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6 Adjustments

6.3.2 Advanced Autotuning Procedure

6-26



Feedforward

If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109),
speed feedforward (V-REF) input, and force feedforward (T-REF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (V-REF) input and

force feedforward (T-REF) input from the host controller.

Refer to

6.9.2 Force Feedforward

6.9.3 Speed Feedforward

for details.

Parameter

Function

When Enabled Classification

Pn140

n.0



[Factory setting]

Model following control is not used together with the
speed/force feedforward input.

Immediately

Tuning

n.1



Model following control is used together with the
speed/force feedforward input.

• Model following control is used to make optimum feedforward settings in the SERVO-

PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (V-REF) input or force feedforward (T-REF) input from the host controller. How-
ever, model following control can be used with the speed feedforward (V-REF) input
or force feedforward (T-REF) input if required. An improper feedforward input may
result in overshooting.

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Summary of Contents for SGDV SERVOPACK

Page 1: ...otor Analog Voltage and Pulse Train Reference V Series AC Servo Drives USER S MANUAL Design and Maintenance MANUAL NO SIEP S800000 47G 1 2 3 4 5 6 7 8 9 10 Outline Panel Operator Wiring and Connection Trial Operation Operation Adjustments Utility Functions Fn Monitor Displays Un Troubleshooting Appendix ...

Page 2: ...ontroller PLC اﯾﻠﯿﺎ ﻫﻮﺷﻤﻨﺪ ﭘﺮدازان داده ﺷﺮﮐﺖ و اي ﺣﺮﻓﻪ ﭘﺸﺘﯿﺒﺎﻧﯽ ﺧﺪﻣﺎت اراﺋﻪ ﮐﻨﻨﺪه ﺗﺎﻣﯿﻦ ﺗﺠ ﻬﯿ ﺰات Yaskawa آﻣﻮزﺷﯽ ﻫﺎي دوره ﺑﺮﮔﺰاري PLC HMI Servo Sensor Inverter Industrial Network ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ﭘﺮوژﻫﺎي اﻧﺠﺎم ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ادوات ﮐﻠﯿﻪ ﺗﺨﺼﺼﯽ ﺗﻌﻤﯿﺮات ﺗﻤﺎس ﻫﺎي ﺗﻠﻔﻦ 15 88594014 ﻓﮑﺲ 88594013 وب ﺳﺎﯾﺖ www dphi ir www indus ir ...

Page 3: ...Yaskawa No patent 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 N...

Page 4: ...stem A servo control system that includes the combination of a servo drive with a host controller and peripheral devices Analog Pulse Model Analog voltage and pulse train reference used for SERVOPACK inter face Servo ON Power to motor ON Servo OFF Power to motor OFF Base Block BB Power supply to motor is turned OFF by shutting off the base current to the power transistor in the current amplifier S...

Page 5: ...ates when a change to the parameter will be effective Indicates the parameter classification Indicates the minimum setting unit for the parameter Force Position Speed Indicates the setting range for the parameter The notation n indicates a parameter for selecting functions Each corresponds to the setting value of that digit The notation shown here means that the third digit is 1 This section expla...

Page 6: ...e and Pulse Train Reference this manual V Series User s Manual Operation of Digital Operator No SIEP S800000 55 V Series AC SERVOPACK SGDV Safety Precautions No TOBP C710800 10 Series Digital Operator Safety Precautions No TOBP C730800 00 AC SERVOMOTOR Safety Precautions No TOBP C230200 00 Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates pr...

Page 7: ...ns provided in the manuals for the products being used in the trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury Do not remove the top front cover cables connectors or optional items from the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage pull exert excessive force ...

Page 8: ...ck or vibration Do not hold the servomotor by the cables while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction If disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood...

Page 9: ... the magnetic attraction of the magnetic way Do not place the removed plate close to the magnetic way Failure to observe this caution may result in injury or damage to the magnetic way s magnets or the magnet protection cover Install SERVOPACKs servomotors and regenerative resistors on nonflammable objects Installation directly onto or near flammable objects may result in fire Never use the produc...

Page 10: ...les for the SERVOPACK with a 400 V power supply 24 V 0 V 10 m Do not touch the power supply terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is OFF first before starting to do wiring or inspections Be sure to observe the following precautions when wiring the SERVOPACK main circuit terminal blocks Do ...

Page 11: ...ent workpieces from fall ing due to alarms or overtravels Set the servomotor so that 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 the turning less function set the correct mass ratio Pn103 Setting an incorrect mass ratio may cause machine vibration Do not touch the SERVOPACK heat sinks rege...

Page 12: ...s in this manual 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...

Page 13: ...e of the delivered 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...

Page 14: ...a risk to life or 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...

Page 15: ... Model UL Standards UL File No SERVOPACK SGDV UL508C E147823 Model European Directives Harmonized Standards SERVOPACK SGDV Machinery Directive 2006 42 EC EN ISO13849 1 2008 EN 954 1 EMC Directive 2004 108 EC EN 55011 A2 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 50178 EN 61800 5 1 ...

Page 16: ...rmance 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 Stop categ...

Page 17: ...se 200 V SGDV 180A05A 200A05A Models 1 11 1 4 8 Three phase 200 V SGDV 330A05A Model 1 11 1 4 9 Three phase 200 V SGDV 550A05A Models 1 12 1 4 10 Three phase 400 V SGDV 1R9D05A 3R5D05A 5R4D05A Models 1 12 1 4 11 Three phase 400 V SGDV 8R4D05A 120D05A Models 1 13 1 4 12 Three phase 400 V SGDV 170D05A Model 1 13 1 4 13 Three phase 400 V SGDV 260D05A Model 1 14 1 5 Examples of Servo System Configurat...

Page 18: ... Scale Connection 3 36 3 5 1 Linear Scale Signal CN2 Names and Functions 3 36 3 5 2 Serial Converter Unit 3 36 3 5 3 Linear Scale Connection Examples 3 39 3 6 Connecting Regenerative Resistors 3 43 3 6 1 Connecting Regenerative Resistors 3 43 3 6 2 Setting Regenerative Resistor Capacity 3 45 3 7 Noise Control and Measures for Harmonic Suppression 3 46 3 7 1 Wiring for Noise Control 3 46 3 7 2 Prec...

Page 19: ...47 5 4 7 Positioning Near Signal 5 48 5 4 8 Reference Pulse Inhibit Function 5 49 5 5 Force Control 5 50 5 5 1 Basic Settings for Force Control 5 50 5 5 2 Reference Offset Adjustment 5 51 5 5 3 Force Reference Filter 5 54 5 5 4 Speed Limit in Force Control 5 54 5 6 Internal Set Speed Control 5 56 5 6 1 Basic Settings for Speed Control with an Internal Set Speed 5 56 5 6 2 Example of Operating with...

Page 20: ...nce Procedure 6 30 6 4 3 Related Parameters 6 34 6 5 One parameter Tuning Fn203 6 35 6 5 1 One parameter Tuning 6 35 6 5 2 One parameter Tuning Procedure 6 36 6 5 3 One parameter Tuning Example 6 43 6 5 4 Related Parameters 6 44 6 6 Anti Resonance Control Adjustment Function Fn204 6 45 6 6 1 Anti Resonance Control Adjustment Function 6 45 6 6 2 Anti Resonance Control Adjustment Function Operating ...

Page 21: ... 17 Display of SERVOPACK and Servomotor ID Fn01E 7 26 7 18 Origin Setting Fn020 7 28 7 19 Software Reset Fn030 7 29 7 20 Polarity Detection Fn080 7 30 7 21 EasyFFT Fn206 7 31 7 22 Online Vibration Monitor Fn207 7 34 Chapter 8 Monitor Displays Un 8 1 8 1 List of Monitor Displays 8 2 8 2 Viewing Monitor Displays 8 3 8 3 Reading 32 bit Data in Decimal Displays 8 4 8 4 Monitoring Allowable Motor Maxim...

Page 22: ...dule SVA 01 10 2 10 1 2 Connection to MP920 Servo Module SVA 01A 10 3 10 1 3 Connection to OMRON s Motion Control Unit 10 4 10 1 4 Connection to OMRON s Position Control Unit 10 5 10 1 5 Connection to MITSUBISHI s AD72 Positioning Module SERVOPACK in Speed Control 10 6 10 1 6 Connection to MITSUBISHI s AD75 Positioning Module SERVOPACK in Position Control 10 7 10 1 7 Connection to MITSUBISHI s QD7...

Page 23: ...www dadehpardazan ir 88594014 15 xxii ...

Page 24: ...V SGDV 3R8A05A 5R5A05A 7R6A05A Models 1 10 1 4 6 Three phase 200 V SGDV 120A05A Model 1 10 1 4 7 Three phase 200 V SGDV 180A05A 200A05A Models 1 11 1 4 8 Three phase 200 V SGDV 330A05A Model 1 11 1 4 9 Three phase 200 V SGDV 550A05A Models 1 12 1 4 10 Three phase 400 V SGDV 1R9D05A 3R5D05A 5R4D05A Models 1 12 1 4 11 Three phase 400 V SGDV 8R4D05A 120D05A Models 1 13 1 4 12 Three phase 400 V SGDV 1...

Page 25: ...omotor Connects DC reactor for harmonic suppression SERVOPACK model Regenerative resistor connecting terminals Input voltage CN8 Connector for safety function devices DC reactor terminals for harmonic suppression CN3 CN7 CN1 CN8 CN2 㧢 With front cover open Nameplate Found on side of SERVOPACK Indicates the SERVOPACK model and ratings Lights when the main circuit power supply is ON and stays lit as...

Page 26: ... Single phase 100 to 115 VAC 50 60 Hz Control Power Supply Single phase 100 to 115 VAC 50 60 Hz Overvoltage Category III 10 15 10 15 SGDV Three Phase 200 V R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 550 Continuous Output Current Arms 0 66 0 91 1 6 2 8 3 8 5 5 7 6 11 6 18 5 19 6 32 9 54 7 Instantaneous Max Output Cur rent Arms 2 1 2 9 5 8 9 3 11 0 16 9 17 28 42 56 84 130 Regenerative Resistor None...

Page 27: ...city strong electromagnetic fields magnetic fields or exposure to radioactivity Harmonized Standards UL508C EN50178 EN55011 A2 group1 classA EN61000 6 2 EN61800 3 EN61800 5 1 EN954 1 IEC61508 1 to 4 Mounting Standard Base mounted Optional Rack mounted or duct ventilated Perfor mance Speed Control Range 1 5000 The lower limit of the speed control range must be lower than the point at which the rate...

Page 28: ... Signals which can be allocated Number of Channels 3 ch Functions Positioning completion COIN Speed coincidence detection V CMP Movement detection TGON Servo ready S RDY Force limit detection CLT Speed limit detection VLT Brake BK Warning WARN Near NEAR Reference pulse input multiplication switching output PSELA Signal allocations can be performed and positive and negative logic can be changed Com...

Page 29: ...e fulfilled Dynamic Brake DB Activated when a servo alarm or overtravelling occurs or when the power supply for the main circuit or servomotor is OFF Regenerative Processing Included 4 Overtravel Prevention OT Dynamic brake stop deceleration to a stop or free run to a stop at P OT or N OT Protective Function Overcurrent overvoltage insufficient voltage overload regeneration error and so on Utility...

Page 30: ...hod is used when both are OFF Position Control Performance Feedforward Compensation 0 to 100 Positioning Completed Width Setting 0 to 1073741824 reference units Input Signals Reference Pulse Type Select one of them Sign pulse train forward reverse pulse train or two phase pulse train with 90 phase differential Form For line driver open collector Max Input Pulse Fre quency Line driver Sign pulse tr...

Page 31: ...d calculation etc Panel operator Digital operator Analog monitor output Reference pulse input Reference voltage input I O signal Analog voltage converter Personal computer Signal for safety function Encoder output pulse Analog L1 L2 L1C L2C B1 B2 U V W CHARGE M ENC CN3 CN2 A D I O CN1 CN5 CN7 CN8 12 V 12 V 5 V 17 V Control power supply Current sensor Dynamic brake circuit Servomotor Gate drive Vol...

Page 32: ...Analog monitor output Reference pulse input Reference voltage input I O signal Analog voltage converter Personal computer Signal for safety function Control power supply 12 V Main circuit power supply Control power supply Encoder output pulse Analog L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W CN3 CN7 CN2 ENC A D I O CN1 CN5 M CHARGE CN8 17 V 12 V 5 V Current sensor Dynamic brake circuit Servomotor Gate dr...

Page 33: ...nput Reference voltage input I O signal Analog voltage converter Personal computer Signal for safety function Control power supply 12 V Main circuit power supply Control power supply Encoder output pulse Analog L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W CN3 CN2 ENC A D I O CN1 CN5 M CHARGE CN7 CN8 15 V 4 12 V 5 V Current sensor Dynamic brake circuit Servomotor Gate drive Overheat protector overcurrent pr...

Page 34: ...gnal Analog voltage converter Personal computer Signal for safety function Control power supply 12 V 12 V Main circuit power supply Control power supply Encoder output pulse Analog L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W CN3 CN2 ENC A D I O CN1 CN5 M CHARGE CN7 CN8 Varistor 15 V 4 12 V 5 V Current sensor Dynamic brake circuit Servomotor Gate drive Voltage sensor Voltage sensor Varistor Temperature sen...

