CN8 24 V Power Supply SERVOPACK Host controller Type Signal Name Pin No Output Status Meaning Output EDM1 CN8 8 CN8 7 ON Both the HWBB1 and HWBB2 signals are working nor mally OFF The HWBB1 signal the HWBB2 signal or both are not working normally Items Characteristic Remarks Maximum Allowable Voltage 30 VDC Maximum Current 50 mADC Maximum Voltage Drop at ON 1 0 V Voltage between E...

Page 79: ...d a SERVOPACK using communications with command option modules Connect the connector of the communications cable to the command option module For details refer to the manual of the connected command option module L3 Ln L1 L2 DC24V DC 0V MP2300 YASKAWA TEST ޓ ޓ ޓ Option Option RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CPU I O M I II 218IF 01 ERR COL RX RUN STRX TX INIT TEST ON...

Page 80: ... connectors varies in accordance with the servomotor that is used 2 represents shielded twisted pair wires Signal Name Pin No Function PG 5 V 1 Encoder power supply 5 V PG 0 V 2 Encoder power supply 0 V BAT 3 Battery BAT 4 Battery PS 5 Serial data PS 6 Serial data Shield Shell 35 0 V SG 1 PAO PAO PBO PBO PCO PCO 1 2 5 6 CN2 33 34 36 19 20 ENC CN1 Incremental encoder Connector shell Connector shell...

Page 81: ...tall a battery on the host controller PCO 21 22 BAT BAT 33 34 35 36 19 20 CN1 PAO PAO PBO PBO PCO SERVOPACK Phase A Phase B Phase C Connector shell CN1 2 3 Host controller Battery Phase A Phase B Phase C R R R R terminating resistance 220 to 470 Ω Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent SG 1 0 V ENC 3 4 CN2 Absolute encoder Connector shell ...

Page 82: ...tive or the sales depart ment for more details WARNING Be sure to connect the regenerative resistor unit correctly Do not short circuit between B1 and B2 Doing so may result in fire or damage to the regenerative resistor unit SERVOPACK or converter or other devices Main Circuit Power Supply Voltage SERVO PACK Model SGDV Converter Model SGDV COA Model of Applicable Regenerative Resistor Unit Resis ...

Page 83: ...als and connect the B2 terminals between the converter and regenerative resistor unit Connect them as shown in the following figures 1 Converter Model SGDV COA2BAA COA3ZDA 2 Converter Model SGDV COA3GAA COA5EDA B1 B2 Regenerative Resistor Unit JUSP RA E SERVOPACK Converter B1 B2 M II B1B2 B1B2 Regenerative Resistor Unit JUSP RA E SERVOPACK Converter M II ...

Page 84: ...ernal regenerative resistor For natural convection cooling Set the value to a maximum 20 of the actually installed regenerative resistor capacity W For forced convection cooling Set the value to a maximum 50 of the actually installed regenerative resistor capacity W Example Set 20 W 100 W 20 for the 100 W regenerative resistor unit with natural convection cooling method Pn600 2 unit 10 W WARNING I...

Page 85: ...tive resistor unit specified by Yaskawa Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cooling If you use a non specified regenerative resistor unit follow the specifications of the regenerative resistor unit when you install it 70 min 70 min 200 min 200 min Mounting direction Units mm Up ...

Page 86: ...g cables to connect the dynamic brake unit or dynamic brake contactor to CN115 on the SERVOPACK Main Circuit Power Supply Voltage SERVOPACK Model SGDV Dynamic Brake Unit Model Resistance Specifications Star Wiring Dynamic Brake Contactor and Surge Absorption Unit Three phase 200 V 121H 161H 201H JUSP DB02 E 180 W 0 3 Ω 3 Built into dynamic brake unit Three phase 400 V 750J 101J JUSP DB04 E 180 W 0...

Page 87: ...0 Set Pn00D to either n 0D or n 1 depending on your system Set Pn601 to 20 of the resistor capacity of your dynamic brake 3 Not Using a Dynamic Brake Set Pn001 to n 2 Not necessary to set Pn00D Set Pn601 to 0 Parameter Meaning When Enabled Classification Pn001 n 0 Factory setting Stops servomotor by applying DB dynamic brake After restart Setup n 1 Stops servomotor by applying DB and then releases...

Page 88: ... 2 Detects DB contactor errors when the input signal of CN1 42 is ON closed while the DB is applied n 3 Detects DB contactor errors when the input signal of CN1 43 is ON closed while the DB is applied n 4 Detects DB contactor errors when the input signal of CN1 44 is ON closed while the DB is applied n 5 Detects DB contactor errors when the input signal of CN1 45 is ON closed while the DB is appli...

Page 89: ...ic brake resistor from a company other than Yaskawa follow the specifications of the dynamic brake resistor when you install it 3 9 6 Connections 1 Using a Yaskawa Dynamic Brake Unit A dynamic brake contactor is built into a Yaskawa dynamic brake unit The connections are shown in the following figure Note The dynamic brake answer function Pn515 2 cannot be used because there are no auxiliary conta...

Page 90: ...ctivated the Pn515 parameter in the SERVOPACK must be set to n E If the dynamic brake answer signal is not used Pn515 is set to n 8 default setting Note 1 If you assign more than one signal to the same input circuit OR logic will be used and any of the input signals will cause the circuit to operate This may result in unexpected operation 2 The maximum current for DB24 and DBON is 300 mA DV DU DW ...

Page 91: ... the input signals will cause the circuit to operate This may result in unexpected operation 2 The maximum current for DB24 and DBON is 300 mA If the coil current of NC dynamic brake contactors is 300 mA or higher obtain an NO relay that can switch the contactor coil current and voltage and a power supply for the contactor coil DV DU DW SERVOPACK 24 V For I O power supply 0 V Auxiliary contacts Dy...

Page 92: ... and the encoder cables with a gap of at least 30 cm Do not share the power supply with an electric welder or electrical discharge machine If the SERVOPACK is placed near equipment that generates high frequency noise install a noise filter on the input side of the main circuit power supply cables and control power supply cables even if the same power supply is not used As for the wiring of noise f...

Page 93: ...inal Also be sure to ground the ground terminal If the servomotor is grounded via the machine a switching noise current will flow from the main circuit of the SERVOPACK and converter through the stray capacitance of the servomotor To prevent the adverse effects of switching noise always connect the ground terminal in the motor terminal box on the servomotor to the ground terminal on the SERVOPACK ...

Page 94: ...hem together Some noise filters have large leakage currents The grounding measures taken also affects the extent of the leakage current If necessary select an appropriate leakage cur rent detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter Contact the manufacturer of the noise filter for details Separate these circu...

Page 95: ...d inside a control panel first connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel then ground the plates Shielded ground wire Noise Filter Noise Filter Converter SERVOPACK Converter SERVOPACK Ground plate Ground plate Incorrect Correct P N N P P N N P Control Panel Ground Ground plate Noise Filter P N P N ...

Page 96: ...as required Connect a reactor as shown in the following figure Note 1 Connection terminals for DC reactor 1 and 2 are short circuited at shipment Remove the lead wire for short circuit and connect a DC reactor 2 Reactors are not included Sold separately 3 To use the SERVOPACK with a DC reactor use the terminals on the converters DC Reactor AC Reactor 1 2 DC reactor Converter AC reactor Converter L...

Page 97: ...pply Voltage for Main Circuit 4 22 4 2 11 Setting Motor Overload Detection Level 4 25 4 3 Test Without Motor Function 4 27 4 3 1 Motor Information 4 27 4 3 2 Motor Position and Speed Responses 4 28 4 3 3 Limitations 4 29 4 3 4 Digital Operator Displays during Testing without Motor 4 30 4 4 Limiting Torque 4 31 4 4 1 Internal Torque Limit 4 31 4 4 2 External Torque Limit 4 32 4 4 3 Checking Output ...

Page 98: ...ignal V CMP 4 50 4 6 6 Positioning Completed Output Signal COIN 4 51 4 6 7 Positioning Near Output Signal NEAR 4 52 4 6 8 Speed Limit Detection Signal VLT 4 52 4 7 Safety Function 4 54 4 7 1 Hard Wire Base Block HWBB Function 4 54 4 7 2 External Device Monitor EDM1 4 59 4 7 3 Application Example of Safety Functions 4 61 4 7 4 Confirming Safety Functions 4 62 4 7 5 Connecting a Safety Function Devi...

Page 99: ...nd S3 for Option Module Functions The S3 DIP switch is used to make the settings for the option module functions For details on S2 and S3 switches refer to the manual of the connected command option module ᴾ S3 POWER LED S2 Seven segment LED display ON OFF 1 2 3 4 0 F 1 E 2 D 3 8 4 C B 5 A 6 9 7 M II ...

Page 100: ... stored for a long period of time perform the inspec tion according to the procedures described in 1 11 Inspection and Maintenance 2 SERVOPACKs and Converters Inspect and check the following items and take appropriate measures before performing trial operation if any problem exists Are all wiring and connections correct Is the correct power supply voltage being supplied to the SERVOPACK and conver...

Page 101: ... trace waveforms are shown in the above table Parameter Forward Reverse Reference Direction of Motor Rotation and Encoder Output Pulse Applicable Overtravel OT Pn000 n 0 Sets CCW as for ward direction Factory setting Forward Reference P OT Reverse Reference N OT n 1 Sets CW as for ward direction Reverse Rotation Mode Forward Reference P OT Reverse Reference N OT CCW Phase B advanced Time Encoder o...

Page 102: ...tical axes Occurrence of overtravel may cause a workpiece to fall because the BK signal is on that is when the brake is released Set the parameter Pn001 n 1 to bring the servomotor to zero clamp state after stopping to prevent a workpiece from falling Other axes to which external force is applied Overtravel will bring about a baseblock state after the servomotor stops which may cause the servomoto...

Page 103: ... using the friction resistance of the servomotor in operation Zero clamp mode A mode forms a position loop by using the position reference zero The servomotor stopping method when an overtravel P OT N OT signal is input while the servomotor is operating can be set with parameter Pn001 Always connect a dynamic brake circuit for these settings A servomotor under torque control cannot be decelerated ...

Page 104: ...FF to ON even if overtravel status exists To clear the overtravel warning send an alarm clear command regardless of the status of the servomotor power and the overtravel signal If the warning is cleared by this method during an overtravel state the occurrence of the warning will not be indicated until the overtravelling is corrected and reset The overtravel warning will be detected when the softwa...

Page 105: ...revolutions When the Electronic Gear is Used Ball screw pitch 6 mm Workpiece Encoder resolution 20 bit 1048576 1 2 3 The section indicates the difference between using and not using an electronic gear when a workpiece is moved 10 mm in the following configuration Calculate the required reference units 1048576 reference units is 1 revolution Therefore 10 6 1048576 1747626 66 reference units Input 1...

Page 106: ...ctory Setting When Enabled 1 to 1073741824 1 4 After restart Setup Pn210 Electronic Gear Ratio Denominator Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 1 1 After restart Setup Position Position Electronic gear ratio A B Pn210 Pn20E n m Encoder resolution Travel distance per load shaft revolution reference units Rotation Electronic gear ratio setting range ...

Page 107: ...6 20 bit 1048576 20 bit 3 Determine the reference unit used Reference unit 0 001 mm 1 μm Reference unit 0 01 Reference unit 0 005 mm 5 μm 4 Calculate the travel dis tance per load shaft revo lution Reference unit 6 mm 0 001 mm 6000 360 0 01 36000 314 mm 0 005 mm 62800 5 Calculate the electronic gear ratio 6 Set parameters Pn20E 1048576 Pn20E 104857600 Pn20E 52428800 Pn210 6000 Pn210 36000 Pn210 62...

Page 108: ...er output pulse phase A These encoder pulse output pins out put the number of pulses per motor revolution that is set in Pn212 Phase A and phase B are different from each other in phase by an electric angle of 90 PAO CN1 34 PBO CN1 35 Encoder output pulse phase B PBO CN1 36 PCO CN1 19 Encoder output pulse phase C One pulse is output per motor rota tion PCO CN1 20 ENC CN1 CN2 PAO PBO PCO SERVOPACK ...

Page 109: ...er limit of the pulse frequency is approximately 1 6 Mpps The servomotor speed is limited if the setting value of the encoder output pulses Pn212 is large An overspeed of encoder output pulse rate alarm A 511 will occur if the motor speed exceeds the upper limit specified in the above table Output Example When Pn212 16 16 pulse output per one revolution PAO and PBO are output as shown below Pn212 ...

Page 110: ...vo ON command has been turned ON and 50 ms has passed since the brake was released output the ref erence from the host controller to the SERVOPACK The brake built into the servomotor with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped servomotor Servomotor Vertical Shaft Holding brake Shaft with External Forc...

Page 111: ...ation Time ms Three phase 200 VAC 2BA B 1500 24 VDC or 90 VDC 500 max 150 max 3ZA B 3GA B 2BA D 800 3ZA D 550 max 320 max 3GA D 700 max Three phase 400 VAC 2BD B 1500 500 max 150 max 3ZD B 3GD B 4ED B 550 max 320 max 5ED B 2BD D 800 500 max 150 max 3ZD D 550 max 320 max 3GD D 700 max 4ED D An SGMVV 4ED D servomotor is not available in a model with a holding brake Servomotor with holding brake Surg...

Page 112: ...e absorber is connected check the total time the brake is applied for the system Depending on the surge absorber the total time the brake is applied can be changed Configure the relay circuit to apply the holding brake by the emergency stop The allocation of the BK signal can be changed Refer to 3 Brake Signal BK Allo cation to set the parameter Pn50F When using a 24 V brake separate the 24 VDC po...

Page 113: ...nal the signals are output with OR logic For the BK signal do not use the output terminal that is already being used for another signal Pn506 Brake Reference Servo OFF Delay Time Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 50 10 ms 0 Immediately Setup Speed Position Torque When using the servomotor to control a vertical axis the machine movable part may shift slight...

Page 114: ...ting Unit Factory Setting When Enabled 10 to 100 10 ms 50 Immediately Setup Speed Position Torque Speed Position Torque BK Signal Output Conditions When Servomotor Rotating The BK signal goes to high level brake ON when either of the fol lowing conditions is satisfied When the motor speed falls below the level set in Pn507 after the power to the servomo tor is turned OFF When the time set in Pn508...

Page 115: ...hods in 9 1 1 List of Alarms Dynamic braking DB is used for emergency stops The DB circuit will operate fre quently if the power is turned ON and OFF or the Servo ON command is turned ON and OFF with a reference input applied to start and stop the servomotor which may result in deterioration of the internal elements in the SERVOPACK and converter Use speed input references or position references t...

Page 116: ...cuit for these settings 2 Zero speed stopping The speed reference is set to 0 to stop quickly Note The setting of Pn00B 1 is effective for position control and speed control Pn00B 1 will be ignored for torque control and only the setting of Pn001 0 will be valid Parameter Stop Mode Mode After Stopping When Enabled Classification Pn001 n 0 Factory setting DB DB After restart Setup n 1 Coast n 2 Coa...

Page 117: ... to 50000 1 ms 20 Immediately Setup If the control power supply makes control impossible during an instantaneous power interruption the same operation will be performed as for normally turning OFF the power supply and the setting of Pn509 will be ignored The holding time of the main circuit power supply varies with the output of the SER VOPACK If the load on the servomotor is large and an undervol...

Page 118: ...s a backup for instantaneous power interruptions that exceed these voltage and time ranges This function is intended for voltage drops in the main circuit power supply The follow ing restrictions apply when it is used to provide an instantaneous power cut hold time in the control power supply Control Power Supply Restrictions 400 VAC voltage input SERVOPACK Provide the control power supply from a ...

Page 119: ... the SERVOPACK only 1 560 V for 400 V power supply 2 400 V for 400 V power supply 280 V 1 200 V 2 0 0 Main circuit power interruption time Main circuit input power supply Main circuit bus voltage Undervoltage warning detected Torque limit reference Undervoltage warning Torque limit SERVOPACK Host controller Torque limit starts Main circuit bus voltage increases by recovery of the main circuit powe...

Page 120: ...2 Detects warning and limits torque by Pn424 and Pn425 Only in the SERVOPACK Pn424 Torque Limit at Main Circuit Voltage Drop Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 50 Immediately Setup Pn425 Release Time for Torque Limit at Main Circuit Voltage Drop Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 1 ms 100 Immediately Setup...

Page 121: ...ective function enables the warning out put signal WARN to serve as a protective function and to be output at the best timing for your system The following graph shows an example of the detection of an overload warning when the overload warning level Pn52B is changed from 20 to 50 An overload warning is detected in half of the time required to detect an overload alarm Note For details refer to Ove...

Page 122: ...r base current The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50 The calculation for the overload of motors starts at 50 of the motor base current and then an overload alarm will be detected earlier Changing the setting of Pn52C will change the detection timing of the overload alarm so the time required to detect the overload warning will also be ch...

Page 123: ...s Connected If a motor is connected the information from the connected motor is used for the motor and encoder scale information The set values of Pn00C 1 and Pn00C 2 are not used 2 When Motor is Not Connected The information for the virtual motor that is stored in the SERVOPACK is used The set values of Pn00C 1 and Pn00C 2 are used for the encoder information Encoder Resolution The encoder inform...

Page 124: ...ACK is used for the encoder information Resolution 256 Incremental encoder 4 3 2 Motor Position and Speed Responses For the test without a motor the following responses are simulated for references from the host controller according to the gain settings for position or speed control Servomotor position Servomotor speed Encoder position The load model however will be a rigid system with the moment ...

Page 125: ...nalog monitor output Fn00D Gain adjustment of analog monitor output Fn00E Automatic offset signal adjustment of the motor current detection signal Fn00F Manual offset signal adjustment of the motor current detection signal Fn010 Write prohibited setting Fn011 Servomotor model display Fn012 Software version display Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm...

Page 126: ... power to the servomotor is OFF Note The test without a motor status is not displayed during alarm occurs A Display Status RUN Power is supplied to the servomotor BB Power to the servomotor is OFF PT NT Forward or reverse run is prohibited P OT Forward run is prohibited N OT Reverse run is prohibited HBB In hard wire base block safety state B B P R M M O N U n 0 0 0 0 0 0 0 0 0 U n 0 0 2 0 0 0 0 0...

Page 127: ...nternal torque limit Always limits torque by setting the parameter 4 4 1 External torque limit Limits torque by input signal from the host controller 4 4 2 Torque limit with P_TLIM N_TLIM commands Limit torque by using the P_TLIM and N_TLIM commands Torque limit with command option module Limits torque by inputting a desired torque limit command to the command option module from the host controlle...

Page 128: ... percentage of the rated torque Note If the settings of Pn402 Pn403 Pn404 and Pn405 are too low the torque may be insufficient for acceleration or deceleration of the servomotor Type Signal Name Connector Pin Number Setting Meaning Limit value Input P CL Must be allocated ON closed Forward external torque limit ON The smaller value of these set tings Pn402 or Pn404 OFF open Forward external torque...

Page 129: ...llowing signal can be output to indicate that the servomotor output torque is being limited Note Use parameter Pn50F 0 to allocate the CLT signal for use For details refer to 3 4 2 Output Signal Allocations P CL OFF ON N CL OFF ON Pn402 Pn403 0 Torque Speed Pn403 0 Pn404 Pn402 Torque Speed 0 Pn403 Pn405 Pn402 Torque Speed 0 Pn403 Pn405 Pn404 Pn402 Torque Speed Type Signal Name Connector Pin Number...

Page 130: ...ses the absolute encoder as an incremental encoder The output range of the rotational serial data for the absolute position detecting system used for Σ V large capacity servo drives is different from that of SGDB Σ servo drives As a result the infinite length positioning system of the Σ servo drives must be changed for use with Σ V large capacity servo drives Be sure to make the following system m...

Page 131: ... power by installing an encoder cable with a JUSP BA01 E Battery Case or install a battery on the host controller PCO 33 34 35 36 19 20 CN1 SG 16 PAO PAO PBO PBO PCO Battery SERVOPACK Encoder cable with battery case Connector shell 2 0 V Host controller R R R 3 ENC 3 4 CN2 Absolute encoder Connector shell 2 1 5 6 1 2 PG5 V PG0 V PS FG PS BAT BAT Output line driver SN75ALS174 manufactured by Texas ...

Page 132: ...ase or install a battery on the host controller PCO ENC 3 4 21 22 BAT BAT CN2 33 34 35 36 19 20 CN1 SG 1 PAO PAO PBO PBO PCO Absolute encoder SERVOPACK Connector shell Connector shell CN1 2 3 2 1 0 V Host controller Battery 5 6 1 2 PG5 V PG0 V PS FG PS BAT BAT R R R Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent Terminating resistance R 220 to 470...

Page 133: ...le that is connected Turn OFF the Sensor ON command to turn OFF the control power supply SERVOPACK control power supply 5 seconds max ON OFF OFF ON Normal status OFF ON 50 ms Rotational serial data Phase A Phase B Phase B Approx 15 ms 400 ms max 1 to 3 ms 60 ms max 90 ms typ The servomotor will not be turned ON even if the Sensor ON command is turned ON during this interval ALM signal OFF Alarm st...

Page 134: ...onds when the control power is turned ON No battery related alarm will be displayed even if the battery voltage drops below the specified value after these 4 seconds If Pn008 0 is set to 1 alarm detection will be always enabled after the ALM signal outputs max 5 seconds when the control power supply is turned ON Parameter Meaning When Enabled Classification Pn008 n 0 Factory setting Outputs the al...

Page 135: ...tery turn OFF the control power supply to clear the absolute encoder battery error alarm A 830 6 Turn ON the control power supply again 7 Check that the alarm display has been cleared and that the SERVOPACK and converter operate normally If the control power supply to the SERVOPACK and converter is turned OFF and the bat tery is disconnected which includes disconnecting the encoder cable the absol...

Page 136: ...ncoder alarms are displayed cancel the alarm by using the same method as the set up initializing with Fn008 They cannot be canceled with the SERVOPACK alarm reset Encoder backup error alarm A 810 Encoder checksum error alarm A 820 Any other alarms A 8 that monitor the inside of the encoder should be canceled by turning OFF the power 2 Procedure for Setup and Reinitialization Follow the steps below...

Page 137: ...d and BB is displayed 5 Press the Key to return to the display of the pro cedure 1 6 To enable the change in the setting turn the power OFF and ON again cont d Step Panel Display Keys Description B B M u l t i t u r n C l e a r P G C L 5 B B F n 0 0 6 A l m H i s t C l r F n 0 0 8 M t u r n C l r F n 0 0 9 R e f A d j F n 0 0 A V e l A d j F U N C T I O N ...

Page 138: ...reset using the output of PCO signal 2 Absolute Data Reception Sequence 1 Turn ON the Sensor ON command from the host controller 2 After 100 ms the system is set to rotational serial data reception standby and the incremental pulse up down counter is cleared to zero 3 Eight characters of rotational serial data is received 4 The system enters a normal incremental operation state about 400 ms after ...

Page 139: ... absolute data PM is calculated by following formula PE M R PO PS MS R PS PM PE PS Note The following formula applies in reverse mode Pn000 0 1 PE M R PO PS MS R PS PM PE PS Setting of the Encoder Output Pulses Pn212 Formula of the Initial Incremental Pulse Speed 16 to 16384 16386 to 32768 32772 to 65536 65544 to 131072 131088 to 262144 680 Pn212 16384 kpps 680 Pn212 32768 kpps 680 Pn212 65536 kpp...

Page 140: ...details Data Transfer Method Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below Note 1 Data is P 00000 CR or P 00000 CR when the number of revolutions is zero 2 The revolution range is 32768 to 32767 When this range is exceeded the data changes from 32767 to 32678 or from 32678 to ...

Page 141: ... controller from the PAO output when the Sensor ON command is changed from ON to OFF Note The Sensor ON command cannot be turned OFF while the servomotor power is ON Output example of alarm contents are as shown below OFF Error detection ON Incremental pulse Serial Data Enlarged view Sensor ON command Panel Display PAO Output Serial Data Format Upper 2 digits A L M 5 1 CR or Overspeed M II ...

Page 142: ...205 m 1 The case in which the relationship between the turntable revolutions and motor revolutions is m 100 and n 3 is shown in the following graph Pn205 is set to 99 Pn205 100 1 99 Note This parameter is valid when the absolute encoder is used The range of the data will vary when this parameter is set to anything other than the factory setting 1 When the motor rotates in the reverse direction wit...

Page 143: ...n And press the or Key to select the Fn013 2 Press the Key to view the execution display of Fn013 Note If the display is not switched and NO OP is displayed in the status display the Write Pro hibited Setting Fn010 0001 is set Check the setting and reset 3 Press the Key to set the multiturn limit value When the setting is completed the status display shows DONE for one second The status display th...

Page 144: ...igital operator For details refer to Σ V Series User s Manual Opera tion of Digital Operator No SIEP S800000 55 4 6 2 Warning Output Signal WARN This signal is for a warning issued before the occurrence of an alarm Refer to 9 2 1 List of Warnings 1 Signal Specifications Note Use parameter Pn50F 3 to allocate the WARN signal for use For details refer to 3 4 2 Output Signal Alloca tions Configure an...