Page 35: ...og voltage converter Personal computer Signal for safety function Control power supply Overheat protector overcurrent protector Main circuit power supply Control power supply Encoder output pulse Analog L1 B1 B2 B3 L2 L3 1 2 24 V 0 V U V W CN3 CN2 ENC A D I O CN1 CN5 M CHARGE CN7 CN8 15 V 4 12 V 5 V Current sensor Dynamic brake circuit Servomotor Gate drive Voltage sensor Voltage sensor Varistor R...

Page 36: ...rotector overcurrent protector Dynamic brake circuit Varistor 12 V 12 V Fan 1 Fan 2 Main circuit power supply Control power supply Encoder output pulse The 24 VDC power supply is not included Analog L1 B1 B2 B3 L2 L3 1 2 24 V 0 V U V W CN3 CN2 ENC A D I O CN1 CN5 M CHARGE CN7 CN8 15 V 4 5 V 12 V Current sensor Servomotor Gate drive Voltage sensor Voltage sensor Relay drive ASIC PWM control etc CPU...

Page 37: ...r Gate drive Voltage sensor Voltage sensor Varistor Relay drive ASIC PWM control etc CPU Position speed calculation etc Panel operator Digital operator Analog monitor output Reference pulse input Rference voltage input I O signal Analog voltage converter Personal computer Signal for safety function Control power supply Overheat protector overcurrent protector Fan 1 Fan 2 Fan 3 Main circuit power s...

Page 38: ...fety function use the SERVOPACK with the safety function s jumper connector JZSP CVH05 E provided as an accessory inserted When using the safety function insert a connection cable specifically for the safety function Safety function devices I O signal cable Connection cable for digital operator Connection cable for personal computer Digital operator Personal computer Host controller Linear scale n...

Page 39: ...ion insert a connection cable specifically for the safety function Safety function devices I O signal cable SGDV A05 SERVOPACK Power supply Three phase 200 VAC Turns the servo ON and OFF Install a surge absorber Connection cable for digital operator Connection cable for personal computer Digital operator Personal computer R S T Servomotor with core Linear scale not included Connection cable for li...

Page 40: ... not included Connection cable for hall sensor Connection cable for linear scale Power supply Single phase 200 VAC Molded case circuit breaker MCCB Protects the power line by shutting the circuit OFF when overcurrent is detected Noise filter Eliminates external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Regenerative resistor SGDV A05 SERVOPACK ...

Page 41: ...puter Digital operator Personal computer Regenerative resistor 2 When not using the safety function use the SERVOPACK with the safety function s jumper connector JZSP CVH05 E provided as an accessory inserted When using the safety function insert a connection cable specifically for the safety function Safety function devices SGDV D05A SERVOPACK R S T Linear scale not included Connection cable for ...

Page 42: ...4th digit Voltage Code Voltage F 100 V A 200 V D 400 V 5th 6th digits Interface Specifications Code Interface 01 Analog voltage and pulse train refer ence rotational servomotor 05 Analog voltage and pulse train refer ence linear servomotor 11 MECHATROLINK II communications reference rotational servomotor 15 MECHATROLINK II communications reference linear servomotor 21 MECHATROLINK III communicatio...

Page 43: ...our 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 SERVOPACKs overhaule...

Page 44: ...1 Overview 2 2 2 1 1 Names and Functions 2 2 2 1 2 Display Selection 2 2 2 1 3 Status Display 2 3 2 2 Utility Functions Fn 2 4 2 3 Parameters Pn 2 5 2 3 1 Parameter Classification 2 5 2 3 2 Notation for Parameters 2 5 2 3 3 Setting Parameters 2 6 2 4 Monitor Displays Un 2 9 ...

Page 45: ...elect a display To set the set value UP Key To increase the set value DOWN Key To decrease the set value DATA SHIFT Key To display the set value by pressing this key for one second To move to the next digit on the left when flashing Note To reset the servo alarm press the UP Key and the DOWN Key simultaneously Be sure to remove the cause and then reset the alarm Status Display Refer to 2 3 Fn Util...

Page 46: ...or speed and reference speed is the same as or less than the value set in Pn582 Factory setting 10 mm s Always lights in force control Note If there is noise in the reference voltage during speed control the horizontal line at the far left edge of the panel operator display may flash Refer to 3 7 1 Wiring for Noise Control and take a preventive measures In position control Positioning Completion C...

Page 47: ...y will run the servomotor in the for ward direction Pressing the DOWN Key will run the ser vomotor in the reverse direction The movement direction of the servomotor changes according to the setting of Pn000 0 as shown in the following table Note Forward movement is the linear scale counting up direction Refer to 5 2 3 Servomotor Movement Direction 6 Display flashes When the servomotor origin searc...

Page 48: ... 0 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 Force Setting Range 0 to 800 1 800 After change Setting Unit Factory Setting When Enabled Classification Setup Parameter number Position Force The control methods for which the parameters applies ...

Page 49: ...cates 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 is x Indicates that the value for the 4th digit of parameter Pn002 is x Notation Analog Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the par...

Page 50: ...sing the UP DOWN Key In this case 6789 is set 3 Press the DATA SHIFT Key The middle four digits will be displayed In this case 0000 is displayed Press the DATA SHIFT Key to move to other digits and change the value by pressing the UP DOWN Key In this case 2345 is set 4 Press the DATA SHIFT Key The top two digits will be displayed In this case 00 is displayed Press the DATA SHIFT Key to move to oth...

Page 51: ... During saving top two digits flash After the saving is completed press the DATA SHIFT Key for approximately one second Pn522 is displayed again cont d Step Display after Operation Keys Operation MODE SET DATA Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the parameter setting If Pn000 is not displayed press the UP or the DOWN Key to select Pn000 2 Press the DATA S...

Page 52: ... for Motor Moving Speed The following table outlines the procedures necessary to view the motor moving speed Un000 Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the monitor display 2 If Un000 is not displayed press the UP or the DOWN Key to select Un000 3 Press the DATA SHIFT Key for approximately one second to display the data of Un000 4 Press the DATA SHIFT Key f...

Page 53: ...www dadehpardazan ir 88594014 15 2 Panel Operator 2 10 ...

Page 54: ...gnal Connections in Position Control 3 21 3 2 5 Example of I O Signal Connections in Force Control 3 22 3 3 I O Signal Allocations 3 23 3 3 1 Input Signal Allocations 3 23 3 3 2 Output Signal Allocations 3 27 3 4 Examples of Connection to Host Controller 3 30 3 4 1 Reference Input Circuit 3 30 3 4 2 Sequence Input Circuit 3 32 3 4 3 Sequence Output Circuit 3 34 3 5 Linear Scale Connection 3 36 3 5...

Page 55: ...2C Control power input terminals F Single phase 100 to 115 V 10 to 15 50 60 Hz A Single phase 200 to 230 V 10 to 15 50 60 Hz 24V 0V D 24 VDC 15 B1 B2 1 External regenera tive resistor connec tion terminals R70F R90F 2R1F 2R8F R70A R90A 1R6A 2R8A If the regenerative capacity is insufficient connect an external regenerative resistor between B1 and B2 Note The external regenerative resistor is not in...

Page 56: ...s needed connect a DC reactor between 1 and 2 B1 Main circuit positive terminal A D Use when DC power supply input is used 2 or Main circuit negative terminal A D U V W Servomotor connec tion terminals Use for connecting to the servomotor Ground terminals 2 Use for connecting the power supply ground terminal and servomotor ground terminal cont d Terminal Symbols Name Model SGDV Specification Cable...

Page 57: ...t power input termi nals HIV1 25 HIV2 0 L1C L2C Control power input terminals HIV1 25 U V W Servomotor connection termi nals HIV1 25 B1 B2 External regenerative resistor connection terminals HIV1 25 Ground terminal HIV2 0 or larger Terminal Symbols Name SGDV A Unit mm2 R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 550 L1 L2 L3 Main circuit power input terminals HIV1 25 HIV2 0 HIV3 5 HIV 5 5 HIV 14 0...

Page 58: ...ain 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 circuit OFF and then turn OFF the control power supply WARNING Do not touch the power supply terminals after turning OFF the power High voltage may still remain in the SERVOPACK resulting in electric shock ...

Page 59: ... 1D Flywheel diode 1QF Molded case circuit breaker 1FLT Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main circuit power supply 1Ry Relay SERVOPACK SGDV A For servo alarm display supply ON Servo power supply OFF Servo power Analog 2KM L1 ENC U V W M 0 V 1Ry 1D B2 L2 1KM L1C L3 L2C 1QF R S T 1FLT 24 V 3SA B1 1PL 1KM 2KM 1SA 2SA 31 32 CN1 1KM 1Ry 1KM ALM ALM...

Page 60: ... Surge absorber 3SA Surge absorber 1D Flywheel diode DC power supply 24V For servo alarm display supply ON Servo power supply OFF Servo power SERVOPACK SGDV D Analog ENC U V W M 0 V 1Ry 1D 1QF R S T 1FLT 24 V 3SA B2 1 2 B1 1PL 1KM 2KM 1SA 2SA L1 2KM L2 L3 24 V 1KM 0 V 31 32 CN1 1KM 1Ry 1KM ALM ALM 1Ry SGDV D DC power supply 24 V Regenerative resistor unit For servo alarm display supply ON Servo po...

Page 61: ...r SGDV 3R8A 5R5A 7R6A 120A 180A 200A 330A and 400 V SERVOPACKs Install an external regenerative resistor Refer to 3 6 Connecting Regenerative Resistors for details 4 Both the regenerative resistor unit and the external regenerative resistor are not included Main Circuit Power Supply Maximum Applicable Servomotor Capacity kW SERVOPACK Model SGDV Power Supply Capacity per SERVOPACK kVA Output Curren...

Page 62: ... Power Sup plyCapacity per SER VOPACK kVA Current Capacity Inrush Current Main Circuit Arms Control Circuit Arms Main Circuit A0 p Control Circuit A0 p Single phase 100 V 0 05 R70F 0 2 1 5 0 38 16 5 35 0 1 R90F 0 3 2 5 0 2 2R1F 0 7 5 0 4 2R8F 1 4 10 Three phase 200 V 0 05 R70A 0 2 1 0 0 2 33 70 0 1 R90A 0 3 1 0 0 2 1R6A 0 6 2 0 0 4 2R8A 1 3 0 0 5 3R8A 1 4 3 0 33 0 75 5R5A 1 6 6 0 1 0 7R6A 2 3 6 0 ...

Page 63: ...K WARNING If single phase 200 V is input to a SERVOPACK with a single phase power input without changing the set ting of Pn00B 2 to 1 single phase power input a main circuit cable open phase alarm A F10 will be detected SERVOPACK models other than those for single phase 200 V power input do not support single phase power input If a single phase 200 V is input to the SERVOPACK that do not support s...

Page 64: ... an external regenerative resistor between external regenerative resistor connection terminals B1 and B2 3 External regenerative resistors are not included 1PL 1KM 2KM 1SA 2SA L1 0 V 1Ry 1D 2KM L3 B2 B3 L2 U V W M 1QF R T 1FLT 24 V ENC 1 2 L1C 1KM L2C 3SA B1 31 32 CN1 1KM 1Ry 1KM ALM ALM 1Ry 1PL 1SA 2SA 3SA 1D Indicator lamp Surge absorber Surge absorber Surge absorber Flywheel diode 1QF Molded ca...

Page 65: ...nput side that are compliant with UL standards The table above also provides the net values of current capacity and inrush current Select a fuse and a molded case circuit breaker which meet the breaking characteristics shown below Main circuit control circuit No breaking at three times the current values shown in the table for 5 s Inrush current No breaking at the current values shown in the table...

Page 66: ...e or damage to the equipment With a DC power input time is required to discharge electricity after the main power supply is turned OFF A high residual voltage may remain in the SERVOPACK after the power supply is turned OFF Be careful not to get an electric shock Install fuses on the wires if DC power is used Servomotor returns a regenerated energy to the power supply The SERVOPACK that can use a ...

Page 67: ...lay 1PL Indicator lamp 1SA Surge absorber 2SA Surge absorber 3SA Surge absorber 1D Flywheel diode 1PL 1KM 2KM 1SA 2SA L1C L2C B1 2 1FU 2KM ENC U V W M 0 V 1Ry 1D 24 V 1KM AC DC 1QF R S T 3SA 31 32 CN1 1Ry 1KM 1Ry 1KM ALM ALM 1FLT SGDV A For servo alarm display supply ON Servo power supply OFF Servo power 200 V SERVOPACK Analog 24 V 0 V B1 400 V SERVOPACK SGDV D 2 1FU 2KM ENC U V W M 0 V 1Ry 1D 24 ...

Page 68: ...er or noise filter that has enough capacity for the total power supply capacity load conditions of the SERVOPACKs R S T 1QF 2KM 1Ry 24 V L1 L2 L3 L1C 0V L2C 1FLT M L1 L2 L3 L1 L2 L3 L1C 1D L2C M M L1C L2C 3SA 1KM 1PL 1KM 2KM 1SA 2SA 31 32 CN1 1KM 1Ry 1KM ALM ALM 31 32 CN1 ALM 31 32 CN1 ALM 1Ry ALM ALM SERVOPACK Servomotor Servomotor Servomotor Relay terminal Relay terminal Relay terminal 1QF 1FLT ...