Page 145: ... been completed when the Sensor ON command is turned ON For details on the hard wire base block function refer to 4 7 1 Hard Wire Base Block HWBB Function 1 Signal Specifications Note 1 Use parameter Pn50E 3 to allocate the S RDY signal for use For details refer to 3 4 2 Output Signal Alloca tions 2 For details on the hard wire base block function and the servo ready output signal refer to 4 7 1 H...

Page 146: ...ons for details The V CMP signal is output when the difference between the reference speed and actual motor speed is below this setting Example The V CMP signal is output at 1900 to 2100 min 1 if the Pn503 is set to 100 and the reference speed is 2000 min 1 Type Signal Name Connector Pin Number Setting Meaning Output V CMP Must be allocated ON closed Speed coincides OFF open Speed does not coincid...

Page 147: ...put unexpectedly reduce the set value until it is no longer output If the position error is kept to a minimum when the positioning completed width is small use Pn207 3 to change output timing for the COIN signal Type Signal Name Connector Pin Number Setting Meaning Output COIN Must be allocated ON closed Positioning has been completed OFF open Positioning is not completed Pn522 Positioning Complet...

Page 148: ...r to protect the machine A servomotor in torque control is controlled to output the specified torque but the motor speed is not con trolled Therefore if an excessive reference torque is set for the load torque on the machinery side the speed of the servomotor may increase greatly If that may occur use this function to limit the speed Note The actual limit value of motor speed depends on the load c...

Page 149: ... is selected in Pn002 1 the motor speed is controlled by the speed limit command For details refer to the manual of the connected command option module Type Signal Name Connector Pin Number Setting Meaning Output VLT Must be allocated ON closed Servomotor speed limit being applied OFF open Servomotor speed limit not being applied Parameter Meaning When Enabled Classification Pn002 n 0 Factory sett...

Page 150: ...m a risk assessment of the servo system in advance Make sure that the safety level of the standards is met For details about the standards refer to Harmonized Stan dards at the front of this manual Note 1 Applications for certification are pending to show that SERVOPACKs comply with rules and regulations for North American and other safety standards including those for safe performance 2 To meet t...

Page 151: ...HWBB function operates after the servomotor power is turned OFF The HWBB function operates while the servomotor power is ON HWBB1 HWBB2 Reference from option module Motor power state Not applied Normal operation Requests motor current shutoff Normal operation Requests motor current shutoff Applied Not applied HWBB1 HWBB2 Motor power state Servo ON command is turned OFF SERVOPACK state ON OFF HWBB ...

Page 152: ...ule Note Even if the servomotor power is turned OFF by turning OFF the main circuit power the HWBB status is retained until a Servo ON command is turned OFF 4 Error Detection in HWBB Signal If only the HWBB1 or HWBB2 signal is input an A Eb1 alarm Safety Function Signal Input Timing Error will occur unless the other signal is input within 10 seconds This makes it possible to detect failures such a...

Page 153: ...anual To avoid confusion the ON and OFF status of signals for safety functions are defined as fol lows ON The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur rent flows into the signal line Type Signal Name Connector Pin Number Setting Meaning Input HWB...

Page 154: ...N The following diagram shows an example where the main circuit power supply is turned ON the Servo ON command is turned ON with an absolute encoder and no servo alarm occurs 8 Brake Signal BK When the HWBB1 or HWBB2 signal is OFF and the HWBB function operates the brake signal BK will turn OFF At that time Pn506 brake reference servo OFF delay time will be disabled Therefore the servo motor may b...

Page 155: ...lation of the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal in the table Failures can be detected if the failure status can be confirmed e g when the power supply is turned ON CAUTION The dynamic brake is not a safety related part of a control system Be sure to design the system so that the sy...

Page 156: ...as fol lows ON The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur rent flows into the signal line Host controller EDM1 CN8 EDM1 8 7 0 V 24 V power supply SERVOPACK Type Signal Name Connector Pin Number Setting Meaning Output EDM1 CN8 8 CN8 7 ON closed ...

Page 157: ... the EDM1 so that the current flows from EMD1 to EMD1 2 Failure Detection Method In case of a failure such as the HWBB1 or the HWBB2 signal remains ON the safety unit is not reset when the guard closes because the EDM1 signal keeps OFF Therefore starting is impossible then the failure is detected In this case an error in the external device disconnection or short circuiting of the external wiring ...

Page 158: ...al operation 4 7 5 Connecting a Safety Function Device Connect a safety function device using the following procedure 1 Remove the safety function s jumper connector from CN8 2 Connect a safety function device to CN8 Note When not using the safety function use the SERVOPACK with the safety function s jumper connector JZSP CVH05 E provided as an accessory inserted in CN8 If the SERVOPACK is used wi...

Page 159: ...g that the rotation of the motor will not result in a dangerous condition Incorrect use of the machine may cause injury The dynamic brake and the brake signal are not safety related parts of a control system Be sure to design the system that these failures will not cause a dangerous condition when the HWBB function operates Incorrect use of the machine may cause injury Connect devices meeting safe...

Page 160: ...dvanced Autotuning by Reference Fn202 5 27 5 4 1 Advanced Autotuning by Reference 5 27 5 4 2 Advanced Autotuning by Reference Procedure 5 29 5 4 3 Related Parameters 5 33 5 5 One parameter Tuning Fn203 5 34 5 5 1 One parameter Tuning 5 34 5 5 2 One parameter Tuning Procedure 5 35 5 5 3 One parameter Tuning Example 5 41 5 5 4 Related Parameters 5 42 5 6 Anti Resonance Control Adjustment Function Fn...

Page 161: ...on Compensation 5 59 5 8 3 Current Control Mode Selection Function 5 61 5 8 4 Current Gain Level Setting 5 61 5 8 5 Speed Detection Method Selection 5 61 5 8 6 Position Integral 5 61 5 9 Compatible Adjustment Function 5 62 5 9 1 Feedforward Reference 5 62 5 9 2 Mode Switch P PI Switching 5 63 5 9 3 Torque Reference Filter 5 65 ...

Page 162: ... functions Utility Function for Adjustment Outline Applicable Control Method Tuning less Levels Setting Fn200 This function is enabled when the factory settings are used This function can be used to obtain a stable response regardless of the type of machine or changes in the load Speed and Position Advanced Autotuning Fn201 The following parameters are automatically adjusted using internal referen...

Page 163: ...usts gains and filters with user reference inputs Adjust using One parameter Tuning Manually adjusts gains and filters Position loop gain speed loop gain filters and friction compensation adjustments are available Continuous vibration occurs Reduce the vibration using Anti resonance Control Adjustment Function Residual vibration occurs at positioning Reduce the vibration using Vibration Suppressio...

Page 164: ...nitor 1 Torque reference 1 V 100 rated torque Red Analog monitor 2 Motor speed 1 V 1000 min 1 Black 2 lines GND Analog monitor GND 0 V Probe GND Measuring probe Measuring instrument Probe GND Measuring probe White Red Black Black CN5 CN5 JZSP CA01 E White Red Black Black Measuring instrument is not included M II Connection Example Kp 1 U V W 1 Command option module 1 M Kp CN31 ENC CN2 CN10 Torque ...

Page 165: ...1 reference unit 0 V at speed torque control n 04 Position amplifier error 0 05 V 1 encoder pulse unit Position error after electronic gear conversion n 05 Position reference speed 1 V 1000 min 1 n 06 Reserved Do not set n 07 Motor load position error 0 01 V 1 reference unit n 08 Positioning completed Positioning completed 5 V Positioning not com pleted 0 V Completion indicated by out put voltage ...

Page 166: ...r output voltage V When multiplier is set to 1 When multiplier is set to 10 Motor speed min 1 Motor speed min 1 Note Linear effective range within 8 V Output resolution 16 bit Rotation Pn550 Analog Monitor 1 Offset Voltage Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0 Immediately Setup Pn551 Analog Monitor 2 Offset Voltage Classification Setting Rang...

Page 167: ...Alarm Level Pn520 1 reference unit 1 Refer to 4 2 4 Electronic Gear 2 When model following control is enabled Pn140 is set to n 1 use the set value of Pn141 and not that of Pn102 3 To check the Pn102 setting change the parameter display setting to display all parameters Pn00B 0 1 4 At the end of the equation a coefficient is shown as 1 2 to 2 This coefficient is used to add a margin that pre vents...

Page 168: ...ter of all position errors Because the servomotor will move sud denly and unexpectedly safety precautions are required To prevent the servomotor from moving suddenly select the appropriate level for the excessive position error alarm level at servo ON Pn526 to restrict opera tion of the servomotor Related Parameters Pn520 2621440 2 5242880 The factory setting of Pn520 2 6000 60 1048576 400 10 1 1 ...

Page 169: ...er is turned ON when the position error is greater than the set value of Pn526 while the servomotor power is OFF A d02 Position Error Overflow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn529 limits the speed if the servomotor power is turned ON If Pn529 limits the speed in such a state this alarm occurs when position references are input and the number o...

Page 170: ... be heard from the next time the Servo ON command is turned ON For details on the automatic notch filter refer to 3 Automatically Setting the Notch Filter on the next page The servomotor may vibrate if the load moment of inertia exceeds the allowable load value If vibration occurs set the mode to 2 in Fn200 or lower the adjustment level Parameter Meaning When Enabled Classification Pn170 n 0 Disab...

Page 171: ...b Using the parameter Offline moment of inertia calculation Not available Disable the tuning less function by setting Pn170 0 to 0 before executing this function Mechanical analysis Available While this function is being used the tuning less function cannot be used After completion of the analysis it can be used again cont d Function Availability Remarks Parameter Meaning When Enabled Classificati...

Page 172: ...evels Setting Fn200 Procedure b Using the parameter Digital Operator Display Meaning Mode 0 Load level Low Mode 1 Factory setting Load level Medium Mode 2 Low level High Parameter Meaning When Enabled Classification Pn170 n 0 Load level Low Mode 0 Immediately Setup n 1 Factory setting Load level Medium Mode 1 n 2 Low level High Mode 2 ...

Page 173: ...st select Fn200 2 Press the Key to display the load level setting screen for Fn200 Tuning less Levels setting Notes If the response waveform causes overshooting or if the load moment of inertia exceeds the allowable level i e outside the scope of product guarantee press the Key and change the mode setting to 2 If a high frequency noise is heard press the Key and change the mode setting to 0 3 Pres...

Page 174: ...rs however may become effective depending on the executing conditions of the functions specified in the following table For example if EasyFFT is executed when the tuning less function is enabled the set tings in Pn100 Pn104 Pn101 Pn105 Pn102 Pn106 and Pn103 as well as the manual gain switch setting will be enabled but the settings in Pn408 3 Pn160 0 and Pn139 0 will be not enabled Parameter enabl...

Page 175: ...Parameters can be changed using SigmaWin while this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this functio...

Page 176: ... performing advanced autotuning with the tuning less function enabled Pn170 0 1 Factory setting always set Jcalc to ON to calculate the load moment of inertia The tuning less function will automatically be disabled and the gain will be set by advanced autotuning With Jcalc set to OFF so the load moment of inertia is not calculated Error will be displayed on the panel operator and advanced autotuni...

Page 177: ... HWBB must be disabled The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 Jcalc must be set to ON to calculate the load moment of inertia when the tuning less function is enabled Pn170 0 1 factory setting or the tuning less function must be disabled Pn170 0 0 Note If advanced autotuning is started while the SERVOPACK is in speed control the mode will change to posit...

Page 178: ...edforward is input The positioning completed width Pn522 is too small Change only the overshoot detection level Pn561 to finely adjust the amount of overshooting without chang ing the positioning completed width Pn522 Because Pn561 is set by default to 100 the allowable amount of overshooting is the same amount as that for the positioning completed width When Pn561 is set to 0 the amount of oversh...

Page 179: ...ulating Moment of Inertia Select the mode to be used Usually set Jcalc to ON Jcalc ON Moment of inertia calculated Factory setting Jcalc OFF Moment of inertia not calculated Note If the moment of inertia ratio is already known from the machine specifications set the value in Pn103 and set Jcalc to OFF 3 2 Mode Selection Select the mode Mode 1 Makes adjustments considering response characteristics ...

Page 180: ...tia will start While the moment of inertia is being calculated the set value for Pn103 will flash and ADJ will flash instead of RUN When calculat ing the moment of inertia is completed the display will stop flashing and the moment of inertia is dis played The servomotor will remain ON but the auto run operation will be stopped temporarily Notes The wrong key for the set travel direction is pressed...