Page 69: ... for 100 V 200 V SERVOPACKs 10 or less for 400 V SER VOPACKs 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 SERVOPACK connects d...

Page 70: ...lse stop selected Stops reference pulse input when ON 5 4 8 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 5 2 4 P CL N CL 45 46 Forward external force limit Reverse external force limit Activates deactivates external force limit func tion 5 8 2 5 8 4 Internal set speed switchi...

Page 71: ...o tor is moving at a speed higher than the motor speed setting 5 10 3 S RDY S RDY 29 30 Servo ready Turns ON when the SERVOPACK is ready to accept the servo ON S ON signal 5 10 4 PAO PAO 33 34 Phase A signal Encoder output pulse signals for two phase pulse train with 90 phase differential 5 3 6 5 9 2 PBO PBO 35 36 Phase B signal PCO PCO 19 20 Phase C signal Origin pulse output signal ALO1 ALO2 ALO...

Page 72: ...nals CN8 Do not use pins 1 and 2 because they are connected to the internal circuits Signal Name Pin No Function HWBB1 4 Hard wire baseblock input 1 For hard wire baseblock input Baseblock motor current off when OFF HWBB1 3 HWBB2 6 Hard wire baseblock input 2 HWBB2 5 EDM1 8 Monitored circuit status output 1 ON when the HWBB1 and the HWBB2 signals are input and the SERVOPACK enters a baseblock stat...

Page 73: ... 45 P CL 46 40 S RDY 4 V REF SG A D 5 6 T REF SG 1 SG 9 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 HWBB1 HWBB1 HWBB2 HWBB2 CN8 6 3 4 5 8 7 CN1 D A D A SERVOPACK 1 2 3 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse external force limit Limit when ON Forward external force limit Limit when ON P control...

Page 74: ...1 PL2 PL3 1 SG FG HWBB1 HWBB1 HWBB2 HWBB2 6 3 4 5 EDM1 EDM1 PULS SIGN SIGN PULS 1 0 kΩ 1 0 kΩ 1 0 kΩ CN8 CN1 8 7 14 15 150 Ω CLR CLR 12 11 150 Ω 8 7 150 Ω 3 PULS SIGN CLR SERVOPACK Alarm code output OFF for alarm Max operating voltage 30 VDC Max output current 20 mA DC Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset ...

Page 75: ...L 46 40 S RDY V REF SG A D 5 6 T REF SG 9 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 1 SG FG HWBB1 HWBB1 HWBB2 HWBB2 6 3 4 5 CN8 CN1 D A D A EDM1 EDM1 8 7 SERVOPACK 1 4 2 3 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse external force limit Limit when ON Forward external force limit Limit when ON P c...

Page 76: ...et speed control with a contact reference i e when Pn000 1 is set to 3 signal P CON CN1 41 will function as SPD D signal P CL CN1 45 as SPD A and signal N CL CN1 46 as SPD B Pn000 1 Setting Control Method Selection CN1 Pin No 40 41 42 43 44 45 46 0 Speed control S ON Uses as P CON P OT N OT ALM RST P CL N CL 1 Position control 2 Force control 3 Internal set speed control Uses as SPD D Uses as SPD ...

Page 77: ...rse run prohib ited signals from the factory setting will prevent the main circuit s power supply from being turned OFF or the overtravel function from working in case of signal line discon nections or other failures If this setting is absolutely necessary check the operation and confirm that there are no safety problems When two or more signals are allocated to the same input circuit input signal...

Page 78: ...B 2 L P CL 0 1 2 3 4 5 6 7 8 H P CL 9 A B C D E F Reverse External Force Limit Pn50B 3 L N CL 0 1 2 3 4 5 6 7 8 H N CL 9 A B C D E F Switching Servomotor Movement Direction Pn50C 0 L SPD D 0 1 2 3 4 5 6 7 8 H SPD D 9 A B C D E F Internal Set Speed Control Pn50C 1 L SPD A 0 1 2 3 4 5 6 7 8 H SPD A 9 A B C D E F Internal Set Speed Control Pn50C 2 L SPD B 0 1 2 3 4 5 6 7 8 H SPD B 9 A B C D E F Contr...

Page 79: ...ess the UP key to set to 5 Changes the allocation of S ON from CN1 40 to CN1 45 5 Display flashes Press the MODE SET Key The data flashes and is saved 6 Press the DATA SHIFT Key for approximately one second to return to the display Pn50A 7 Press the UP key to display Pn50B 8 Press the DATA SHIFT Key for approximately one second to display the current data of Pn50B P CL is allocated on CN1 45 9 Pre...

Page 80: ... CN1 in accordance with the parameter setting of Pn50E Pn50F Pn510 and Pn512 1 Checking Factory Settings Factory settings can be checked using the following parameters Signal Level Voltage Level Contact ON Low L level 0 V Close OFF High H level 24 V Open Pn50E Allocates COIN signal to CN1 25 26 Allocates V CMP signal to CN1 25 26 Allocates TGON signal to CN1 27 28 Allocates S RDY signal to CN1 29 ...

Page 81: ...with OR logic circuit Output Signal Names and Parameters Output Signal CN1 Pin Numbers Invalid not use 25 26 27 28 29 30 Positioning Completion Pn50E 0 COIN 1 2 3 0 Speed Coincidence Detection Pn50E 1 V CMP 1 2 3 0 Movement Detection Pn50E 2 TGON 1 2 3 0 Servo Ready Pn50E 3 S RDY 1 2 3 0 Force Limit Detection Pn50F 0 CLT 1 2 3 0 Speed Limit Detection Pn50F 1 VLT 1 2 3 0 Brake Pn50F 2 BK 1 2 3 0 Wa...

Page 82: ...27 28 3 Press the DATA SHIFT Key to select the third digit from the right Press the DOWN Key to set 0 Sets TGON Invalid 4 Display flashes Press the MODE SET Key The data flashes and is saved 5 Press the DATA SHIFT Key for approximately one second to return to the display Pn50E 6 Press the UP Key to display Pn50F 7 Press the DATA SHIFT Key for approximately one second to display the current data of...

Page 83: ... reference pulse and position error clear signal from the host con troller can be either a line driver output or open collector output The position reference input circuits are shown below by output type Analog Voltage Input Circuit D A Analog Voltage Input Circuit Wiring Example Host controller 0 V SG Approx 14 kΩ min SERVOPACK V REF or T REF D A 25HP 10B 2 kΩ Approx 14 kΩ min 1 8 kΩ 1 2 W min 12...

Page 84: ...ng confirm that the specifications of the host controller satisfy the values shown in the following table If these conditions are not satisfied the SERVOPACK may malfunction Pull up voltage Vcc Pull up resistance R1 24 V 1 8 to 2 7 k 12 V or less 820 to 1 5 k 5 V or less 180 to 470 Circuit example of open controller output SERVOPACK VF 1 5 to 1 8 V Vcc Tr1 VF R1 i Host controller 150 Ω 4 7 kΩ Pull...

Page 85: ...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 examples in 3 2 3 to 3 2 5 show 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 Circuit Example ...

Page 86: ... Connection 2 Safety Input 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 87: ...for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Note The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits are as follows Voltage 30 VDC Current 5 to 50 mA DC Incorrect wiring or incorrect voltage application to the output circuit may ...

Page 88: ... signals is explained below A configuration example for the EDM1 output signal is shown in the following diagram Specifications Electrical characteristics of EDM1 signal are as follows Line Receiver Circuit Example SERVOPACK Host Controller Applicable line receiver SN75ALS175 or the equivalent 220 to 470 Ω EDM1 EDM1 0 V 8 7 CN8 24 V Power Supply SERVOPACK Host controller Type Signal Name Pin No Ou...

Page 89: ...nsmission is enabled 100 to 300 ms after the power turns ON Signal Name Pin No Function PG 5 V 1 Linear scale power supply 5 V PG 0 V 2 Linear scale power supply 0 V 3 4 PS 5 Serial data PS 6 Serial data Shield Shell Items JZDP D00 E JZDP G00 E Electrical Characteristics Power Supply Voltage 5 0 V 5 ripple content 5 max Current Consumption 1 120 mA Typ 350 mA max Signal Resolution 1 256 pitch of i...

Page 90: ...3 40A253C 253 35A170A 014 40A365C 254 35A320A 015 60A140C 258 35A460A 016 60A253C 259 35A170H 105 60A365C 260 35A320H 106 90A200C 264 50A170H 108 90A370C 265 50A320H 109 90A535C 266 40A400B 185 SGLGW SGLGM M Coreless When a high force magnetic way is used 40A140C 255 40A600B 186 40A253C 256 80A400B 187 40A365C 257 80A600B 188 60A140C 261 35D170H 193 60A253C 262 35D320H 194 60A365C 263 50D170H 195 ...

Page 91: ...se of differential amplitude the serial converter unit out puts an alarm 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...

Page 92: ...VOPACK Connector shell Connector shell Connector shell Connector shell Shielded wire Host controller Phase A Phase B Phase C R terminating resistance 220 to 470 Ω Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent 47 9 1 10 11 4 12 2 3 9 1 10 11 4 12 2 3 COS PS PS PG5V PG0V SIN REF REF 5V 0V SIN COS 2 6 1 5 CN2 CN1 PG5V PG0V 5 6 1 2 CN2 CN1 CN1 35 0V ...

Page 93: ...ERVOPACK Output line driver SN75ALS194 manu factured by Texas Instruments or the equivalent Connector shell Connector shell Connector shell Shielded wire Host controller Phase A Phase B Phase C Phase A Phase B Phase C R terminating resistance 220 to 470 Ω Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent Linear scale by Magnescale Co Ltd 0V 0V SG 1 r...

Page 94: ...Output line driver SN75ALS194 manu factured by Texas Instruments or the equivalent Interpolator Connection cable made by Magnescale Co Ltd represents shielded twisted pair wires 47 PS PS PG0V Shielded wire Connector shell Connector shell Connector shell Linear scale Head R terminating resistance 220 to 470 Ω Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equ...

Page 95: ...es Absolute linear scale made by Mitutoyo R terminating resistance 220 to 470 Ω Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent 4 2 1 0V SG SEN SG 0V 5 V 47 PS PS PG5V PG0V PG5V PG0V 5 6 1 2 CN2 CN1 35 0V PAO PAO PBO PBO PCO PCO 33 34 36 19 20 R R R SERVOPACK Host controller Phase A Phase B Phase C Phase A Phase B Phase C Output line driver SN75ALS...

Page 96: ...erminals on the SERVOPACK After connecting a resistor select the capacity For more information on how to set the capacity of regenerative resistors refer to 3 6 2 Setting Regenerative Resistor Capacity 2 SERVOPACKs Model SGDV 3R8A 5R5A 7R6A 120A 180A 200A 330A 1R9D 3R5D 5R4D 8R4D 120D 170D Disconnect the wiring between the SERVOPACK s B2 and B3 terminals and connect an external regenerative resist...

Page 97: ...of the SERVOPACK to the R1 and R2 terminals of the regenerative resis tor unit When using a regenerative resistor unit leave Pn600 at its factory setting Set Pn600 when using a non YAS KAWA external regenerative resistor Main Circuit Power Supply Applicable SERVOPACK Model SGDV Applicable Regenerative Resistor Unit Resis tance Specifications Three phase 200 V 550A JUSP RA05 E 3 13 Eight 25 220 W r...

Page 98: ...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 external regenerative resistor with natural convection cooling method Pn600 2 unit 10 W WARNING If parameter Pn600 is set to 0 while an external regenerative resistor is connected the regenerative over load alarm A 320 may not be detected ...

Page 99: ...the main circuit cables separated from the I O signal cables and the linear scale connection cables with a gap of at least 30 cm Do not share the power supply with an electric welder or electrical discharge machine When the SERVO PACK is placed near a high frequency generator install a noise filter on the input side of the main circuit power supply cables and control power supply cables As for the...

Page 100: ... connect ground terminal FG to the SERVOPACK ground terminal Also be sure to ground the ground terminal Ground both coil assembly and magnetic way of the servomotor If the servomotor is grounded via the machine a switching noise current will flow from the SERVOPACK main circuit through servomotor stray capacitance The above grounding is required to prevent the adverse effects of switching noise No...

Page 101: ...ire output lines and other signal lines in the same duct or bundle them 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 t...

Page 102: ...t can be used as required Refer to V Series Product Catalog No KAEP S800000 42 for precautions on selecting an AC or DC reactor and its specifications Connect a reactor as shown in the following diagram 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 DC r...

Page 103: ...www dadehpardazan ir 88594014 15 3 Wiring and Connection 3 7 3 Connecting a Reactor for Harmonic Suppression 3 50 ...

Page 104: ...us of Input Signals 4 4 4 3 2 Trial Operation in Speed Control 4 6 4 3 3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control 4 7 4 3 4 Trial Operation in Position Control 4 8 4 4 Trial Operation with the Servomotor Connected to the Machine 4 9 4 5 Test Without Motor Function 4 11 4 5 1 Motor Information 4 11 4 5 2 Motor Position and Speed Respo...

Page 105: ...rely tightened Note When performing trial operation on a servomotor that has been stored for a long period of time perform the inspec tion according to the procedures described in 1 7 Inspection and Maintenance 2 SERVOPACKs 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 correc...

Page 106: ...ost Controller Refer to 4 4 3 Trial Operation under Position Control from the Host with the SERVOPACK used for Speed Control Perform the trial operation of the servomotor with the machine Refer to 4 5 Trial Operation with the Servomotor Connected to the Machine Preparations Trial Operation in Each Control Trial Operation in Combination with Machine Actual Operation Confirm the check items and prec...

Page 107: ...nal settings Connect a safety function device to CN8 when using the safety function For the connecting method refer to 1 Connecting a Safety Function Device Refer to the following connec tion diagrams 3 2 3 Example of I O Signal Connections in Speed Control 3 2 4 Example of I O Signal Connections in Position Con trol 3 2 5 Example of I O Signal Connections in Force Control 5 9 Absolute Linear Scal...

Page 108: ...at the display of the panel operator is as shown below If an alarm display appears correct it according to 9 1 Alarm Displays If the cause of alarm is not corrected the servo ON signal cannot be input and the servomotor cannot be turned on 9 1 Alarm Displays 5 This completes all preparations for trial operation Perform trial operation in each control method 4 3 2 Trial Operation in Speed Control 4...

Page 109: ... the SERVOPACK side 2 Step Operation Reference 1 Recheck the power supply and the input signal circuits and turn ON the SERVO PACK control power supply 3 2 3 Example of I O Sig nal Connections in Speed Control 2 Adjust the speed reference input gain Pn300 5 3 1 Basic Settings for Speed Control 3 Turn ON the main circuit power supply of the SERVOPACK 4 Check that speed reference input the voltage b...

Page 110: ...ween V REF and SG is 0 V and turn ON the servo ON S ON input signal Note If the servomotor moves at a very low speed with the speed reference input at 0 V adjust the reference offset so that the servomotor will not move 5 3 2 Reference Offset Adjustment 6 To check the speed of the servomotor execute a constant speed reference at a low speed through the host controller Example Visually check that t...

Page 111: ...fter the reference The input reference pulse can be checked with Un00C 8 Check the actual number of motor movements from the changes in the feedback pulse monitor before and after the reference The feedback pulse can be checked with Un00D 9 Check that step 7 and step 8 satisfy the following formula Un00D Un00C Pn20E Pn210 10 Check that the servomotor is moving in the direction specified by the ref...

Page 112: ... function jumper connector JZSP CVH05 E provided as an accessory inserted into CN8 If the SERVOPACK is used without the jumper connector inserted into CN8 no cur rent will flow to the servomotor and no force will be output In this case Hbb will be displayed on the panel operator or the digital operator When checking the operation of a brake installed on the machine take advance measures to prevent...

Page 113: ...motor moves matching the machine operating specifications 7 Adjust the servo gain and improve the servomotor response characteristics if neces sary 6 Adjustments 8 Write the parameters set for maintenance in 10 4 Parameter Recording Table Then the trial operation with the servomotor connected to the machine is completed Note If the optional digital operator is used parameters can be saved SigmaWin...

Page 114: ... When Motor is Not Connected The information for the virtual motor and the linear scale that is stored in the SERVOPACK is used The set value of Pn00C 2 is used for the linear scale information Resolution 256 Scale pitch The set value of Pn282 Encoder Type The encoder information for the motor is set in Pn00C 2 A linear scale is always regarded as an incremental linear scale 4 5 2 Motor Position a...

Page 115: ...Manual servo tuning of speed reference offset Fn00B Manual servo tuning of force reference offset Fn00C Offset adjustment of analog 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 mod...

Page 116: ... Note The test without a motor status is not displayed during alarm occurs A Display Status run tSt Power is supplied to the servomotor bb tSt Power to the servomotor is OFF P dt tSt The polarity is being detected Pot not tSt Forward or reverse run is prohibited Pot tSt Forward run is prohibited not tSt Reverse run is prohibited Hbb tSt In hard wire base block safety state Displayed alternately An...

Page 117: ...www dadehpardazan ir 88594014 15 4 Trial Operation 4 5 4 Operator Displays during Testing without Motor 4 14 ...

Page 118: ...3 1 Basic Settings for Speed Control 5 22 5 3 2 Reference Offset Adjustment 5 23 5 3 3 Soft Start 5 26 5 3 4 Speed Reference Filter 5 26 5 3 5 Zero Clamp Function 5 27 5 3 6 Encoder Output Pulses 5 29 5 3 7 Setting Encoder Output Pulse 5 34 5 3 8 Setting Speed Coincidence Signal 5 35 5 4 Position Control 5 36 5 4 1 Basic Settings for Position Control 5 37 5 4 2 Clear Signal Setting 5 41 5 4 3 Refe...

Page 119: ... Voltage Reference 5 65 5 8 4 Force Limiting Using an External Force Limit and Analog Voltage Reference 5 67 5 8 5 Checking Output Force Limiting during Operation 5 69 5 9 Absolute Linear Scales 5 70 5 9 1 Absolute Data Request Signal SEN 5 70 5 9 2 Absolute Data Reception Sequence 5 72 5 10 Other Output Signals 5 75 5 10 1 Servo Alarm Output Signal ALM and Alarm Code Output Signals ALO1 ALO2 and ...

Page 120: ... Use to output the required amount of force for operations such as stopping on contact 5 5 Force Control n 3 Internal Set Speed Con trol Uses the three input signals P CON SPD D P CL SPD A and N CL SPD B to control the speed as set in advance in the SERVOPACK Three operating speeds can be set in the SER VOPACK When selecting this control an analog reference is not necessary 5 6 Internal Set Speed ...

Page 121: ...r is ON Servomotor can be operated OFF Servomotor power is OFF Servomo tor cannot be operated Always input the servo ON signal before inputting the speed position force reference to start or stop the servomotor Do not input the references first and then use the servo ON signal or turn ON OFF the AC power supply to start or stop Doing so will degrade inter nal elements and lead to accident Input th...

Page 122: ...rst time After polarity detection has been completed the servomotor power will turn OFF and the servo ready signal will turn ON Then polarity detection cannot be executed even if the P DET signal is turned ON and OFF When the control power supply is restored polarity detection must be executed again Note Use parameter Pn50D 3 to allocate the P DET signal for use For details refer to 3 3 1 Input Si...

Page 123: ...cally start when the main circuit power supply is turned ON If so safety mea sures must be taken because the operations of servomotor can become unpredictable Parameter Forward Reverse Ref erence Direction of Motor Movement and Encoder Output Pulse Applicable Over travel OT Pn000 n 0 The linear scale counts up by a for ward reference pulse Factory setting Forward Reference P OT Reverse Reference N...

Page 124: ...he 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 servomotor to be pushed back by the load s external force To prevent this set the parameter Pn001 n 1 to bring the servo motor to zero clamp state after stopping For details on...

Page 125: ...oop 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 A servomotor under force control cannot be decelerated to a stop The servomotor is stopped with the dynamic braking DB or coasts to a stop according to the setting of Pn001 0 After the servomotor stops the servomotor ...

Page 126: ...omotor power is OFF even if overtravel occurs A warning will not be detected when the servomotor power changes from OFF to ON even if overtravel status exists The warning output will be held for one second after the overtravel status no longer exists and it will then be cleared automatically Related Parameter Pn406 Emergency Stop Force Classification Setting Range Setting Unit Factory Setting When...

Page 127: ...ON OFF timing The operation delay time of the brake depends on the model Check the operation delay time of the brake being used After the S ON signal has turned ON and 50 ms has passed since the brake was released output the reference from the host controller to the SERVOPACK Use Pn506 Pn508 and Pn583 to set the timing of when the brake will be activated and when the servomotor power will be turne...

Page 128: ...gnal BK cannot be used with factory settings The output signal must be allocated Refer to 3 Brake Signal BK Allocation to set the parameter Pn50F When using a 24 V brake separate the 24 VDC power supply from other power sup plies such as the one used for the I O signals of CN1 connectors Always install the 24 VDC power supply separately If the power supply is shared the I O signals might malfuncti...

Page 129: ...ing When Enabled Classifica tion Terminal Terminal Pn50F n 0 Factory set ting The BK signal is not used After restart Setup n 1 CN1 25 CN1 26 The BK signal is output from output terminal CN1 25 26 n 2 CN1 27 CN1 28 The BK signal is output from output terminal CN1 27 28 n 3 CN1 29 CN1 30 The BK signal is output from output terminal CN1 29 30 When multiple signals are allocated to the same output te...

Page 130: ...1 mm s 10 Immediately Setup Pn508 Waiting Time for Brake Signal When Motor Running Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 100 10 ms 50 Immediately Setup Speed Position Force Speed Position Force BK Signal Output Conditions When Servomotor Moving The BK signal goes to high level brake ON when either of the fol lowing conditions is satisfied When the motor speed...

Page 131: ...If turning OFF the main circuit power supply but the S ON signal is not OFF the ser vomotor will be stopped by dynamic braking If turning OFF the control power supply but the S ON signal is not OFF the stopping method will vary with the SERVOPACK model Two stopping methods are available SERVOPACK models for servomotors that stop by coasting SGDV 330A and 550A SERVOPACK models for servomotors that ...

Page 132: ...opping method of the servomotor when a Gr 1 alarm occurs is the same as that in 1 Stopping Method for Servomotor after S ON Signal is Turned OFF Stopping Method for Servomotor for Gr 2 Alarms 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 force control and only the setti...

Page 133: ...ting When Enabled 20 to 1000 1 ms 20 Immediately Setup The holding time of the control power supply for the 200 V SERVOPACKs is approxi mately 100 ms The holding time of the control power supply for the 100 V SERVO PACKs is approximately 65 ms If the control power supply makes control impossible during an instantaneous power interruption the same operation will be performed as for normally turning...

Page 134: ...on 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 There are no restrictions for the 200 VAC SERVO PACKs Control Power Supply Restrictions SERVOPACK with 400 VAC Power Input Provide the control power supply from a 24 VDC power supply that complies with SEMI F...

Page 135: ...s executed by the host controller and SERVOPACK or by the SER VOPACK only 560 V for 400 V power supply 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 Force limit reference Undervoltage warning Force limit SERVOPACK Host controller Force limit starts Main circuit bus voltage...

Page 136: ...ng and limits force by Pn424 and Pn425 Only in the SERVOPACK Force Limit at Main Circuit Voltage Drop Classification Pn424 Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 50 Immediately Setup Release Time for Force Limit at Main Circuit Voltage Drop Classification Pn425 Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 1 ms 100 Immediately Setup Pn509 Instantaneo...

Page 137: ...rload warning level Pn52B This protective 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 ...

Page 138: ...ing of motor 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...

Page 139: ...is 600 but it will be displayed on the operator as 006 00 Connect the pins for the V REF signal and SG to the speed reference output terminal on the host controller when using a host controller such as a programmable controller for position control Note Always use twisted pair cable to control noise Parameter Meaning When Enabled Classification Pn000 n 0 Fac tory setting Speed control After restar...

Page 140: ...l adjustment Automatic adjustment uses the automatic adjustment parameter for reference offset Fn009 Manual adjustment uses the manual adjustment parameter for refer ence offset Fn00A Pn300 Speed Reference Input Gain Classification Setting Range Setting Unit Factory Setting When Enabled 150 to 3000 0 01 V rated speed 600 Rated speed at 6 00 V Immediately Setup Speed Position Force Motor speed mm s...

Page 141: ...atically with the panel operator using the following steps Note The automatic adjustment of reference offset Fn009 cannot be used when a position loop has been formed with a host controller Use the manual adjustment of reference offset described in 2 Manual Adjustment of Reference Off set Fn00A The servomotor power must be OFF when automatically adjusting the reference offset Step Display after Op...

Page 142: ...ust the reference offset manually with the panel operator using the following steps Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or the DOWN Key to select Fn00A 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears Note When no_oP flashes for approximately one second the write prohibited ...

Page 143: ... a first order lag filter to the analog speed reference V REF input Note The user need not usually change the setting A setting value that is too large however will slow down response Check the response characteristics when setting this parameter Pn305 Soft Start Acceleration Time Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 ms 0 Immediately Setup Pn306 Soft ...

Page 144: ...e gain switching function is used adjusting the 2nd position loop gain Pn106 is required as well For details refer to 6 8 1 Switching Gain Settings 1 Factory set Input Signal Allocations Pn50A 0 0 When Pn000 1 is set to A the control method becomes speed control speed control with zero clamp function and the P CON signal is used as a zero clamp signal Host controller Speed reference Stops precisel...

Page 145: ...he maximum speed of the servomotor is set the actual speed will be limited to the max imum speed of the servomotor Type Connector Pin Number Setting Meaning Input ZCLAMP Must be allocated ON closed The zero clamp function will be turned ON if the input volt age of the speed reference V REF drops below the set speed in the zero clamp level Pn580 OFF open Turns OFF the zero clamp function Parameter ...