Page 181: ...splay 10 Press the Key The adjusted values will be saved in the SERVOPACK DONE will flash for approximately two seconds and BB will be displayed Note Press the Key to not save the values The display will return to that shown in step 1 11 Turn ON the SERVOPACK power supply again after executing advanced autotuning cont d Step Display after Operation Keys Operation A 㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀㧼㨚㧝㧜㧟㧩㧜㧜㧟...

Page 182: ...ithin approxi mately 10 seconds after positioning adjustment was completed The positioning completed width is too nar row or proportional control P control is being used Increase the set value for Pn522 If P control is used set P control to OFF The moment of inertia cannot be calculated when the tuning less func tion was activated When the tuning less function was activat ed Jcalc was set to OFF s...

Page 183: ...n is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning and vibration suppression will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing advanced autotuning Note This function uses model following control There...

Page 184: ...h the command option module For details on the speed feedforward input and the torque feedforward input refer the the manual of the con nected command option module Mode 1 Mode 2 Mode 3 Pn408 n 0 Factory setting Adjusted without the friction compensation function Adjusted with the friction compensation function Adjusted with the friction compensation function n 1 Adjusted with the friction compens...

Page 185: ...Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switch Yes Yes Pn409 1st Notch Filter Frequency No Yes Pn40A 1st Notch Filter Q Value No Yes Pn40C 2nd Notch Filter Frequency ...

Page 186: ...gain and speed loop gain Filters torque reference filter and notch filter Friction compensation Anti resonance control Vibration suppression Refer to 5 4 3 Related Parameters for parameters used for adjustments For information on how to input operation references refer to the manual of the connected command option module Advanced autotuning by reference starts adjustments based on the set speed lo...

Page 187: ...n level Pn502 The stopping time i e the period while the positioning completed COIN signal is OFF is 10 ms or less The rigidity of the machine is low and vibration occurs when positioning is performed The position integration function is used P control operation proportional control is performed The mode switch is used The positioning completed width Pn522 is too small Change only the overshoot de...

Page 188: ... Selection Select the type according to the machine element to be driven If there is noise or the gain does not increase better results may be obtained by changing the rigidity type Type 1 For belt drive mechanisms Type 2 For ball screw drive mechanisms Factory setting Type 3 For rigid systems in which the servomotor is directly coupled to the machine without gear or other transmissions 4 Press th...

Page 189: ...se Corrective Actions The main circuit power supply was OFF Turn ON the main circuit power supply An alarm or warning occurred Remove the cause of the alarm or the warning Overtraveling occurred Remove the cause of the overtravel Gain setting 2 was selected by gain switching Disable the automatic gain switching HWBB operated Disable the HWBB function Error Probable Cause Corrective Actions The gai...

Page 190: ... to Auto Setting The vibration suppression function is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning by reference and vibration suppression will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing advanced a...

Page 191: ...ler through the command option module For details on the speed feedforward input and the torque feedforward input refer the the manual of the con nected command option mocule Mode 1 Mode 2 Mode 3 Pn408 n 0 Factory setting Adjusted without the friction compensation function Adjusted with the friction compensation function Adjusted with the friction compensation function n 1 Adjusted with the fricti...

Page 192: ...o Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switc...

Page 193: ...nected command option module Perform one parameter tuning if satisfactory response characteristics is not obtained with advanced autotun ing or advanced autotuning by reference To fine tune each servo gain after one parameter tuning refer to 5 8 Additional Adjustment Function Preparation Check the following settings before performing one parameter tuning The message NO OP indicating that the setti...

Page 194: ...ove through the list and select Fn203 2 Press the Key to display the moment of inertia ratio set in Pn103 at present Move the digit with the or Key and change the value with the or Key 3 Press the Key to display the initial setting screen for one parameter tuning 4 Press the or Key and set the items in steps 4 1 and 4 2 4 1 Tuning Mode Select the tuning mode Select the tuning mode 0 or 1 Tuning Mo...

Page 195: ...trol will be set 9 Press the Key A confirmation screen will be dis played after LEVEL adjustment 10 Press the Key to save the adjusted values After the data is saved DONE will flash for approximately two seconds and then RUN will be displayed To return to the previous value press the Key Press the Key to readjust the level without saving the values 11 Press the Key to complete the one parameter tu...

Page 196: ...ement to be driven If there is noise or the gain does not increase better results may be obtained by changing the rigidity type Type 1 For belt drive mechanisms Type 2 For ball screw drive mechanisms Factory setting Type 3 For rigid systems in which the servomotor is directly coupled to the machine without gear or other transmissions 5 If the servomotor power is OFF turn ON the Servo ON command fr...

Page 197: ...starts operation If the FF LEVEL is changed too much during operation vibration may occur because the responsiveness is changed rap idly when the settings become effective The message FF LEVEL flashes until the machine reaches the effective FF LEVEL If the servomotor does not stop within approximately 10 seconds after changing the setting a timeout will occur The setting will be returned to the pr...

Page 198: ...tting vibration will be automatically detected during one parameter tun ing and anti resonance control will be automatically adjusted and set ARES will flash on the digital operator when anti resonance control adjustment function is set Parameter Function When Enabled Classification Pn460 n 0 Does not set the 1st notch filter automatically with the utility function Immediately Tuning n 1 Factory s...

Page 199: ... speed feedforward input and the torque feedforward input refer the the manual of the con nected command option mocule Tuning Mode 0 Tuning Mode 1 Tuning Mode 2 Tuning Mode 3 Pn408 n 0 Factory setting Adjusted without the frictioncompensation function Adjusted without the frictioncompensation function Adjusted with the frictioncompensation function Adjusted with the frictioncompensation function n...

Page 200: ...fications are met go to step 3 3 Overshooting will be reduced if the FB level is increased If the overshooting is eliminated go to step 4 4 The graph shows overshooting generated with the FF level increased after step 3 In this state the overshooting occurs but the positioning settling time is shorter The tuning will be com pleted if the specifications are met The adjustment results are saved in t...

Page 201: ...101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switch Yes Ye...

Page 202: ... Pn170 0 0 The test without a motor function must be disabled Pn00C 0 0 The control must not be set to torque control The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 CAUTION If this function is executed related parameters will be set automatically Therefore there will be a large response change after this function is executed Enable the function in a state where ...

Page 203: ...e utility function Use the or Key to move through the list select Fn204 2 Press the Key to display the initial setting screen for tuning mode 3 Press the or Key and set the tuning mode 0 4 Press the Key while Tuning Mode 0 is dis played The screen shown on the left will appear The detection of vibration frequencies will start and freq will flash Return to step 3 if vibration is not detected Note I...

Page 204: ...9 Select the digit with the or Key and press the or Key to fine tune the frequency 10 Press the Key to save the settings DONE will flash for approximately two seconds and RUN will be displayed 11 Press the Key to complete the anti resonance control adjustment function The screen in step 1 will appear again cont d Step Display after Operation Keys Operation 㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦㨐...

Page 205: ...amping gain from about 0 to 200 in 10 increments while checking the effect of vibration reduction If vibration reduc tion is still insufficient at a gain of 200 can cel the setting and lower the control gain by using a different method such as one parame ter tuning 㧾㨁㧺㧲㨁㧺㧯㨀㧵㧻㧺㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎 ޓ 㧿㨡㨜㧲㨚㧞㧜㧡㧦㨂㨕㨎 ޓ 㧿㨡㨜㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥 ޓ 㧲㧲㨀㧾㨁㧺㨂㨕㨎㧿㨡㨜㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩...

Page 206: ...Key to save the settings DONE will flash for approximately two seconds and RUN will be displayed 11 Press the Key to complete the anti resonance control adjustment function The screen in step 1 will appear again cont d Step Display after Operation Keys Operation 㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦㨐㨍㨙㨜㧩㧜㧝㧞㧜㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦㨐㨍㨙㨜㧩㧜㧝㧞㧜㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞...

Page 207: ...such as one parame ter tuning 5 If fine tuning of the frequency is necessary press the Key The cursor will move from damp to freq If fine tuning is not necessary skip step 6 and go to step 7 6 Select the digit with the or Key and press the or Key to fine tune the frequency 7 Press the Key to save the settings DONE will flash for approximately two seconds and RUN will be displayed 8 Press the Key t...

Page 208: ...is function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Name Mid execution changes Automatic ...

Page 209: ...inuous vibration occurs when the servomotor is not rotating the vibration suppression function cannot be used to suppress the vibration effectively If the result is not satisfactory perform anti resonance control adjustment function Fn204 or one parameter tuning Fn203 CAUTION If this function is executed related parameters will be set automatically Therefore there will be a large response change a...

Page 210: ...king the effect of vibration suppression 5 7 2 Vibration Suppression Function Operating Procedure The following procedure is used for vibration suppression function Vibration suppression function is performed from the digital operator option or SigmaWin The operating procedure from the digital operator is described here Refer to the Σ V Series User s Manual Operation of Digital Operator No SIEP S8...

Page 211: ...means of detecting and measuring the vibration When the vibra tion frequencies are measured go to step 5 and manually set the measured vibration frequency to Setting f 4 Press the Key The displayed Measure f value will be displayed as the Setting f value as well Example of measured waveform 5 If the vibration is not completely suppressed select the digit with the or Key and press the or Key to fin...

Page 212: ...eys Operation 㧾㨁㧺㨂㨕㨎㧿㨡㨜㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦 Position Error Torque reference Rota tion 㧾㨁㧺 ޓޓ 㨂㨕㨎㧿㨡㨜㧹㨑㨍㨟㨡㨞㨑㨒㧩㧙㧙㧙㧙㧙㧴㨦㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦㧾㨁㧺㧲㨁㧺㧯㨀㧵㧻㧺㧲㨚㧞㧜㧠㧲㨚㧞㧜㧡㧲㨚㧞㧜㧢㧲㨚㧞㧜㧣 No settings related to the vibration suppression function will be changed during opera tion If the servomotor does not stop approxim...

Page 213: ...et or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Function When Enabled Classification Pn140 n 0 Factory setting Model following control is not used together with the speed torque feedforward input Immediately Tuning n 1 Model following control is used together with the speed torque feedforward i...

Page 214: ...ings for the model following control gain and the model following control gain compensation are available only for manual gain switching To enable the gain switching of these parameters a gain switching input signal must be sent and the following conditions must be met No command being executed Motor having been completely stopped If these conditions are not satisfied the applicable parameters wil...

Page 215: ... setting 1 Pn136 Gain Switching Waiting Time 2 Pn132 Gain Switching Time 2 Parameter Switching Condition A for Position Control For Other than Position Control No Switching When Enabled Classification Pn139 n 0 Factory setting Positioning completed signal COIN ON Fixed in gain setting 1 Immediately Tuning n 1 Positioning completed signal COIN OFF Fixed in gain setting 2 n 2 Positioning near signal...

Page 216: ...y Tuning Pn101 Speed Loop Integral Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0 01 ms 2000 Immediately Tuning Pn102 Position Loop Gain Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 0 1 s 400 Immediately Tuning Pn401 Torque Reference Filter Time Constant Classification Setting Range Setting Unit Factory Setti...

Page 217: ...to 2000 0 1 1000 Immediately Tuning Pn122 2nd Gain for Friction Compensation Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 1000 1 100 Immediately Tuning cont d Speed Position Position Speed Position Torque Position Position Speed Position Pn131 Gain Switching Time 1 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately T...

Page 218: ...sification Pn408 n 0 Factory setting Does not use friction compensation Immediately Setup n 1 Uses friction compensation Pn121 Friction Compensation Gain Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 1000 1 100 Immediately Tuning Pn123 Friction Compensation Coefficient Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 0 Immediately Tun...

Page 219: ... to 95 or less If the effect is insufficient increase the friction compensation gain Pn121 by 10 increments until it stops vibrating Effect of Parameters for Adjustment Pn121 Friction Compensation Gain This parameter sets the responsiveness for external disturbance The higher the set value is the better the responsiveness will be If the equipment has a resonance frequency however vibration may res...

Page 220: ...rvomotor while the servomotor is running 5 8 6 Position Integral The position integral is the integral function of the position loop Parameter Meaning When Enabled Classification Pn009 n 0 Selects the current control mode 1 After restart Tuning n 1 Factory setting Selects the current control mode 2 low noise If current control mode 2 is selected the load ratio may increase while the servomotor is ...

Page 221: ...ion to position control and shortens positioning time Note Too high value may cause the machine to vibrate For ordinary machines set 80 or less in this parameter Pn109 Feedforward Gain Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 0 Immediately Tuning Pn10A Feedforward Filter Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 ...

Page 222: ...ed Classifi cation Pn10B n 0 Factory setting Uses an internal torque reference level for the switching conditions Pn10C Immedi ately Setup n 1 Uses a speed reference level for the switching condi tions Pn10D n 2 Uses an acceleration level for the switching condi tions Pn10E n 3 Uses a position error level for the switching condi tions Pn10F n 4 Does not use mode switch function Pn10C Mode Switch T...