Page 146: ...1 and becomes the same as that for phase A Even in reverse movement mode Pn000 0 1 the output phase form is the same as that for the standard setting Pn000 0 0 above Type Signal Name Connector Pin Number Name Remarks Output PAO CN1 33 Encoder output pulse phase A The resolution of the pulse output from the SERVOPACK to the host controller is set in the parameter for the encoder output resolution P...

Page 147: ...ef in Reverse Direction and Returning after Power ON Machine position Power ON 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 linear scale However a phase C pulse will be sent from the SERVOPACK when moving in the reverse direction because it is the same forward from which a phase C pulse was sent from the SERVOPACK ...

Page 148: ...n the phase C pulse CN1 19 CN1 20 is output when the linear scale moves for ward and its detection head first passes the phase C detection position After the detection head of the linear scale 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 linear scale s movement Model Interpolator Scale pitch m ...

Page 149: ...at explained earlier for a linear scale with only one zero point applies to each zero point See When Passing 1st Zero Point in Forward Direction and Returning after Power ON 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 this point in reverse because the SERVOPACK has recorded the position where the phase...

Page 150: ...ion Pn081 n 0 Factory Setting Outputs phase C pulse only in forward 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 ...

Page 151: ...d to 1 ms s because of the maximum response fre quency of serial converter unit If the set value is out of the setting range or does not satisfy the setting conditions the alarm Encoder Output Pulse Setting Error A 041 is output If the motor speed exceeds the upper limit value according to the set encoder output resolution the alarm Over speed of Encoder Output Pulse Rate A 511 is output The upper...

Page 152: ...locations 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 mm s if the Pn582 is set to 100 and the reference speed is 2000 mm s Type Signal Name Connector Pin Number Setting Meaning Output V CMP CN1 25 26 Factory Setting ON closed Speed coincides OFF open Speed does...

Page 153: ...ion Pn000 n 1 Position Control After restart Setup Pn10A Error counter Position control section Position feedback Speed feedback Linear scale Current feedback Force reference Speed reference Clear signal input Position reference ENC M Power amplifier Divider Speed conversion Pn000 1 Pn000 1 Pn200 0 Pn218 Pn109 Pn20E Pn210 COIN Pn281 Pn216 Pn217 Encoder output pulse SERVOPACK Servomotor Feed forwar...

Page 154: ...5 Sign pulse train Negative logic n 6 Forward Reverse pulse train Negative logic H level PULS CN1 7 SIGN CN1 1 1 L level PULS CN1 7 SIGN CN1 1 1 L level Reverse CN1 7 Forward CN1 1 1 L level Reverse CN1 7 Forward CN1 1 1 90ࠑ Phase A CN1 7 Phase B 1 CN1 1 90ࠑ Phase A CN1 7 Phase B 1 CN1 1 L level PULS CN1 7 SIGN CN1 1 1 H level PULS CN1 7 SIGN CN1 1 1 H level Reverse CN1 7 Forward CN1 1 1 H level R...

Page 155: ...ase B 150 Ω 4 7 kΩ Photocoupler 150 Ω 4 7 kΩ Photocoupler 150 Ω 4 7 kΩ Photocoupler FG FG 47 Use a shielded cable for I O signals and ground both ends of the shield Connect the shield of the cable on the SERVOPACK side to the connector shell so that the shield will be connected to the frame ground FG through the connector CN1 7 8 14 15 12 11 PULS SIGN SIGN CLR CLR PULS 150 Ω 4 7 kΩ 4 7 kΩ 4 7 kΩ 1...

Page 156: ...s used represents twisted pair wires Use a shielded cable for I O signals and ground both ends of the shield Connect the shield of the cable on the SERVOPACK side to the connector shell so that the shield will be connected to the frame ground FG through the connector 1 12 V FG CN1 7 8 14 15 12 11 13 PULS SIGN SIGN CLR CLR PULS PL1 PL2 18 PL3 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 150 Ω 1 kΩ FG 3 Tr Tr...

Page 157: ...imum reference fre quency in case of open collector output 200 kpps t1 t2 t3 t7 0 025 s t4 t5 t6 0 5 s 0 125 s T 0 125 s Sign SIGN H Forward reference L Reverse reference Forward Reverse pulse train Maximum reference fre quency 4 Mpps Maximum reference fre quency in case of open collector output 200 kpps t1 t2 0 025 s t3 0 5 s 0 125 s T 0 125 s Two phase pulse train with 90 phase differential phas...

Page 158: ... This parameter determines when the position error should be set to zero according to the condition of the SER VOPACK Any of three clearing modes can be selected with Pn200 2 Type Signal Name Connector Pin Number Name Input CLR CN1 15 Clear input CLR CN1 14 Parameter Description Clear Timing When Enabled Classification Pn200 n 0 Factory setting Clears at ON Position errors do not accumulate while ...

Page 159: ...Input Signal Setting Use the PSEL signal when switching to the multiplier of the input reference pulse that is set in Pn218 Note Use parameter Pn515 1 to allocate the PSEL signal for use For details refer to 3 3 1 Input Signal Allocationss to Input Terminals CAUTION Unexpected operation may occur if a position reference pulse is input before the multiplier changes Always use the PSELA signal to co...

Page 160: ...ial converter unit 256 1 Electronic Gear Ratio Set the electronic gear ratio using Pn20E and Pn210 Type Signal Name Connector Pin Number Setting Meaning Output PSELA Must be allocated ON closed The multiplier of the input reference pulse is enabled OFF open The multiplier of the input reference pulse is disabled Parameter No Function Fn004 Program JOG operation Fn201 Advanced autotuning When the E...

Page 161: ...lePitch m Models for Serial Converter Unit or Models for Head with Interpolator Number of Divi sions Resolution Incremental Heidenhain LIDA48 20 JZDP D003 000 E 1 256 0 078 m JZDP G003 000 E 1 4096 0 0049 m LIDA18 40 JZDP D003 000 E 1 256 0 156 m JZDP G003 000 E 1 4096 0 0098 m LIF48 4 JZDP D003 000 E 1 256 0 016 m JZDP G003 000 E 1 4096 0 00098 m Renishaw plc RGH22B 20 JZDP D005 000 E 1 256 0 078...

Page 162: ...ear ratio Step Operation Load Configuration 1 Check the scale pitch 0 02 mm 20 m 2 Determine the reference unit 1 reference unit 0 001 mm 1 m 3 Calculate the electronic gear ratio 4 Set parameters Pn20E 256 Pn210 20 A 20 µm B 1 µm 256 A B 256 Movement distance L㧔mm㧕 Ps L L㧔mm㧕㧦Movement distance Posi tion loop Speed loop Reference pulse 㧔mm P㧕 Δ Δ 㧔mm P㧕㧦Reference unit Ps㧔mm㧕㧦Scale pitch mm scale...

Page 163: ...on reference Pn217 is shown below Pn216 Position Reference Acceleration Deceleration Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 0 1 ms 0 Immediately after the servomotor stops Setup Pn217 Average Movement Time of Position Reference Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 0 1 ms 0 Immediately after the se...

Page 164: ... signal is output 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 CN1 25 26 Factory setting ON closed Positioning has been completed OFF open Positioning is not completed Pn5...

Page 165: ...EAR is output when the difference between the number of reference pulses output by the host controller and the travel distance of the servomotor position error is less than the set value Note Normally the value of Pn524 should be larger than that for the positioning completed width Pn522 Type Signal Name Connector Pin Number Setting Meaning Output NEAR Must be allocated ON closed The servomotor ha...

Page 166: ...NHIBIT signal for use For details refer to 3 3 1 Input Signal Allocations to Input Terminals To use the reference pulse inhibit function set Pn000 1 to 1 5 7 or 8 Note Reference pulse inhibit function is effective only with position control Type Signal Name Connector Pin Number Setting Meaning Input P CON CN1 41 Factory setting ON closed Stops counting the reference pulses OFF open Counts the refe...

Page 167: ...r rated force at 3 0 V Factory setting Note The value is 30 but it will be displayed on the operator as 0003 0 Connect the pins for the T REF signal and SG to the analog reference output terminal on the host controller when using a host controller such as a programmable controller for force control Note Always use twisted pair cables to control noise Parameter Meaning When Enabled Classification P...

Page 168: ...moves at a very low speed the offset needs to be eliminated with the offset adjustment func tion Use either automatic adjustment or manual adjustment Automatic adjustment uses the automatic adjustment parameter for reference offset Fn009 Manual adjustment uses the manual adjustment parameter for refer ence offset Fn00B Pn400 Force Reference Input Gain Classification Setting Range Setting Unit Fact...

Page 169: ...tomatically with the panel operator using the following steps Note The automatic adjustment of reference offset Fn009 cannot be used when a position loop has been formed with the host controller Use the manual adjustment of reference offset described in 2 Manual Adjustment of Reference Off set Fn00B The servomotor power must be OFF when automatically adjusting the reference offset Step Display aft...

Page 170: ...anually with the panel operator using the following steps Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or the DOWN Key to select Fn00b 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears Note When no_oP flashes for approximately one second the write prohibited setting has been set in Fn...

Page 171: ... Servomotor Speed Limit The following signal is output when the motor speed reaches the limit speed Note Use parameter Pn50F 1 to allocate the VLT signal for use For details refer to 3 3 2 Output Signal Allocations 2 Speed Limit Setting Select the speed limit mode with Pn002 1 Pn415 T REF Filter Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 0 01 ms...

Page 172: ...nput from the V REF and the value of Pn480 is enabled when Pn002 1 is set to 1 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect When Pn300 is set to 6 00 factory setting and 6 V is input to V REF CN1 5 6 the speed is limited to the rated speed of the servomotor used Pn480 Speed Limit During Force Control Classification Setting Range Setting Un...

Page 173: ...et Speed This section describes the basic settings for the internal set speeds 1 Signal Setting The following input signals are used to switch the operating speed Factory set Input Signal Allocations P CON P CL and N CL Changing Input Signal Allocations SPD D SPD A and SPD B 2 Parameter Setting Select the speed control with an internal set speed with Pn000 1 41 45 46 Pn380 Pn381 Pn382 M P CON SPD ...

Page 174: ...o 10000 1 mm s 10 Immediately Setup Pn381 Internal Set Speed 2 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 mm s 20 Immediately Setup Pn382 Internal Set Speed 3 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 mm s 30 Immediately Setup Speed Speed Speed Input Signal Motor Move ment Direc tion Speed P CON SPD D P CL SPD A N C...

Page 175: ... set speeds with the soft start function The shock that results when the speed is changed can be reduced by using the soft start function SPEED1 Servomotor speed SPEED3 SPEED2 SPEED1 SPEED2 SPEED3 0 OFF ON Stop P CL SPD A N CL SPD B P CON SPD D Stop Stop OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON ON ON ON OFF OFF OFF Acceleration deceleration are done for the soft start ti...

Page 176: ...l Speed Control After restart Setup n 5 Internal Set Speed Control Position Control n 6 Internal Set Speed Control Force Control n 7 Position Control Speed Control n 8 Position Control Force Control n 9 Force Control Speed Control n A Speed Control Speed Control with Zero Clamp Func tion n B Position Control Position Control with Reference Pulse Inhibit Function Input Signal Pn000 1 Settings and O...

Page 177: ...ay of 2 ms occurs in loading P CL and N CL 2 The speed is decelerated for the time set in Pn306 and the internal set speed control will be changed to the posi tion control after the servomotor comes to a stop SPEED1 SPEED3 SPEED2 SPEED1 SPEED2 SPEED3 0 P CL COIN N CL V1 㨪㨪㨪㨪 Motor speed ON Decelerating to a stop Internal set speed control Internal set speed control Position control 1st speed 2n...

Page 178: ...or use For details refer to 3 3 1 Input Signal Allocations Type Signal Name Connector Pin Number Setting Pn000 Setting and Control Method n 4 n 5 n 6 Input C SEL Must be allocated ON closed Speed Position Force OFF open Internal set speed Internal set speed Internal set speed Input Signal Speed and Direction SPD D SPD A SPD B OFF OFF OFF Stops at internal set speed 0 OFF ON Forward movement at int...

Page 179: ...nging Input Signal Allocations for Each Signal Pn50A 0 1 Type Signal Name Connector Pin Number Setting Pn000 1 Setting and Control Method n 7 n 8 n 9 Input P CON CN1 41 ON closed Speed Force Speed OFF open Position Position Force Type Signal Name Connector Pin Number Setting Pn000 1 Setting and Control Method n 7 n 8 n 9 Input C SEL Must be allocated ON closed Speed Force Speed OFF open Position P...

Page 180: ...tion Internal force limit Always limits force by setting the parameter 5 8 1 External force limit Limits force by input signal from the host controller 5 8 2 Force limiting by analog volt age reference Assigns a force limit by analog voltage reference 5 8 3 External force limit Force limiting by analog voltage ref erence Combines force limiting by an external input and by analog volt age reference...

Page 181: ...ration or deceleration of the servomotor Type Signal Name Connector Pin Number Setting Meaning Limit value Input P CL CN1 45 Factory setting ON closed Forward external force limit ON The smaller value of these set tings Pn483 or Pn404 OFF open Forward external force limit OFF Pn483 Input N CL CN1 46 Factory setting ON closed Reverse external force limit ON The smaller value of these set tings Pn48...

Page 182: ...ows when the force limiting using an analog voltage reference is performed in the speed control There is no polarity in the input voltage of the analog voltage reference for force limiting The absolute values of both and voltages are input and a force limit value corresponding to that absolute value is applied in the forward and reverse direction P CL OFF ON N CL OFF ON Pn483 Pn484 0 Force Speed P...

Page 183: ...ference input Pn400 Force Reference Input Gain Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 100 0 1 V 30 Rated force at 3 0 V Immediately Setup Pn483 Forward Force Limit Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 30 Immediately Setup Pn484 Reverse Force Limit Classification Setting Range Setting Unit Factory Setting When Enable...

Page 184: ...sed during force control since the force limit by analog voltage reference is input from T REF CN1 9 10 Parameter Meaning When Enabled Classification Pn002 n 3 When P CL or N CL is enabled the T REF terminal is used as the external force limit input After restart Setup Pn300 T REF V REF N CL P CL Pn101 Pn100 Pn400 T REF filter time constant Pn415 Force limit value Speed reference Pn404 P CL ON Pn4...

Page 185: ...rnal force limit ON The smallest value of these set tings the analog voltage refer ence limit Pn484 or Pn405 OFF Reverse external force limit OFF Pn484 Pn400 Force Reference Input Gain Classification Setting Range Setting Unit Factory Setting When Enabled Setup 10 to 100 0 1 V 30 Rated force at 3 0 V Immediately Pn483 Forward Force Limit Classification Setting Range Setting Unit Factory Setting Wh...

Page 186: ...indicate that the servomotor output force is being limited Note Use parameter Pn50F 0 to allocate the CLT signal for use For details refer to 3 3 2 Output Signal Allocations Type Signal Name Connector Pin Number Setting Meaning Output CLT Must be allocated ON closed Servomotor output force is being lim ited OFF open Servomotor output force is not being limited ...

Page 187: ...ng the absolute linear scale as an incremental linear scale 5 9 1 Absolute Data Request Signal SEN The absolute data request signal SEN must be input to obtain absolute data as an output from the SERVO PACK The following table describes the SEN signal The SEN signal is input at the following timing Parameter Meaning When Enabled Classification Pn002 n 0 Factory setting Uses the absolute linear sca...

Page 188: ...gnal cannot be OFF while the servomotor power is ON SERVOPACK control power supply 5 seconds max ON OFF OFF ON Normal status OFF ON 50 ms 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 S ON is turned ON during this interval ALM signal OFF Alarm status SEN signal PAO PBO Servomotor power Undefined Undefined Phas...

Page 189: ...lution Pn281 becoming the same width as phase A The output timing is one of the following Synchronized with the rising edge of phase A Synchronized with the falling edge of phase A Synchronized with the rising edge of phase B Synchronized with the falling edge of phase B Note When host controller receives the data of absolute linear scale do not perform counter reset using the output of PCO signal...

Page 190: ...n281 Pulse range 0 to 1048576 pulse Output pulse rate Approx 0 37 s Final absolute data PM is calculated by following formula PE MO R PO PM PE MS R PS Note In the case of reverse direction mode Pn000 0 1 use the above mentioned formula Note When processing the absolute linear scale reception sequence do not perform counter reset using PCO output PAO PBO SEN signal Incremental pulses Incremental pu...

Page 191: ...el Note The SEN signal cannot be OFF while the servomotor power is ON Output example of alarm contents are as shown below 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 The range for absolute data is P 00000 CR or P 00000 CR 2 The serial data range i...

Page 192: ...ut Signals ALO1 ALO2 and ALO3 The ON OFF combination of these signals specifies the type of alarm detected by the SERVOPACK Use these signals as required to display the contents of the alarm at the host controller For details refer to 9 1 1 List of Alarms Configure an external circuit so that this alarm output turns OFF the main circuit power supply for the SERVOPACK whenever an error occurs Type ...

Page 193: ...Specifications Note Use parameter Pn50F 3 to allocate the WARN signal for use For details refer to 3 3 2 Output Signal Alloca tions 2 Related Parameters Set the output method for alarm codes in Pn001 3 For details on alarm codes refer to 2 Alarm Code Output Signals ALO1 ALO2 and ALO3 of 5 10 1 Servo Alarm Output Signal ALM and Alarm Code Output Signals ALO1 ALO2 and ALO3 For details on warning cod...

Page 194: ...output of absolute data to the host controller must have been completed when the SEN signal is ON high level before S RDY is output For details on the hard wire base block function refer to 5 11 1 Hard Wire Base Block HWBB Function 1 Signal Specifications Note 1 Use parameter Pn50E 3 to allocate the S RDY signal to another terminal For details refer to 3 3 2 Output Sig nal Allocations 2 For detail...

Page 195: ...ly qualifies for the performance level c PLc The following risks can be estimated even if the HWBB function is used These risks must be included in the risk assessment The servomotor will move in an application where external force is applied to the servomotor for example gravity on the vertical axis Take measures to secure the servomotor such as installing a mechanical brake The servomotor may mo...

Page 196: ...BB state with the main power supply turned OFF the HWBB state will be maintained until the servo ON signal is turned OFF 2 The HWBB state cannot be reset if the servo ON signal is set to be constantly enabled in the servo ON signal allocation Pn50A 1 Do not make this setting if the HWBB function is being used 4 Error Detection in HWBB Signal If only the HWBB1 or HWBB2 signal is input an A Eb1 alar...

Page 197: ... signals described in this manual 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 Numb...

Page 198: ...The servo ready output will turn ON if the servo ON signal is turned OFF set to BB state when both the HWBB1 and HWBB2 signals are ON The following diagram shows an example where the main circuit power supply is turned ON the SEN signal is turned ON with an absolute linear scale and no servo alarm occurs 8 Brake Signal BK When the HWBB1 or HWBB2 signal is OFF and the HWBB function operates the bra...

Page 199: ...larm code output signals AOL1 AOL2 and AOL3 are not sent 5 11 2 External Device Monitor EDM1 The external device monitor EDM1 functions to monitor failures in the HWBB function Connect the moni tor to feedback signals to the safety function device Note To meet the performance level d PLd in EN ISO13849 1 the EDM signal must be monitored by a host controller If the EDM signal is not monitored by a ...

Page 200: ...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 Host controller EDM1 CN8 EDM1 8 7 0 V 24 V power supply SERVOPACK Type Signal Name Connector Pin Number...

Page 201: ... is used as a sourcing output Connect 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 sho...

Page 202: ...ING To check that the HWBB function satisfies the safety requirements of the system be sure to conduct a risk assessment of the system Incorrect use of the machine may cause injury The servomotor moves if there is external force e g gravity in a vertical axis when the HWBB function is operating Therefore use an appropriate device independently such as a mechanical brake that satisfies safety requi...

Page 203: ...www dadehpardazan ir 88594014 15 5 Operation 5 11 5 Precautions for Safety Functions 5 86 ...

Page 204: ...meters 6 27 6 4 Advanced Autotuning by Reference Fn202 6 28 6 4 1 Advanced Autotuning by Reference 6 28 6 4 2 Advanced Autotuning by Reference Procedure 6 30 6 4 3 Related Parameters 6 34 6 5 One parameter Tuning Fn203 6 35 6 5 1 One parameter Tuning 6 35 6 5 2 One parameter Tuning Procedure 6 36 6 5 3 One parameter Tuning Example 6 43 6 5 4 Related Parameters 6 44 6 6 Anti Resonance Control Adjus...

Page 205: ...urrent Control Mode Selection Function 6 62 6 8 4 Current Gain Level Setting 6 62 6 8 5 Speed Detection Method Selection 6 62 6 9 Compatible Adjustment Function 6 63 6 9 1 Feedforward Reference 6 63 6 9 2 Force Feedforward 6 63 6 9 3 Speed Feedforward 6 65 6 9 4 Proportional Control 6 66 6 9 5 Mode Switch P PI Switching 6 67 6 9 6 Force Reference Filter 6 69 6 9 7 Position Integral 6 71 ...

Page 206: ...them individually will be eliminated This section describes the following utility adjustment functions Utility Function for Adjustment Outline Applicable Control Method Tool Digital Oper ator Panel Oper ator SigmaWin Tuning less Levels Setting Fn200 This function is enabled when the factory settings are used This function can be used to obtain a sta ble response regardless of the type of machine o...

Page 207: ...djustment Function Fn204 This function effectively suppresses continuous vibration Speed and Position Vibration Suppres sion Function Fn205 This function effectively suppresses residual vibra tion if it occurs when positioning Position cont d Utility Function for Adjustment Outline Applicable Control Method Tool Digital Oper ator Panel Oper ator SigmaWin ...

Page 208: ...ing by Reference Automatically adjusts 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 vi...

Page 209: ... The reference pulse input multiplication switching function is supported by software version 001A or later Line Color Signal Name Factory Setting White Analog monitor 1 Force reference 1 V 100 rated force Red Analog monitor 2 Motor speed 1 V 1000 mm s Black 2 lines GND Analog monitor GND 0 V Probe GND Probe GND Measuring Probe Measuring Probe Measuring instrument White Red Black Black CN5 CN5 JZS...

Page 210: ... 04 Position amplifier error 0 05 V 1 linear scale pulse unit Position error after electronic gear conversion n 05 Position reference speed 1 V 1000 mm s The input reference pulses will be multiplied by n to output the position reference speed n 06 Reserved Do not change n 07 Reserved Do not change n 08 Positioning completed Positioning completed 5 V Positioning not com pleted 0 V Completion indic...

Page 211: ... 8 V Output resolution 16 bit Linear 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 Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0 Immediately Setup Pn552 Analog Monitor Magnification 1 Classification Setting Ran...

Page 212: ...n520 1 reference unit To check the Pn102 setting change the parameter display setting to display all parameters Pn00B 0 1 At the end of the equation a coefficient is shown as 1 2 to 2 This coefficient is used to add a margin that prevents a position error overflow alarm A d00 from occurring in actual operation of the servomotor Set the level to a value that satisfies these equations and no positio...

Page 213: ... When Enabled 1 to 1073741823 1 reference unit 5242880 Immediately Setup Alarm Dis play Alarm Name Meaning A d00 Position Error Overflow Position errors exceeded parameter Pn520 Position Pn526 Excessive Position Error Alarm Level at Servo ON Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741823 1 reference unit 5242880 Immediately Setup Position Pn528 Excessive Pos...

Page 214: ... The sound will not be heard from the next time the S_ON signal 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 mass of the load is 30 times greater or more than that of the servomotor in the mass ratio If vibration occurs set the mode to 2 in Fn200 or lower the adjustment level Parameter Me...

Page 215: ...rocedure b Using the parameter Gain switching Not available Offline mass 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 ...

Page 216: ... 2 Tuning less Levels 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 217: ...gh the list select Fn200 2 Press the Key to display the load level of the tuning less mode setting screen Notes If the response waveform causes overshooting or if the mass of the load is 30 times greater or more than that of the servomotor in the mass ratio 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...

Page 218: ... UP or the DOWN Key to select the Fn200 3 Press the DATA SHIFT Key for approximately one second to display the load level of the tuning less mode setting screen Note If the response waveform causes overshooting or if the mass of the load is 30 times greater or more than that of the servomotor in the mass ratio i e outside the scope of product guarantee press the UP Key and change the load level to...

Page 219: ...ollowing table shows the types of tuning less functions for the version of SERVOPACK software The software version number of your SERVOPACK can be checked with Fn012 Parameters Disabled by Tuning less Function Related Functions and Parameters Item Name Pn Number Force Con trol Easy FFT Mechanical Analysis Ver tical Axis Mode Gain Speed Loop Gain 2nd Speed Loop Gain Pn100 Pn104 Speed Loop Integral ...

Page 220: ...his function Yes 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 executio...

Page 221: ...ments In this case make adjustments after lowering the speed loop gain Pn100 until vibration is eliminated Before performing advanced autotuning with the tuning less function enabled Pn170 0 1 Factory setting always set Jcalc to ON to calculate the mass The tun ing less function will automatically be disabled and the gain will be set by advanced autotuning With Jcalc set to OFF so the mass is not ...

Page 222: ...performing advanced autotuning 2 When Advanced Autotuning Cannot Be Performed Advanced autotuning cannot be performed normally under the following conditions Refer to 6 4 Advanced Autotuning by Reference Fn202 and 6 5 One parameter Tuning Fn203 for details The machine system can work only in a single direction The operating range is 5 mm or less 3 When Advanced Autotuning Cannot Be Performed Succe...

Page 223: ...tments by referring to the positioning completed width Pn522 If the SERVOPACK is operated in position control Pn000 1 1 set the electronic gear ratio Pn20E Pn210 and positioning completed width Pn522 to the actual value during operation If the SERVOPACK is operated in speed control Pn000 1 0 set Mode to 1 to perform advanced autotuning Unless the positioning completed signal COIN is turned ON with...