Page 223: ...cceleration With this setting the speed loop is switched to P control when the speed reference exceeds the acceleration set in Pn10E Using the Position Error With this setting the speed loop is switched to P control when the position error exceeds the value set in Pn10F This setting is effective with position control only Motor speed Speed reference Speed Pn10C Torque Reference Pn10C Torque refere...

Page 224: ... 1 The filter is disabled if 5000 is set Torque reference before filtering Torque Related Function Switch Pn408 Notch filter Notch filter First order lag filter Torque reference after filtering Second order lag filter 2nd Notch Filter Pn40C Pn40D and Pn40E 1st Notch Filter Pn409 Pn40A and Pn40B The 2nd torque reference filter is enabled when Pn40F is set to a value less than 5000 and disabled when...

Page 225: ...y Hz Phase deg Parameter Meaning When Enabled Classification Pn408 n 0 Factory setting Disables 1st notch filter Immediately Setup n 1 Enables 1st notch filter n 0 Factory setting Disables 2nd notch filter n 1 Enables 2nd notch filter Pn409 1st Notch Filter Frequency Classification Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tuning Pn40A 1st Notch Filte...

Page 226: ...ter frequencies Pn409 or Pn40C that is close to the speed loop s response frequency Set the frequencies at least four times higher than the speed loop s response frequency Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine Change the notch filter frequencies Pn409 or Pn40C only when the servomotor is stopped Vibration may occur if the ...

Page 227: ... Adjustment of the Motor Current Detection Signal Fn00E 6 18 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Signal Fn00F 6 19 6 12 Write Prohibited Setting Fn010 6 21 6 13 Servomotor Model Display Fn011 6 23 6 14 Software Version Display Fn012 6 24 6 15 Resetting Configuration Errors in Option Modules Fn014 6 25 6 16 Vibration Detection Level Initialization Fn01B 6 26 6 17 Dis...

Page 228: ...8 Fn00D Gain adjustment of analog monitor output 6 9 Fn00E Automatic offset signal adjustment of the motor current detection signal 6 10 Fn00F Manual offset signal adjustment of the motor current detection signal 6 11 Fn010 Write prohibited setting 6 12 Fn011 Servomotor model display 6 13 Fn012 Software version display 6 14 Fn013 Multiturn limit value setting change when a multiturn limit disagree...

Page 229: ... The display means no alarm occurs Delete the alarm history using the parameter Fn006 The alarm history is not cleared on alarm reset or when the main circuit power supply to the SERVOPACK and converter is turned OFF Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn000 2 Press the Key The...

Page 230: ...etup Speed Position Torque Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn002 2 Press the Key The display changes to the Fn002 execution display 3 Press the Key The cursor moves to the setting side the right side of Pn304 JOG speed 4 Press the or Key and the or Key to set the JOG speed ...

Page 231: ...ess the Key The display returns to the main menu of the utility function 10 To enable the change in the setting turn the power OFF and ON again cont d Step Display after Operation Keys Operation R U N J O G P n 3 0 4 0 1 0 0 0 U n 0 0 0 0 0 0 0 0 0 U n 0 0 2 0 0 0 0 0 0 U n 0 0 D 0 0 0 0 0 0 0 0 0 0 0 Forward Reverse B B J O G P n 3 0 4 0 1 0 0 0 U n 0 0 0 0 0 0 0 0 0 U n 0 0 2 0 0 0 0 0 0 U n 0 0...

Page 232: ...ing conditions must be met to perform the origin search The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The main circuit power supply must be ON All alarms must be cleared The hardwire baseblock HWBB must be disabled The servomotor power must be OFF CAUTION Perform origin searches without connecting the coupling The forward run prohibited P OT and reverse run pro...

Page 233: ... on the right top on the screen 5 When the origin search is completed press the Key The status display changes from RUN to BB and the servomotor turns OFF The display Complete changes to Z Search 6 Press the Key The display returns to the main menu of the utility function 7 To enable the change in the setting turn the power OFF and ON again B B F U N C T I O N F n 0 0 2 J O G F n 0 0 3 Z S e a r c...

Page 234: ...t be set correctly considering the machine operation range and safe opera tion speed There must be no overtravel 2 Additional Information The functions that are applicable for position control such as position reference filter can be used The overtravel function is enabled in this function 3 Program JOG Operation Patterns The following describes an example of program JOG operation pattern The foll...

Page 235: ...n535 Reverse movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Forward Stop Forward Stop Reverse Stop Reverse Movement speed Movement distance Pn533 Pn531 Waiting time Pn535 Accel Decel time Accel Decel time Waiting time Pn534 Pn535 Waiting time Waiting time Pn535 Movement speed Pn533 Pn534 Pn535 Number of movements Pn536 Number of movements Pn536 At zero speed Move...

Page 236: ...op Pn530 0 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Forward movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Reverse Stop Forward Stop Movement speed Pn533 Accel Decel time Pn534 Pn533 Waiting time Pn535 Waiting time Pn535 Number of movements Pn536 Movement speed At zero speed Movement distance Pn531 Movement distance Pn531 Key Press the Movem...

Page 237: ...y to view the parameters in the fol lowing order Pn530 Pn531 Pn533 Pn534 Pn535 Pn536 4 Press the Key The status display changes from BB to RUN and the servomotor power turns ON 5 Press the forward movement start or reverse movement start Key according to the first movement direction of the preset operation pattern The servomotor starts moving after the preset waiting time in Pn535 Note Pressing th...

Page 238: ...ameters of the option module refer to the manual of the connected option module Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn005 2 Press the Key The display changes to the Fn005 execution display 3 Press the Key to initialize parameters During initialization Parameter Init is flashing...

Page 239: ...s Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn006 2 Press the Key The display changes to the Fn006 execution display 3 Press the Key to clear the alarm history While clearing the data DONE is displayed in the status display After the data has been successfully cleared BB is displayed Note Press the Key not to clear t...

Page 240: ...orque reference In speed control set the monitor signal to the position error 2 Preparation The following condition must be met to adjust the offsets of the analog monitor output The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 3 Operating Procedure Use the following procedure to perform the offset adjustment of analog monitor output Item Specifications Offset Adj...

Page 241: ...stment both for CH1 and CH2 press the Key The adjustment results are saved in the SERVO PACK and the status display shows DONE for one second The status display then returns to show BB again 7 Press the Key The display returns to the main menu of the utility function cont d Step Display after Operation Keys Operation B B Z e r o A D J C H 1 0 0 0 0 5 C H 2 0 0 0 0 1 U n 0 0 2 0 0 0 0 0 0 U n 0 0 0...

Page 242: ...alue adjustment range 50 to 150 The following is a setting example Setting the Set Value to 125 100 125 0 4 50 Therefore the monitor output voltage is 0 5 time as high Setting the Set Value to 125 100 125 0 4 150 Therefore the monitor output voltage is 1 5 times as high Note The adjustment value will not be initialized when parameter settings are initialized using Fn005 2 Preparation The following...

Page 243: ...ment both for CH1 and CH2 press the Key The adjustment results are saved in the SERVO PACK and the status display shows DONE for one second The status display then returns to show BB again 7 Press the Key The display returns to the main menu of the utility function B B F U N C T I O N F n 0 0 C M o n Z e r o A d j F n 0 0 D M o n G a i n A d j F n 0 0 E C u r A u t o A d j F n 0 0 F C u r M a n u ...

Page 244: ...ecute the automatic offset adjustment if the torque ripple is too big when compared with those of other SERVOPACKs Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn00E 2 Press the Key The display changes to the Fn00E execution display 3 Press the Key to start the automatic offset signal a...

Page 245: ...r until the ripple of torque reference monitor s waveform is minimized Adjust the phase U and phase V offset amounts alternately several times until these offsets are well balanced Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn00F 2 Press the Key The display changes to the Fn00F execut...

Page 246: ...t 7 Press the Key to save the result of adjustment in the SERVOPACK When the saving is completed the status display shows DONE for one second The status display then returns to show RUN again 8 Press the Key The display returns to the main menu of the utility function cont d Step Display after Operation Keys Operation R U N M a n u a l O f f s e t A D J o f M o t o r C u r r e n t Z A D J I U 0 0 ...

Page 247: ...et adjustment of analog monitor output Cannot be executed 6 8 Fn00D Gain adjustment of analog monitor output Cannot be executed 6 9 Fn00E Automatic offset signal adjustment of the motor current detection signal Cannot be executed 6 10 Fn00F Manual offset signal adjustment of the motor current detection signal Cannot be executed 6 11 Fn010 Write prohibited setting 6 12 Fn011 Servomotor model displa...

Page 248: ...h the list and select Fn010 2 Press the Key The display changes to the Fn010 execution display 3 Press the or Key to select one of the follow ing settings P 0000 Write permitted Factory setting P 0001 Write prohibited 4 Press the Key The setting value is written into the SERVOPACK and the status display changes as follows BB to DONE to BB Note Saved settings will be enabled after the SER VOPACK is...

Page 249: ...r Key to move through the list and select Fn011 2 Press the Key The display changes to the Fn011 execution display and shows the information about the servomotor and encoder being used 3 Press the Key The display returns to the main menu of the utility function 㧮㧮 ޓޓޓޓ 㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙㧲㨚㧜㧝㧜㧦㧼㨞㨙 ޓ 㧼㨞㨛㨠㨑㨏㨠㧲㨚㧜㧝㧟㧦㧹㨠㨡㨞㨚㧸㨙㧿㨑㨠 ޓ 㧲㨚㧜㧝㧞㧦㧿㨛㨒㨠 ޓ 㨂㨑㨞㧲㨚㧜㧝㧝㧦㧹㨛㨠㨛㨞 ޓ 㧵㨚㨒㨛 Servomotor capacity Servomotor input voltage...

Page 250: ... of the command option module will be displayed Note If a command option module is not connected Not connect will be displayed 5 Press the Key The software version of the safety option module will be displayed Note If a safety option module is not connected Not connect will be displayed 6 Press the Key The software version of the feedback option module will be displayed Note If a feedback option m...

Page 251: ...the list and select Fn014 2 Press the Key The display changes to the Fn014 execution display 3 Press the or Key to select an option module to be cleared 4 Press the Key The display shown on the left appears 5 Press the Key to clear the configuration error of the option module The error is cleared and the status display shows DONE for one second The status display then returns to step 3 6 Press the...

Page 252: ... motor function must be disabled Pn00C 0 0 2 Operating Procedure Use the following procedure Parameter Meaning When Enabled Classification Pn310 n 0 Factory setting Does not detect vibration Immediately Setup n 1 Outputs the warning A 911 when vibration is detected n 2 Outputs the alarm A 520 when vibration is detected Pn311 Vibration Detection Sensitivity Classification Setting Range Setting Unit...

Page 253: ...omatically set or adjusted after execution of this function 2 Press the Key The display changes to the Fn01B execution display 3 Press the Key Init is displayed flashing and the vibration level is detected and initialized Note Continues initialization until the Key is pressed again 4 Press the Key The display changes from Init to DONE for one second and the new setting of Pn312 becomes enabled 5 P...

Page 254: ...tems to be Displayed SERVOPACK ID SERVOPACK model SERVOPACK serial number SERVOPACK manufacturing date SERVOPACK input voltage V Maximum applicable motor capacity W Maximum applicable motor rated current Arms Servomotor ID Servomotor model Servomotor order number Servomotor manufacturing date Servomotor input voltage V Servomotor capacity W Servomotor rated current Arms Encoder ID Encoder model En...

Page 255: ...play returns to the main menu of the utility function R U N F U N C T I O N F n 0 1 B V i b l v l I n i t F n 0 1 E S v M o t O p I D F n 0 1 F F B O p M o t I D F n 0 2 0 S O r i g S e t Rotation B B S v M o t O p I D D r i v e r S G D V 7 5 0 J 1 1 A D 0 0 2 4 1 2 3 4 5 9 0 0 0 1 1 2 0 7 4 0 0 V 2 2 0 0 0 W Serial number Manufacturing date SERVOPACK model SERVOPACK input voltage SERVOPACK capaci...

Page 256: ...solution display available Num ber of bits and number of pulses rev Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn01F 2 Press the Key The display changes to the Fn01F execution display The servomotor ID information is displayed Use the or Key to scroll left and right and to view other ...

Page 257: ...m position data will have been changed Always turn the power supply OFF and then ON again after execution of origin setting Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn020 2 Press the Key The display changes to the Fn020 execution display 3 Press the or Key to ORGSET5 4 Press the key...

Page 258: ...eys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn030 2 Press the Key The display changes to the Fn030 execution display 3 Press the or Key to select RESET5 4 Press the Key to execute the software reset After the software reset starts RESET5 will no longer be displayed 5 After the reset has been successfully completed ...