Page 224: ...nts considering response characteristics and stability Standard level Mode 2 Makes adjustments for positioning Factory setting Mode 3 Makes adjustments for positioning giving priority to overshooting suppression 3 3 Type Selection Select the type according to the machine element to be driven If there is noise or the gain does not increase bet ter results may be obtained by changing the rigidity ty...

Page 225: ...he SERVOPACK DONE will flash for one second and ADJ will be displayed again Notes To end operation by calculating only the mass ratio and without adjusting the gain press the Key to end operation 8 Gain Adjustment When the or Key is pressed according to the sign or of the value set for stroke travel dis tance the calculated value of the mass ratio will be saved in the SERVOPACK and the auto run op...

Page 226: ... is turning ON and OFF when the servomotor is stopped Increase the set value for Pn522 Change the mode from 2 to 3 If machine vibration occurs suppress the vibration with the anti resonance control adjustment function and the vibration suppression function An error occurred during the calculation of the mass Refer to the following table When an Error Occurs during Calculation of Mass Travel distan...

Page 227: ...ns Err1 The SERVOPACK started calculating the mass but the calculation was not completed Increase the speed loop gain Pn100 Increase the STROKE travel distance Err2 The mass fluctuated greatly and did not con verge within 10 tries Set the calculation value based on the machine specifi cations in Pn103 and execute the calculation with the Jcalc set to OFF Err3 Low frequency vibration was detected D...

Page 228: ...ges in the following conditions Changes in the viscous resistance of the lubricant such as the grease on the sliding parts of the machine Changes in the friction resistance resulting from variations in the machine assembly Changes in the friction resistance due to aging The conditions for applying friction compensation depend on the mode The friction compensation setting in Pn408 3 applies when th...

Page 229: ... Enabled Classification Pn140 n 0 Factory setting Model following control is not used together with the speed force feedforward input Immediately Tuning n 1 Model following control is used together with the speed force feedforward input Model following control is used to make optimum feedforward settings in the SERVO PACK when model following control is used with the feedforward function Therefore...

Page 230: ... 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 Force Reference Filter Time Constant No Yes Pn408 Force Related Function Switch Yes Yes Pn409 1st Notch Filter Frequency No Yes Pn40A 1st Notch Filter Q Value No Yes Pn40C 2nd Notch Filter...

Page 231: ...ning by reference performs the following adjustments Gains e g position loop gain and speed loop gain Filters force reference filter and notch filter Friction compensation Anti resonance control Vibration suppression Refer to 6 4 3 Related Parameters for parameters used for adjustments Advanced autotuning by reference starts adjustments based on the set speed loop gain Pn100 Therefore precise adju...

Page 232: ...the set zero speed level Pn581 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...

Page 233: ...y setting Mode 3 Makes adjustments for positioning giving priority to overshooting suppression 3 2 Type 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 Low rigidity Type 2 Medium rigidity Factory setting Type 3 High rigidity 4 Press the Key The advanced autotu...

Page 234: ...robable Cause 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 Acti...

Page 235: ...y set this function 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 e...

Page 236: ...F input and force feedforward T REF input from the host controller Refer to 6 9 2 Force Feedforward and 6 9 3 Speed Feedforward for details 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 compensation function Mode Frict...

Page 237: ...eed Loop Gain No Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Mass 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 Force Reference Filter Time Constant No Yes Pn408 Force Related Function Switc...

Page 238: ...r parameters used for adjustments 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 6 8 Additional Adjustment Function 1 Preparation Check the following settings before performing one parameter tuning The message NO OP indicating that th...

Page 239: ... the MODE SET Key to select the utility func tion mode 2 Press the UP or DOWN Key to move through the list and select Fn203 3 Press the DATA SHIFT Key for approximately one second The screen shown on the left will be dis played 4 Press the UP or DOWN Key to move through the list and select Tuning Mode TUNING MODE 0 Makes adjustments giving priority to stability 1 Makes adjustments giving priority ...

Page 240: ...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 Low rigidity Type 2 Medium rigidity Factory setting Type 3 High rigidity 5 If the servomotor power is OFF input a servo ON signal S ON from the host controller The display will change from BB to RUN If the servomotor power is ON ...

Page 241: ...ally even if the Key is not pressed and a notch filter or an anti reso nance control 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 l...

Page 242: ...er shooting 4 2 Type 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 Low rigidity Type 2 Medium rigidity Factory setting Type 3 High rigidity 5 If the servomotor power is OFF input a servo ON signal S ON from the host controller The display will change from BB...

Page 243: ... the servomotor 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 re...

Page 244: ...is set to Auto Setting 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 Tun...

Page 245: ...st controller Refer to 6 9 2 Force Feedforward and 6 9 3 Speed Feedforward for details 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 1 Adjusted with the frictioncom...

Page 246: ...he specifications 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 sa...

Page 247: ...peed Loop Gain No Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Mass 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 Force Reference Filter Time Constant No Yes Pn408 Force Related Function Swit...

Page 248: ...less function must be disabled Pn170 0 0 The test without a motor function must be disabled Pn00C 0 0 The control must not be set to force 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 t...

Page 249: ... of the digital operator 1 Using Anti Resonance Control for the First Time With Undetermined Vibration Frequency 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 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 ...

Page 250: ...r 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㨍㨙㨜㧩㧜㧜㧜㧜 Error Error ...

Page 251: ... on the left will appear and freq will flash Example of measured waveform 5 Select the digit with the or Key and press the or Key to adjust the frequency 6 Press the Key The cursor will move to damp 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㧜㧾㨁㧺㧲㨁㧺㧯㨀㧵㧻㧺㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧝㧾㨁㧺㨂㨕㨎㧿㨡㨜 ...

Page 252: ...ti resonance control adjustment function The screen in step 1 will appear again 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 select Fn204 2 Press the Key to display the Tuning Mode 1 as shown on the left 3 Press the Key while Tuning Mode 1 is dis played The screen shown on the left will appear and...

Page 253: ...in of 200 can cel the setting and lower the control gain by using a different method 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...

Page 254: ...ustment function Fn204 or one parameter tuning Fn203 3 Detection of Vibration Frequencies No frequency detection may be possible if the vibration does not appear as a position error or the vibration resulting from the position error is too small The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width Pn560 which is set as a percentage of the pos...

Page 255: ...al operator option or SigmaWin This function cannot be performed from the panel operator The operating procedure from the digital operator is described here Refer to the V Series User s Manual Operation of Digital Operator No SIEP S800000 55 for basic key operations of the digital operator Note If this function is aborted by pressing the MODE SET Key the SERVOPACK will continue operating until the...

Page 256: ...prepare a means of detecting and measuring the vibration When the vibration frequencies are measured go to step 5 and manually set the measured vibration fre quency 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 ...

Page 257: ...r Force reference Lin ear 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 approximately 10 seconds after the setting changes a timeout error will result and the previous setting will be automa...

Page 258: ...eing 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 changes Pn140 Model Following Control Related Switch Yes Yes Pn141 Model Following Control Gain No Ye...

Page 259: ...s 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 will n...

Page 260: ... Condition A not satis fied Gain setting 2 to gain setting 1 Pn136 Gain Switching Waiting Time 2 Pn132 Gain Switching Time 2 Parameter Switching Condition A for Position Control For Other than Posi tion 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 ...

Page 261: ... 400 Immediately 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 Force Reference Filter Time Constant Classification Setting Range Setting Unit...

Page 262: ...g When Enabled 500 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 Force Position Position Speed Position Pn131 Gain Switching Time 1 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ...

Page 263: ...nction When Enabled Classification 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...

Page 264: ...ess 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 result if the ...

Page 265: ...movement of the servomotor while the servomotor is running Set the value of Pn009 2 to 1 and select speed detection 2 to smooth the movement of the servomotor while the servomotor is running When the scale pitch of the linear scale is large the noise level of the running servomotor can be reduced Input Voltage SERVOPACK Model SGDV 200 V 120A 180A 200A 330A 550A 400 V 3R5D 5R4D 8R4D 120D 170D 260D ...

Page 266: ...ntroller SERVOPACK in Speed Control The reference pulse input multiplication switching function is supported by software version 001A or later 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 to 6400 0 01 ms 0 I...

Page 267: ...1 Pn000 1 SERVOPACK in position control Divider KFF Feedforward gain Clear input Speed reference input gain T REF filter time constant Position reference Differe ntial Host controller Servomotor Force reference input gain Refer ence pulse form Smooth ing Position feedback Error counter Pn522 positioning completed width Speed conversion Speed control section Current control section Power amplifier ...

Page 268: ...is 6 V then the speed is limited to the rated speed Note Too high a speed feedforward value will result in overshooting To prevent such troubles set the optimum value while observing the system responsiveness COIN M Pn200 0 Pn218 Pn20E Pn210 T REF V REF CLR PULS SIGN Pn300 Pn281 Pn216 Pn217 Pn207 1 ENC KFF Pn000 1 Pn000 1 Servomotor Host controller Speed reference input gain SERVOPACK in position ...

Page 269: ...oportional control operation is enabled when the control method is set to speed or position control Note Refer to 5 7 Combination of Control Methods for how to switch control methods Type Signal Name Connector Pin Number Setting Meaning Input P CON CN1 41 Factory setting OFF High level Switches to PI control proportional integral control ON Low level Switches to P control proportional control SERV...

Page 270: ...Setting When Enabled Classifi cation Pn10B n 0 Factory setting Uses an internal force reference level for the switch ing conditions Pn10C Immedi ately Setup n 1 Uses a speed reference level for the switching condi tions Pn181 n 2 Uses an acceleration level for the switching condi tions Pn182 n 3 Uses a position error level for the switching condi tions Pn10F n 4 Does not use mode switch function P...

Page 271: ...t in Pn181 Using Acceleration With this setting the speed loop is switched to P control when the speed reference exceeds the acceleration set in Pn182 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 Force Reference Pn...

Page 272: ... ms 1000 2 Pn100 Hz 1 The filter is disabled if 5000 is set Force reference before filtering Force Related Function Switch Pn408 Notch filter Notch filter First order lag filter Force reference after filtering Second order lag filter 2nd Notch Filter Pn40C Pn40D and Pn40E 1st Notch Filter Pn409 Pn40A and Pn40B The 2nd force reference filter is enabled when Pn40F is set to a value less than 5000 an...

Page 273: ... Notch Filter Frequency Hz Phase deg 2 10 10 3 10 4 400 300 200 100 0 Notch Filter Frequency 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...

Page 274: ...uning Sufficient precautions must be taken when setting the notch filter frequencies Do not set the notch filter 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 Chang...

Page 275: ...www dadehpardazan ir 88594014 15 6 Adjustments 6 9 7 Position Integral 6 72 ...

Page 276: ...7 15 7 10 Automatic Offset Signal Adjustment of the Motor Current Detection Signal Fn00E 7 17 7 11 Manual Offset Signal Adjustment of the Motor Current Detection Signal Fn00F 7 18 7 12 Write Prohibited Setting Fn010 7 19 7 13 Servomotor Model Display Fn011 7 21 7 14 Software Version Display Fn012 7 22 7 15 Resetting Configuration Errors in Option Modules Fn014 7 23 7 16 Vibration Detection Level I...

Page 277: ... 7 Fn009 Automatic tuning of analog speed force reference offset 5 3 2 5 5 2 Fn00A Manual servo tuning of speed reference offset 5 3 2 Fn00B Manual servo tuning of force reference offset 5 5 2 Fn00C Offset adjustment of analog monitor output 7 8 Fn00D Gain adjustment of analog monitor output 7 9 Fn00E Automatic offset signal adjustment of the motor current detection signal 7 10 Fn00F Manual offset...

Page 278: ...istory using the parameter Fn006 The alarm history is not cleared on alarm reset or when the SERVOPACK main circuit power is turned OFF Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function If a number other than Fn000 is displayed press the UP Key or DOWN Key to select Fn000 2 Press the DATA SHIFT Key for approximately one sec ond The latest alarm dat...

Page 279: ...run CAUTION While the SERVOPACK is in JOG operation the overtravel function will be disabled Consider the operat ing range of the machine when performing JOG operation for the SERVOPACK Pn383 Jog Speed Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 mm s 50 Immediately Setup Speed Position Force Step Display after Opera tion Keys Operation 1 Press the MODE SET K...

Page 280: ...n Fn002 7 5 7 Utility Functions Fn 7 Press the DATA SHIFT Key for approximately one second Fn002 is displayed again 8 To enable the change in the setting turn the power OFF and ON again cont d Step Display after Opera tion Keys Operation MODE SET DATA ...

Page 281: ...e UP or DOWN Key to select Fn003 3 Press the DATA SHIFT Key for approximately one sec ond and the display shown on the left appears 4 Press the MODE SET Key to turn the servomotor power ON The display shown on the left appears 5 Pressing the UP Key will run the servomotor in the for ward direction Pressing the DOWN Key will run the ser vomotor in the reverse direction The movement direction of the...

Page 282: ...gram JOG operation is carried out in position control However the pulse reference input to the SERVOPACK cannot be used The functions that are applicable for position control such as position reference filter can be used The overtravel function is enabled in this function When using an absolute linear scale the SEN signal needs not be input since it is always enabled The reference pulse input mult...