Page 259: ...advanced auto tuning This built in EasyFFT function is used to maintain interchangeability with previous models There is normally no need to use it 1 Preparation The following conditions must be met to perform EasyFFT The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The main circuit power supply must be ON All alarms must be cleared The hardwire baseblock HWBB mus...

Page 260: ...The actions of the servomotor are very minute in this operation Also at the same time the servomo tor emits a noise To ensure safety do not enter the working envelope of the motor 6 When the detection processing is successfully com pleted Measure stops flashing and the results and the notch filter value to be set are displayed If the processing was not completed No Measure is dis played To check t...

Page 261: ...notch filter frequency Pn 40C will automatically be updated Notes If the first stage or the second stage notch filter fre quency has already been set Pn408 n 1 1 the notch filter frequency cannot be set If the frequency detected by this function is not used set the notch filter to be invalid Pn408 0 0 9 Press the Key The servomotor enters a baseblocked status The dis play returns to the main menu ...

Page 262: ...ile this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Name Mid execution changes Auto...

Page 263: ...er settings Use the following flowchart to determine how these functions should be used If a Σ V large capacity SERVOPACK is used to make adjustments it is recommended that you use advanced autotuning This built in function is used to maintain interchangeability with previous models There is nor mally no need to use it 1 Preparation The following conditions must be met to perform online vibration ...

Page 264: ...ncy can be displayed For a vibra tion with undetectable peak frequency is dis played If no frequency was detected is displayed for F1 F2 and F3 If the frequency could not be successfully detected NO MONITOR is displayed 5 After the detection has normally completed press the Key The optimum frequency time constant of notch filter or torque reference filter for F1 is set automatically At the same ti...

Page 265: ...sing SigmaWin while this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Name Mid execut...

Page 266: ... Interpreting Input Signal Display Status 7 4 7 3 2 Input Signal Display Example 7 5 7 4 Monitoring Output Signals 7 6 7 4 1 Interpreting Output Signal Display Status 7 6 7 4 2 Output Signal Display Example 7 6 7 5 Monitoring Safety Input Signals 7 7 7 5 1 Interpreting Safety Input Signal Display Status 7 7 7 5 2 Safety Input Signal Display Example 7 7 ...

Page 267: ...or Un006 2 Output signal monitor Un007 Input reference pulse speed valid only in position control min 1 Un008 Position error amount valid only in position control reference unit Un009 Accumulated load ratio in percentage to the rated torque effective torque in cycle of 10 seconds Un00A Regenerative load ratio as a percentage of the processable regenerative power regenerative power consumption in c...

Page 268: ...own press the or Key to scroll through the list 㧮㧮 ޓޓޓޓޓޓ 㧙㧼㧾㧹㧛㧹㧻㧺㧙㨁㨚㧜㧜㧜㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧞㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩 ޓ 㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜 Indicates that the value of Un000 motor rotating speed is 0 min 1 MECHA U n 0 0 0 0 0 0 0 0 U n 0 0 1 0 0 0 0 0 U n 0 0 2 0 0 0 0 0 U n 0 0 3 0 0 0 0 0 U n 0 0 4 0 0 0 9 0 U n 0 0 D 0 0 0 0 0 0 0 0 Motor rotating speed Speed reference Rotational angle 1 encoder pulses fro...

Page 269: ...d the lower level indicates ON All undefined digits are shown in the lower level ON Note The monitor display and the number of digits shown in a large capacity Σ V SERVOPACK are different from those for a standard Σ V SERVOPACK Make sure you are reading the displays correctly when checking signal operation Note Input signals use the following circuit configuration OFF Open ON Short circuited Examp...

Page 270: ...wn below When the DEC signal is ON When the DEC signal is OFF When the P OT signal is activated U n 0 0 5 8 7 6 5 4 3 2 1 digit The second digit is in the lower level MECHA U n 0 0 5 8 7 6 5 4 3 2 1 digit The second digit is in the upper level MECHA U n 0 0 5 8 7 6 5 4 3 2 1 digit The third digit is in the upper level MECHA ...

Page 271: ...icates OFF and the lower level indicates ON All undefined digits are shown in the lower level ON Note Output signals use the following circuit configuration OFF Transistor OFF ON Transistor ON Example 7 4 2 Output Signal Display Example Output signals are displayed as shown below When the ALM signal is OFF Display LED Number Output Terminal Name Signal Name Factory Setting 1 CN1 31 32 ALM 2 CN1 25...

Page 272: ...icates ON and the lower level indicates OFF All undefined digits are shown in the lower level OFF Note Input signals use the following circuit configuration OFF Open ON Short circuited Example 7 5 2 Safety Input Signal Display Example Safety input signals are displayed as shown below When the HWBB1 signal turns OFF to activate the HWBB function Display LED Number Input Terminal Name Signal Name 1 ...

Page 273: ...n External Encoder by Renishaw plc 8 7 8 1 6 Precautions When Using an External Incremental Encoder by Magnescale 8 8 8 2 SERVOPACK and Converter Startup Procedure 8 12 8 3 Parameter Settings for Fully closed Loop Control 8 14 8 3 1 Motor Rotation Direction 8 15 8 3 2 Sine Wave Pitch Frequency for an External Encoder 8 17 8 3 3 Setting Encoder Output Pulses PAO PBO and PCO 8 17 8 3 4 External Abso...

Page 274: ...the system configuration Note 1 The figure above shows a connection example of an external encoder Refer to 1 7 Examples of Servo System Configurations for details on the power supply and peripheral devices 2 In fully closed loop control rattling or twisting of mechanical parts may cause vibration delaying the positioning process ޓ SERVOPACK with Fully closed Module Servomotor main circuit cable C...

Page 275: ... incremental encoder With Speed Control Elec tronic gear Move command Encoder output pulse Error counter Speed loop Alarm detection Divider Machine SERVOPACK Position control loop Serial conversion Motor A d10 Encoder External encoder ޓ Speed conversion Speed feedback Electronic gear 1 Monitor data 㧙 Pn22A 㧗 Speed conversion Unit conversion Pn20A MECHA SERVOPACK Encoder output pulse Divider Speed ...

Page 276: ...ch 1 cycle of input 2 phase sine wave pitch Max Response Frequency 250 kHz Analog Input Signals cos sin Ref Differential input amplitude 0 4 V to 1 2 V Input signal level 1 5 V to 3 5 V Output Signal Position data alarms Output Method Serial data communications Output Circuit Balanced type transceiver SN75LBC176 or the equivalent internal terminating resistor 120 Ω Mechanical Characteristics Appro...

Page 277: ...e hysteresis width Never perform insulation resistance and withstand voltage tests When low voltage analog signals are input to the serial converter unit noise influence on the analog signals affects the unit s ability to output correct position information The analog cable must be as short as possible and shielded Use the serial converter unit in a location without gases such as H2S Do not connec...

Page 278: ...er Model SL700 SL710 SL720 SL730 CN31 JZSP CLP70 E CN1 CN2 SERVOPACK with Fully closed Module Serial converter unit Connection cable by Heidenhain External encoder by Heidenhain JZDP D003 000 E Rotation SERVOPACK with Fully closed Module CN31 Interface unit by Heidenhain EIB3391 Connection cable by Heidenhain External encoder by Heidenhain CN1 CN2 CN31 JZSP CLP70 E Serial converter unit JZDP D005 ...

Page 279: ...irection and Returning after Power ON Machine position Power ON Phase C detection position Phase C detection position Zero point signal 㧔Ref㧕 Phase C Time Second pulse is half as wide as the phase A pulse No zero point signal Ref is sent from the external encoder However a phase C pulse will be sent from the SERVOPACK when moving in the reverse direction because it is the same position from which ...

Page 280: ... and Returning after Power ON After the power is turned on the phase C pulse CN1 19 CN1 20 is output when the external encoder moves forward and its detection head first passes the phase C detection position After the detection head of the encoder passes the detection position in a forward direction the phase C pulse is output when the head passes the position regardless of the direction of the en...

Page 281: ... its head passes the detection position After the detection head of the encoder first passes the detection position in the forward direction the phase C pulse is output when the head passes the position regardless of the direction of the encoder s movement The phase C pulse is not output when passing the detection position in reverse direction first The phase C pulse is also output when passing th...

Page 282: ...es to each zero point See When Passing 1st Zero Point in Reverse Direction and Returning after Power ON Power ON Time Phase C pulse output Scale count up direction Zero point 1 detection position Zero point 2 detection position Even after zero point 1 has first been passed in the forward direction the phase C pulse is not output here because zero point 2 is passed in reverse direction The phase C ...

Page 283: ...rward direction After restart Setup n 1 Outputs phase C pulse in forward and reverse direction Setting of Pn081 0 Do not change the factory setting if the zero point position of the existing equipment must remain as is When Pn081 0 1 the width of the phase C pulse output is narrower than that of the phase A pulse in some cases As shown in the following figure there is a one eighth scale pitch diff...

Page 284: ...s the JOG operation operate correctly when operating the SERVOPACK in standalone mode Do the I O signals turn ON OFF correctly Does the servomotor turn ON when the Servo ON command is turned ON from the host control ler Does the servomotor operate correctly when the position ref erence is input by the host con troller Basic Function Select Switch 0 Pn000 Application Function Select Switch 1 Pn001 ...

Page 285: ...e Pn002 3 Number of External Scale Pitch Pn20A Electronic Gear Ratio Numerator Pn20E Electronic Gear Ratio Denominator Pn210 Encoder Output Resolution Pn281 Excessive Error Level Between Servomotor and Load Positions Pn51B Positioning Completed Width Pn522 Multiplier per One Fully closed Rotation Pn52A 4 Perform a program JOG opera tion Items to Check Does the fully closed loop control operate cor...

Page 286: ...n20A Number of pitches for the external encoder 8 3 2 Pn281 Number of encoder output pulses PAO PBO and PCO from the SERVOPACK 8 3 3 External absolute encoder data reception sequence 8 3 4 Pn20E Pn210 Electronic gear ratio 8 3 5 Pn51B Excessive error level between servo motor and load positions 8 3 6 Pn52A Multiplier per one fully closed rota tion Pn006 Pn007 Analog monitor signal 8 3 7 Pn22A Spee...

Page 287: ...e Applicable Overtravel OT Pn000 n 0 Sets CCW as forward direction Factory setting Forward Reference P OT Reverse Reference N OT n 1 Sets CW as forward direction Reverse Rotation Mode Forward Reference P OT Reverse Reference N OT PAO PBO CCW Phase B advanced Time Encoder output pulse Motor speed Torque reference Motor speed PAO PBO CW Phase A advanced Time Encoder output pulse Motor speed Torque r...

Page 288: ...If the Un00E counts down set Pn002 to n 3 The output pulses are phase B advanced if the motor is turning forward regardless of the setting in Pn000 0 Parameter Pn002 3 External Encoder Usage 1 3 Pn000 0 Motor rotation direction 0 Reference direction Forward reference Reverse reference Forward reference Reverse reference Motor rotation direction CCW CW CCW CW External encoder output cos lead sin le...

Page 289: ...pulse multiplied by 4 is 1 μm the set value will be 20 If the output of a single pulse multiplied by 4 is 0 5 μm the set value will be 40 The encoder output pulse will have the following waveform if the set value is 20 shows the edge position In this example the set value is 20 therefore the number of is 20 Note The upper limit of the encoder signal output frequency multiplied by 4 is 6 4 Mpps Do ...

Page 290: ...nsmits them to host controller in fully closed loop control is shown below 1 Outline of Absolute Signals The serial data pulses etc of the external absolute encoder that are output from the SERVOPACK are output from the PAO PBO and PCO signals as shown below Note When host controller receives the data from the external absolute encoder do not perform counter reset using the output of PCO signal Pn...

Page 291: ...e output speed is approximately 1 48 µs per pulse Final absolute data PM is calculated by following formula PE MO R PO PM PE MS R PS Note If host controller receives the data from the external absolute encoder do not perform counter reset using the output of PCO signal Sensor ON command PAO PBO Incremental pulses Incremental pulses Undefined Undefined Phase A Phase A Phase B Phase B Serial data 40...

Page 292: ...nsfer Method Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below Note 1 Data is P 00000 CR or P 00000 CR when the position is zero 2 The serial data range is 32768 to 32767 When this range is exceeded the data changes from 32767 to 32678 or from 32768 to 32767 When changing multitur...

Page 293: ...external encoder and serial converter unit for details on the sine wave pitch and the number of divisions of the external encoder A B Pn210 Pn20E External encoder sine wave pitch Travel distance per reference unit Number of divisions Electronic gear ratio Rotation B A Type of External Encoder Manufacturer External Encoder Model Sine Wave Pitch μm Model of Relay Device between SERVOPACK and Externa...

Page 294: ...ween the external encoder and the motor per motor rotation can be set This function can be used to prevent the motor from running out of control due to damage to the external encoder or to detect slippage of the belt Setting Example Increase the value if the belt slips or is twisted excessively If the set value is 0 the external encoder value will be read as it is If the factory setting of 20 is u...

Page 295: ...ignal Selection Position error between servomotor and load 0 01 V 1 reference unit Factory setting n 02 Immediately Setup Pn007 n 07 Analog Monitor 2 Signal Selection Position error between servomotor and load 0 01 V 1 reference unit Factory setting n 00 Parameter Meaning When Enabled Classification Pn22A n 0 Factory setting Uses motor encoder speed After restart Setup n 1 Uses external encoder sp...

Page 296: ...splays 9 2 9 1 1 List of Alarms 9 2 9 1 2 Troubleshooting of Alarms 9 6 9 2 Warning Displays 9 23 9 2 1 List of Warnings 9 23 9 2 2 Troubleshooting of Warnings 9 24 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 9 28 ...

Page 297: ... the parameter in the SERVOPACK is incorrect Gr 1 N A A 022 System Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 030 Main Circuit Detector Error Detection data for main circuit is incorrect Gr 1 Available A 040 Parameter Setting Error 1 The parameter setting is outside the setting range Gr 1 N A A 041 Encoder Output Pulse Setting Error The encoder output pulse...

Page 298: ...ower was frequently turned ON and OFF Gr 1 Available A 7A0 Heat Sink Overheated The heat sink of the SERVOPACK or converter exceeded 100 C Gr 2 Available A 7AB Built in Fan in SERVOPACK Stopped The fan inside the SERVOPACK stopped Gr 1 Available A 810 Encoder Backup Error The power supplies to the encoder all failed and position data was lost Gr 1 N A A 820 Encoder Checksum Error The checksum resu...

Page 299: ...odule Communications Error Timer stop Timer for communications with the Feedback Option Module is faulty Gr 1 N A A d00 Position Error Overflow Position error exceeded the value of excessive position error alarm level Pn520 when the servomotor power is ON Gr 1 Available A d01 Position Error Overflow Alarm at Servo ON This alarm occurs if the servomotor power is turned ON when the position error is...

Page 300: ...Error The command option module was replaced with a different model Gr 1 N A A E81 2 SERVOPACK Safety Module Alarm A EA2 DRV Alarm 2 SERVOPACK WDC error A SERVOPACK DRV alarm 0 occurs Gr 2 Available A Eb1 Safety Function Signal Input Timing Error The safety function signal input timing is faulty Gr 1 N A A Eb 2 SERVOPACK Safety Module Alarms A EC 2 SERVOPACK Safety Module Alarms A ED1 Command Opti...

Page 301: ...CK A 021 Parameter Format Error 1 The parameter data in the SERVOPACK is incorrect The software version of SERVO PACK that caused the alarm is older than that of the written parameter Check Fn012 to see if the set soft ware version agrees with that of the SERVOPACK If not an alarm may occur Write the parameter of another SERVOPACK of the same model with the same software version Then turn the powe...

Page 302: ...er Setting Error 2 A parameter reserved by the sys tem was changed Set the following reserved parame ters to the factory settings Pn200 2 Pn207 1 Pn50A 0 Pn50A 1 Pn50A 2 Pn50C Pn50D A 050 Combination Error The SERVOPACK and servomotor capacities do not correspond The SERVOPACK and servomo tor capacities do not match each other Check the capacities to see if they satisfy the following condition Sel...

Page 303: ...to see if the DB overload alarm A 730 or A 731 was reported Change the SERVOPACK model operating conditions or the mecha nism so that the DB does not need to be used so frequently A heavy load was applied while the servomotor was stopped or running at a low speed Check to see if the operating condi tions are outside servo drive specifi cations Reduce the load applied to the ser vomotor or increase...

Page 304: ...ting con ditions The setting of parameter Pn600 is smaller than the regenerative resistor s capacity Check the regenerative resistor unit connection and the value of the Pn600 Set the Pn600 to a correct value The regenerative resistance is too high Check the regenerative resistance Change the regenerative resistance to a correct value or use an external regenerative resistor of appropriate capacit...

Page 305: ...he con verter to see if it remains lit for more than a few seconds immedi ately after the main circuit power supply is turned OFF The converter may be faulty Replace the converter The connection of the I O signals CN901 between the SERVO PACK and converter is faulty Check the connection of CN901 Correctly connect CN901 A fault occurred in the SERVO PACK or converter Turn the control power OFF and ...

Page 306: ...Input the control power supply simultaneously to the SERVO PACK and converter The wiring between the SERVO PACK and converter is incorrect or the connection is faulty Check the wiring Correctly connect the SERVO PACK and converter to each other The connection of the I O signals CN901 between the SERVO PACK and converter is faulty Check the connection of CN901 Correctly connect CN901 A fault occurr...

Page 307: ...tor capacity Excessive load was applied dur ing operation because the servo motor was not driven due to mechanical problems Check the executed operation refer ence and motor speed Remove the mechanical problems A fault occurred in the SERVO PACK or converter The SERVOPACK or converter may be faulty Replace the SERVO PACK or converter A 730 A 731 Dynamic Brake Overload An excessive power consumptio...

Page 308: ...e SERVOPACK may be faulty Replace the SERVOPACK A 7AB Built in Fan in SERVOPACK Stopped The fan inside the SERVOPACK stopped Check for foreign matter or debris inside the SERVOPACK Remove foreign matter or debris from the SERVOPACK If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK A 810 Encoder Backup Error Only when an absolute encoder is connected Detected on the encod...

Page 309: ...PACK A 860 Encoder Overheated Only when an absolute encoder is connected Detected on the encoder side The ambient operating tempera ture around the servomotor is too high Measure the ambient operating tem perature around the servomotor The ambient operating temperature must be 40 C or less The motor load is greater than the rated load Check the accumulated load ratio Un009 to see the load The moto...

Page 310: ... faulty Replace the SERVOPACK A bF1 System Alarm 1 A fault occurred in the SERVO PACK Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF2 System Alarm 2 A fault occurred in the SERVO PACK Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF3 System Alarm...

Page 311: ...t occurred in the SERVO PACK Connect the servomotor to another SERVOPACK and turn ON the control power If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Communications Position Data Error Noise interference occurred on the I O signal line because the encoder cable is bent and the sheath is damaged Check the encoder cable and con nector Confirm that there is no prob...

Page 312: ...ccurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor A fault occurred in the SERVO PACK Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CC0 Multiturn Limit Disagreement The multiturn limit value of the encoder is different from that of the SERVOPACK...

Page 313: ...e servomo tor power is turned ON when the position error is greater than the set value of Pn526 while the ser vomotor power is OFF Check the position error amount Un008 while the servomotor power is OFF Correct the excessive position error alarm level at servo ON Pn526 A d02 Position Error Overflow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn529 limits t...

Page 314: ...t occurred Replace the command option mod ule A SERVOPACK fault occurred Replace the SERVOPACK A E40 Command Option Module IF Communications Setting Error A command option module fault occurred Replace the command option mod ule A E50 Command Option Module IF Synchronization Error 2 The timing of synchronization between the servomotor and com mand option module changed due to change in the communi...

Page 315: ... SERVOPACK and the safety option module Correctly connect the safety option module The safety option module was disconnected Execute Fn014 Resetting configu ration error of option module with using the digital operator or Sig maWin and turn the power supply OFF and then ON again A safety option module fault occurred Replace the safety option module A fault occurred in the SERVO PACK Replace the SE...

Page 316: ... disconnected Check if any of these items are faulty or have been disconnected A ED1 Command Option Module IF Command Timeout Error Processing of the sensor ON command from the command option module is not completed Input a servo ON command when the motor is stopped Processing of the sensor ON command from the command option module is not completed Check that the encoder is connected correctly and...

Page 317: ...used by noise interference Keep the digital operator or the cable away from noise sources CPF01 Digital Operator Transmission Error 2 A digital operator fault occurred Disconnect the digital operator and then re connect it If the alarm still occurs the digital operator may be faulty Replace the digital operator A fault occurred in the SERVO PACK Turn the power supply OFF and then ON again If the a...

Page 318: ...on module A 94B Command Option Module IF Data Setting Warning 2 This warning occurs when out of range data is sent to the SERVOPACK from the host controller or command option module A 94C Command Option Module IF Data Setting Warning 3 This warning occurs when there is an error in the parameter data sent to in the SERVO PACK from the host controller or command option module A 94D Command Option Mo...

Page 319: ...ulty Replace the SERVOPACK A 901 Position Error Overflow Alarm at Servo ON When the servomotor power is ON the posi tion error exceeded the parameter setting Pn526 Pn528 100 Set an appropriate value for the exces sive position error warning level at servo ON Pn528 A 910 Overload Warning before alarm A 710 or A 720 occurs Incorrect wiring or con tact fault of servomotor and encoder Check the wiring...

Page 320: ...ce Un00B to see how many times the DB has been used Reconsider the following Reduce the motor reference speed Reduce the moment of inertia ratio Reduce the number of times of the DB stop operation A fault occurred in the SERVOPACK or con verter The SERVOPACK or converter may be faulty Replace the SERVOPACK or converter A 930 Absolute Encoder Battery Error The absolute encoder battery voltage is lo...

Page 321: ... Module IF Command Warning 4 A latch command was sent from the command option module during latch operation Review the input sequence for the latch command A 95E Command Option Module IF Command Warning 5 An unallowed com mand combination was output to the SERVO PACK from the com mand option module Send a command that can be com bined A 95F Command Option Module IF Command Warning 6 The command op...

Page 322: ...con verter The SERVOPACK or converter may be faulty Replace the SERVOPACK or converter A 9A0 Overtravel Overtravel status is detected When the servomotor power is ON over travel status is detected Check the input signal monitor Un005 to check the status of the overtravel signals Refer to 9 3 Troubleshooting Malfunc tion Based on Operation and Condi tions of the Servomotor Even if overtravel signal...

Page 323: ...put signal selec tions Pn50A Pn50B and Pn511 is incorrect Check the settings for parameters Pn50A Pn50B and Pn511 Correct the settings for parameter Pn50A Pn50B and Pn511 Sensor ON command is not turned ON Check the command sent from the host controller Turn ON the Servo ON command Servo ON command is not turned ON Check the command sent from the host controller Send the command in the correct SER...

Page 324: ...nected Check if excessive moment of iner tia motor overspeed or DB fre quently activated occurred Replace the dynamic brake unit or change the external dynamic brake circuit And reduce the load DB drive circuit fault A defective component is in the dynamic brake circuit inside SER VOPACK Replace the SERVO PACK Wiring of the dynamic brake unit is incorrect Check the wiring Correct the wiring cont d...

Page 325: ...pecifications of encoder cable The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm2 min Use the specified encoder cable Noise interference due to length of encoder cable Check the length of the encoder cable The encoder cable must be no more than 50 m Noise interference due to damaged encoder cable Check if the enc...

Page 326: ...he moment of inertia ratio Pn103 Correct the moment of inertia ratio Pn103 High Motor Speed Overshoot on Starting and Stopping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn1...

Page 327: ...fluence of machines such as weld ers at the servomotor Check if the machines are correctly grounded Ground machines correctly and prevent diversion to the FG on the encoder side SERVOPACK pulse counting error due to noise interference Check if there is noise interference on the I O signal line from the encoder Take measures against noise in the encoder wiring Excessive vibration and shock to the e...

Page 328: ...ch wiring is correct check for dam aged cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal P OT N OT allocation parameters Pn50A 3 Pn50B 0 Check if the P OT signal is allo cated in Pn50A 3 If another signal is allocated in Pn50A 3 allocate P OT Check if the N OT signal is allo cated in Pn50B 0 If another signal is allocated in Pn50B...

Page 329: ...tion or mount the servomotor securely Unsecured coupling between machine and servomotor Check if a position error occurs at the coupling between machine and servomotor Secure the coupling between the machine and servomotor Noise interference due to improper I O signal cable specifications The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair ...

Page 330: ...10 1 10 Appendix 10 Appendix 10 1 List of Parameters 10 2 10 1 1 Utility Functions 10 2 10 1 2 Parameters 10 3 10 2 List of Monitor Displays 10 24 10 3 Parameter Recording Table 10 25 ...

Page 331: ...tic offset signal adjustment of the motor current detection signal 6 10 Fn00F Manual offset signal adjustment of the motor current detection signal 6 11 Fn010 Write prohibited setting 6 12 Fn011 Servomotor model display 6 13 Fn012 Software version display 6 14 Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm occurs 4 5 7 Fn014 Resetting configuration error in op...

Page 332: ...rved Do not change 4th 3rd 2nd 1st digit digit digit digit n Servomotor Power OFF or Alarm Gr 1 Stop Mode Reference Section 0 Stops the servomotor by applying DB dynamic brake 4 2 8 1 Stops the servomotor by applying DB and then releases DB 2 Makes the servomotor coast to a stop state without using the DB Overtravel OT Stop Mode Reference Section 0 Stops in accordance with the setting of Pn001 0 4...

Page 333: ... Reserved Do not change 3 Enables torque limit reference from the command option module when external input signals P CL and N CL are enabled Speed Limit Reference Selection for Command Option Module 1 0 Disables the speed limit reference when torque limit is used from the command option module 1 Enables the speed limit reference when torque limit is used from the command option module Absolute En...

Page 334: ...rque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference completed 5 V not completed 0 V 0D External encoder speed 1 V 1000 min 1 Values at motor shaft Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 2 Signal Selection 00 Motor rotating speed 1 V 1000 min 1 01 Speed reference 1 V 1000 min 1 02 Torque reference 1 V 100 ...

Page 335: ...ction Selection for Undervoltage Reference Section 0 Does not detect undervoltage 4 2 10 1 Detects warning and limits torque by host controller 2 Detects warning and limits torque by Pn424 and Pn425 Only in the SERVOPACK Warning Detection Selection Reference Section 0 Detects warning 9 2 1 1 Does not detect warning except for A 971 Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n R...

Page 336: ...ference Section 0 Stops the motor by setting the speed reference to 0 4 2 8 1 Same setting as Pn001 0 Stops the motor by applying DB or by coasting Reserved Do not change Semi closed Encoder Usage Method 0 Uses the encoder connected to the SERVOPACK 1 Uses the encoder connected to the feedback option module 4th 3rd 2nd 1st digit digit digit digit n Selection of Test without a Motor 0 Disables test...

Page 337: ...g 5 9 1 Pn10A 2 Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immediately Tuning 5 9 1 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classi fication Reference Section Stand alone Mode Test Operation Selection 0 Enables connection with the command option module 1 Disables connection with the command option module Dynamic Brake Signal Selection Reference Secti...

Page 338: ...sation Gain Correction 1 to 1000 1 100 Immediately Tuning 5 8 2 Pn131 2 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning 5 8 1 Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning 5 8 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning 5 8 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning 5 8 1 cont d Parameter No Size Nam...

Page 339: ...witching condition A is not satisfied Gain Switching Condition A 0 Positioning completion signal COIN ON 1 Positioning completion signal COIN OFF 2 Positioning near signal NEAR ON 3 Positioning near signal NEAR OFF 4 Position reference filter output 0 and position reference input OFF 5 Position reference input ON Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit...

Page 340: ...2 Reserved Do not change 0011 Pn160 2 Anti Resonance Control Related Switch 0000 to 0011 0010 Immediately Tuning 5 3 1 5 4 1 5 5 1 5 7 1 Pn161 2 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immediately Tuning Pn162 2 Anti Resonance Gain Compensation 1 to 1000 1 100 Immediately Tuning Pn163 2 Anti Resonance Damping Gain 0 to 300 1 0 Immediately Tuning Pn164 2 Anti Resonance Filter Time Constant...

Page 341: ...tuning less function After restart Setup 5 2 1 Enables tuning less function Control Method during Speed Control When Enabled Classification Reference Section 0 Uses as speed control After restart Setup 5 2 1 Uses as speed control and uses the host controller for position control Rigidity Level When Enabled Classification Reference Section 0 to 4 Sets rigidity level Immediately Setup 5 2 Load Level...

Page 342: ...1 50 Immediately Tuning 6 16 Pn324 2 Moment of Inertia Calculating Start Level 0 to 20000 1 300 Immediately Setup 5 3 2 Pn400 2 Reserved Do not change 30 Pn401 2 Torque Reference Filter Time Constant 0 to 65535 0 01 ms 100 Immediately Tuning 5 9 3 Pn402 2 Forward Torque Limit 0 to 800 1 800 Immediately Setup 4 4 1 Pn403 2 Reverse Torque Limit 0 to 800 1 800 Immediately Setup 4 4 1 cont d Parameter...

Page 343: ...5 0 01 ms 100 Immediately Tuning 5 8 1 Pn415 2 Reserved Do not change 0 Pn423 2 Reserved Do not change 0000 Pn424 2 Torque Limit at Main Circuit Voltage Drop 0 to 100 1 50 Immediately Setup 4 2 10 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1000 1 ms 100 Immediately Setup 4 2 10 Pn456 2 Sweep Torque Reference Amplitude 1 to 800 1 15 Immediately Tuning 6 21 cont d Parame...

Page 344: ...Time for Brake Signal When Motor Running 10 to 100 10 ms 50 Immediately Setup 4 2 7 Pn509 2 Instantaneous Power Cut Hold time 20 to 50000 1 ms 20 Immediately Setup 4 2 9 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classi fication Reference Section Notch Filter Adjustment Selection 1 0 Does not adjust 1st step notch filter automatically using utility function 1 Ad...

Page 345: ...osed 3 Forward run allowed when CN1 43 input signal is ON closed 4 Forward run allowed when CN1 44 input signal is ON closed 5 Forward run allowed when CN1 45 input signal is ON closed 6 Forward run allowed when CN1 46 input signal is ON closed 7 Forward run prohibited 8 Forward run allowed 9 Forward run allowed when CN1 40 input signal is OFF open A Forward run allowed when CN1 41 input signal is...

Page 346: ... run allowed when CN1 43 input signal is OFF open D Reverse run allowed when CN1 44 input signal is OFF open E Reverse run allowed when CN1 45 input signal is OFF open F Reverse run allowed when CN1 46 input signal is OFF open Reserved Do not change P CL Signal Mapping Torque Limit when ON closed Reference Section 0 Active when CN1 40 input signal is ON closed 4 4 2 1 Active when CN1 41 input sign...

Page 347: ...COIN Signal Mapping 4 6 5 Servomotor Rotation Detection Signal Mapping TGON Reference Section 0 to 3 Same as COIN Signal Mapping 4 6 3 Servo Ready Signal Mapping S RDY Reference Section 0 to 3 Same as COIN Signal Mapping 4 6 4 4th 3rd 2nd 1st digit digit digit digit n Torque Limit Detection Signal Mapping CLT Reference Section 0 Disabled the above signal is not used 4 4 3 1 Outputs the signal from...

Page 348: ...ed Classi fication Reference Section Near Signal Mapping NEAR Reference Section 0 Disabled the above signal is not used 4 6 7 1 Outputs the signal from CN1 25 26 output terminal 2 Outputs the signal from CN1 27 28 output terminal 3 Outputs the signal from CN1 29 30 output terminal Reserved Do not change Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n ...

Page 349: ...en A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open Input Signal 4 Mapping for Command Option Module SI4 4 Active when CN1 44 input signal is ON closed 5 Active when CN1 45 ...

Page 350: ...ts DB contactor errors when the input signal of CN1 41 is ON closed while the DB is applied 2 Detects DB contactor errors when the input signal of CN1 42 is ON closed while the DB is applied 3 Detects DB contactor errors when the input signal of CN1 43 is ON closed while the DB is applied 4 Detects DB contactor errors when the input signal of CN1 44 is ON closed while the DB is applied 5 Detects D...

Page 351: ...Distance 1 to 1073741824 1 reference unit 32768 Immediately Setup 6 5 Pn533 2 Program JOG Movement Speed 1 to 10000 1 min 1 500 Immediately Setup 6 5 Pn534 2 Program JOG Acceleration Deceleration Time 2 to 10000 1 ms 100 Immediately Setup 6 5 Pn535 2 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup 6 5 Pn536 2 Number of Times of Program JOG Move ment 0 to 1000 1 time 1 Immediately Se...

Page 352: ...nds on SERVO PACK Capacity 3 10 W 0 Immediately Setup 3 8 3 Pn601 2 Dynamic Brake Resistor Capacity 0 or higher Max value depends on model 3 10 W 0 Immediately Setup 3 9 2 Pn621 to Pn628 4 SERVOPACK Safety Module Parame ters Pn800 to Pn95F 5 2 Reserved Do not change 0 2 Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor unit 3 The upper l...

Page 353: ...nput reference pulse speed valid only in position control min 1 Un008 Position error amount valid only in position control reference unit Un009 Accumulated load ratio in percentage to the rated torque effective torque in cycle of 10 seconds Un00A Regenerative load ratio as a percentage of the processable regenerative power regenerative power consumption in cycle of 10 seconds Un00B Power consumed ...

Page 354: ... Immediately Pn103 100 Moment of Inertia Ratio Immediately Pn104 400 2nd Speed Loop Gain Immediately Pn105 2000 2nd Speed Loop Integral Time Con stant Immediately Pn106 400 2nd Position Loop Gain Immediately Pn109 0 Feedforward Gain Immediately Pn10A 0 Feedforward Filter Time Constant Immediately Pn10B 0000 Application Function for Gain Select Switch 1 Pn10C 200 Mode Switch torque reference Immedi...

Page 355: ...i Resonance Control Related Switch Immediately Pn161 1000 Anti Resonance Frequency Immediately Pn162 100 Anti Resonance Gain Compensation Immediately Pn163 0 Anti Resonance Damping Gain Immediately Pn164 0 Anti Resonance Filter Time Con stant 1 Compensation Immediately Pn165 0 Anti Resonance Filter Time Con stant 2 Compensation Immediately Pn170 1401 Tuning less Function Related Switch 1 Pn190 001...

Page 356: ...09 5000 1st Notch Filter Frequency Immediately Pn40A 70 1st Notch Filter Q Value Immediately Pn40B 0 1st Notch Filter Depth Immediately Pn40C 5000 2nd Notch Filter Frequency Immediately Pn40D 70 2nd Notch Filter Q Value Immediately Pn40E 0 2nd Notch Filter Depth Immediately Pn40F 5000 2nd Step 2nd Torque Reference Filter Frequency Immediately Pn410 50 2nd Step 2nd Torque Reference Filter Q Value I...

Page 357: ...n522 7 Positioning Completed Width Immediately Pn524 1073741824 NEAR Signal Width Immediately Pn526 5242880 Excessive Position Error Alarm Level at Servo ON Immediately Pn528 100 Excessive Position Error Warning Level at Servo ON Immediately Pn529 10000 Speed Limit Level at Servo ON Immediately Pn52A 20 Multiplier per One Fully closed Rotation Immediately Pn52B 20 Overload Warning Level Immediatel...

Page 358: ...0 400 Remained Vibration Detection Width Immediately Pn561 100 Overshoot Detection Level Immediately Pn600 0 Regenerative Resistor Capacity Immediately Pn601 0 Dynamic Brake Resistor Capacity Immediately cont d Parameter Factory Setting Name When Enabled ...

Page 359: ...9 BB iii 4 30 brake operation delay time 4 15 brake signals 4 16 C CCW 4 5 8 15 CE xvi changing detection timing of overload low load alarm A 720 4 26 changing detection timing of overload warning A 910 4 25 checking output torque limiting during operation 4 33 clearing alarm history Fn006 6 13 CN1 3 23 CN2 3 34 CN3 1 2 CN7 1 2 CN8 3 24 coast to a stop 4 7 compatible adjustment function 5 62 confi...

Page 360: ...onitor displays 7 2 list of warnings 9 23 M machine vibration 6 37 main circuit names and functions of terminals 3 3 wires 3 5 main circuit wiring 3 3 manual gain switching 5 56 manual offset signal adjustment of the motor current detection signal Fn00F 6 19 monitor displays Un 2 8 10 24 monitor factor 5 7 monitoring safety input signals 7 7 multiturn limit disagreement alarm A CC0 4 47 multiturn ...

Page 361: ... 57 speed coincidence signal 4 50 speed control range 1 7 speed detection method selection 5 61 speed regulation 1 7 standard power supply input main circuit wires for SERVOPACKs and converters 3 5 molded case circuit breaker 3 19 power supply capacities and power losses 3 19 stopping method for servomotor after turning OFF Servo ON command 4 19 stopping method for servomotor when an alarm occurs ...

Page 362: ... original publication 1 Revision number Date of Publication Rev No Section Revised Content September 2014 8 1 3 2 Revision Description of analog signal input timing 8 1 4 8 3 5 Addition External encoder by Heidenhain models LIC4100 series models August 2013 Preface 1 5 2 Revision Description of Harmonized Standards EN 55011 A2 changed to EN 55011 Back cover Revision Address April 2013 First editio...

Page 363: ...6 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 In the event that the end user of t...

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