Page 283: ...ime Pn534 Pn535 Waiting time Pn535 Number of movements Pn536 At zero speed Movement distance Pn531 Movement distance Pn531 Movement distance Pn531 Key Press the Movement speed Movement distance Pn585 Pn531 Key Press the Waiting time Pn535 Accel Decel time Accel Decel time Waiting time Pn534 Pn535 Waiting time Waiting time Pn535 Movement speed Pn585 Pn534 Pn535 Number of movements Pn536 Number of m...

Page 284: ...Pn536 Speed Diagram Servomotor Run Status Stop Forward Stop Reverse Stop 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 Pn585 Key Press the Accel Decel time Pn534 Pn585 Waiting time Pn535 Waiting time Pn535 Number of movements Pn536 Movement spe...

Page 285: ...ys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn004 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the MODE SET Key to turn the servomotor power ON The display shown on the left appears 5 Press the UP or DOWN Key according to the first movement direction of the operation pattern After...

Page 286: ...g Procedure Use the following procedure Be sure to initialize the parameter settings while the servo ON S ON signal is OFF After initialization turn OFF the power supply and then turn ON again to validate the settings Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn005 3 Press the DATA SHIFT Key for approxi...

Page 287: ...r Fn010 must be set to Write permitted P 0000 2 Operating Procedure Use the following procedure Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn006 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the MODE SET Key to clear the alarm history When the data ...

Page 288: ...le of settings for a zero analog monitor output is shown below While the servomotor is not turned ON set the monitor signal to the force 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 Opera...

Page 289: ...Press the MODE SET Key to switch to channel 2 analog monitor 2 monitor output 8 Press the DATA SHIFT Key Offset data will be displayed as shown on the left 9 Press the UP or DOWN Key to change the data 10 Press the DATA SHIFT Key for approximately one second Ch2 o is displayed and then Fn00C is displayed again cont d Step Display after Opera tion Keys Operation MODE SET DATA MODE SET DATA MODE SET...

Page 290: ... made with a 100 output set as a center value 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 initialize...

Page 291: ... Gain adjustment data will be displayed as shown on the left 5 Press the UP or DOWN Key to change the gain 6 Press the DATA SHIFT Key to return to the screen as shown on the left 7 Press the MODE SET Key to switch to channel 2 analog monitor 2 monitor output 8 Press the DATA SHIFT Key Gain adjustment data will be displayed as shown on the left 9 Press the UP or DOWN Key to change the gain 10 Press...

Page 292: ...he SERVOPACK must be in Servo Ready status Refer to 5 10 4 The servo ON signal S ON must be OFF 2 Operating Procedure Use the following procedure Be sure to perform this function while the servo ON signal S ON is OFF Execute the automatic offset adjustment if the force ripple is too big when compared with those of other SERVOPACKs Step Display after Opera tion Keys Operation 1 Press the MODE SET K...

Page 293: ... and phase V offset amounts alternately several times until these offsets are well balanced Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn00F 3 Press the DATA SHIFT Key for approximately one second to adjust the phase U offset amount The display shown on the left phase U appears 4 Press the DATA SHIFT Key...

Page 294: ... 2 Fn00A Manual servo tuning of speed reference offset Cannot be executed 5 3 2 Fn00B Manual servo tuning of force reference offset Cannot be executed 5 5 2 Fn00C Offset adjustment of analog monitor output Cannot be executed 7 8 Fn00D Gain adjustment of analog monitor output Cannot be executed 7 9 Fn00E Automatic offset signal adjustment of the motor current detection signal Cannot be executed 7 1...

Page 295: ... select the utility function 2 Press the UP or DOWN Key to select Fn010 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the UP or DOWN Key to set a value P 0000 Write permitted Factory setting P 0001 Write prohibited 5 Press the MODE SET Key to register the value When the setting has been completed donE flashes on the display and the screen ret...

Page 296: ...e second to display the servomotor voltage and model codes 4 Press the MODE SET Key to display the servomotor capac ity 5 Press the MODE SET Key to display the encoder type and the number of divisions of linear scale s pitch 6 Press the MODE SET Key to display the SERVOPACK s code for custom orders The display y 0000 means a standard model If anything other than y 0000 is displayed a customized de...

Page 297: ...he MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn012 3 Press the DATA SHIFT Key for approximately one second to display the SERVOPACK software version number 4 Press the MODE SET Key to display the encoder software version number Note If the MODE SET Key is pressed again a pre pro grammed display will appear The display will change as follows 0 0000 S FFFF F FF...

Page 298: ...rohibited setting parameter Fn010 must be set to Write permitted P 0000 2 Operating Procedure Use the following procedure Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn014 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the UP or DOWN Key to select the...

Page 299: ...de 1 Preparation The following conditions must be met to initialize the vibration detection level The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The test without a motor function must be disabled Pn00C 0 0 Parameter Meaning When Enabled Classification Pn310 n 0 Factory setting Does not detect vibration Immediately Setup n 1 Outputs the warning A 911 when vibrati...

Page 300: ...tion Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn01b 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Display flashes Press the MODE SET Key for approximately one second The display shown on the left will flash and the vibration level will be detected and r...

Page 301: ...l be displayed after the module name 1 Preparation There are no tasks that must be performed before the execution ID Items 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 manufac...

Page 302: ...tion 5 Press the Key The display 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 2 0 S O r i g S e t F n 0 3 0 S o f t R e s e t Linear B B S v M o t O p I D D r i v e r S G D V R 7 0 A 0 5 A D 0 0 2 4 1 2 3 4 5 9 0 0 0 1 0 7 0 4 2 0 0 V 5 0 W Serial number Manufacturing date SERVOPACK model Motor input voltage ...

Page 303: ... of origin setting the servomotor phase data in the SERVOPACK will be discarded Execute polarity detection Fn080 again to save the servomotor phase data in the SERVOPACK Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn020 3 Press the DATA SHIFT Key for approximately one second The display shown on the left ...

Page 304: ...l S ON is OFF This function resets the SERVOPACK independently of host controller The SERVO PACK carries out the same processing as when the power supply is turned ON and outputs the ALM signal The status of other output signals may be forcibly changed Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn030 3 P...

Page 305: ...Operating Procedure Use the following procedure Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or the DOWN Key to select Fn080 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the MODE SET Key to start polarity detection 5 After polarity detection is completed the display shown...

Page 306: ... it is recommended to use advanced autotuning 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 ha...

Page 307: ...or slight movement In the Servo ON status the servomotor power ON press the UP Key forward or the DOWN Key reverse The ser vomotor oscillates within 10 mm in automatic operation The servomotor performs such movements for approxi mately 2 seconds During this operation the display shown on the left flashes Notes Press the MODE SET Key to stop the servomotor No detection is executed F is displayed to...

Page 308: ...e optimum notch filter for the detected reso nance frequency will automatically be set When the notch filter is set correctly the donE flashes and then the display shown on the left appears When the 1st notch filter frequency is already set Pn408 0 1 the 2nd notch filter frequency will be auto matically set Pn40C Press the MODE SET Key to return to step 5 Notes If both the 1st and 2nd notch filter...

Page 309: ...ch filter settings Use the following flowchart to determine how these functions should be used If a V Series SERVOPACK is used to make adjustments it is recommended that you use advanced autotun ing This built in 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 online vibration mon...

Page 310: ...sults of detec tion will be displayed The displayed value is the frequency of the highest peak of vibration To set the detection result proceed to step 6 To monitor the vibration frequency without setting the detection result press the DATA SHIFT Key for approxi mately one second to return to step 2 Notes If a frequency is not detected F will be displayed If detection processing is not completed n...

Page 311: ...ing 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 executi...

Page 312: ...put Signals 8 7 8 6 1 Displaying Input Signal Status 8 7 8 6 2 Interpreting Input Signal Display Status 8 7 8 6 3 Input Signal Display Example 8 8 8 7 Monitoring Output Signals 8 9 8 7 1 Displaying Output Signal Status 8 9 8 7 2 Interpreting Output Signal Display Status 8 10 8 7 3 Output Signal Display Example 8 10 8 8 Monitoring Safety Input Signals 8 11 8 8 1 Displaying Safety Input Signals 8 11...

Page 313: ...ic angle 2 from polarity origin deg Un005 1 Input signal monitor Un006 2 Output signal monitor Un007 5 Input reference pulse speed valid only in position control mm s Un008 5 Position error amount valid only in position control reference unit Un009 Accumulated load ratio in percentage to the rated force effec tive force in cycle of 10 seconds Un00A Regenerative load ratio as a percentage of the pr...

Page 314: ...500 mm s Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the monitor display 2 If Un000 is not displayed press the UP or DOWN Key to select Un000 3 Press the DATA SHIFT Key for approximately one sec ond to display the motor moving speed Un000 4 Press the DATA SHIFT Key for approximately one sec ond to return to the display of step 1 MODE SET DATA MODE SET DATA MODE ...

Page 315: ...Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to display the parameter to be displayed in 32 bit decimal In this example Un00D is selected 3 Press the DATA SHIFT Key for approximately one second The lower 4 digits of the setting of the selected parameter are displayed 4 After checking the displayed digits press the DATA SHIFT Key The middle 4 digits of the setting...

Page 316: ...tion Pn281 Adjust the settings of Pn080 3 to select the location to be monitored Notes When Pn080 3 0 the encoder output resolution Pn281 that can be set is displayed When Pn080 3 1 the maximum motor speed Pn385 that can be set is displayed Units mm s Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to select Un010 3 Pre...

Page 317: ...to select Un011 3 Press the DATA SHIFT Key for approximately one second to display the hall sensor signal pattern 4 Press the DATA SHIFT Key for approximately one second to return to the display of step 2 MODE SET DATA MODE SET DATA MODE SET DATA Phase U L L L L H H H H 0 1 2 3 4 5 6 7 L L H H L L H H L H L H L H L H Phase V Phase W Signal Monitor Hall Sensor Signal Pattern Upper ON at high level ...

Page 318: ...signal is in ON status the bottom segment LED is lit Note Input signals use the following circuit configuration OFF Open ON Short circuited Example Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to select Un005 3 Input signal display status The present status can be displayed on the 7 segment dis play on the panel opera...

Page 319: ...play Example Input signals are displayed as shown below When the S ON signal is ON When the S ON signal is OFF When the P OT signal operates The bottom segment of number 1 is lit 7 6 5 4 3 2 1 8 Analog The top segment of number 1 is lit 7 6 5 4 3 2 1 8 Analog The top segment of number 3 is lit 7 6 5 4 3 2 1 8 Analog ...

Page 320: ...owing steps to display the output signal status Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to select Un006 3 Output signal display status The present status can be displayed on the 7 segment dis play on the panel operator by pressing the DATA SHIFT Key for approximately one second Refer to 8 7 2 Interpret ing Outpu...

Page 321: ... the output signal is in ON status the bottom segment LED is lit Note Input signals use the following circuit configuration OFF Transistor OFF ON Transistor ON Example 8 7 3 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 26 COIN or V CMP 3 CN1 27 28 TGO...

Page 322: ... safety input signal is in OFF status the bottom segment LED is lit Note Input signals use the following circuit configuration OFF Open ON Short circuited Example Step Display after Opera tion Keys Operation 1 Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to select Un015 3 Input signal display sta tus The present status can be displayed on the 7 segment dis play o...

Page 323: ...ay at Power ON When Un number is set using Pn52F the data of Un that was specified in the panel operator is displayed when the power is turned ON When the 0FFF is set factory setting the SERVOPACK becomes the status display mode bb run at power ON The bottom segment of the number 1 is lit 7 6 5 4 3 2 1 8 Analog Pn52F Monitor Display at Power ON Classification Setting Range Setting Unit Factory Set...

Page 324: ...ting 9 1 Alarm Displays 9 2 9 1 1 List of Alarms 9 2 9 1 2 Troubleshooting of Alarms 9 6 9 2 Warning Displays 9 21 9 2 1 List of Warnings 9 21 9 2 2 Troubleshooting of Warnings 9 22 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 9 25 ...

Page 325: ...xecuting the alarm reset cannot clear the alarm Alarm Number Alarm Name Meaning Servo motor Stopping Method Alarm Reset Alarm Code Output ALO1 ALO2 ALO3 A 020 Parameter Checksum Error 1 The data of the parameter in the SERVO PACK is incorrect Gr 1 N A H H H A 021 Parameter Format Error 1 The data of the parameter in the SERVO PACK is incorrect Gr 1 N A A 022 System Checksum Error 1 The data of the...

Page 326: ...ting for several seconds to several tens of seconds under a force largely exceeding ratings Gr 2 Available L L L A 720 Overload Low Load The servomotor was operating continuously under a force exceeding ratings Gr 1 Available A 730 A 731 Dynamic Brake Overload When the dynamic brake was applied mov ing energy exceeded the capacity of dynamic brake resistor Gr 1 Available A 740 Overload of Surge Cu...

Page 327: ... N A A C21 Hall Sensor Error The hall sensor is faulty Gr 1 N A A C22 Phase Information Disagreement The phase information does not match Gr 1 N A A C50 Polarity Detection Error The polarity detection failed Gr 1 N A A C51 Overtravel Detection at Polarity Detection The overtravel signal was detected at polar ity detection Gr 1 Available A C52 Polarity Detection Uncompleted The servomotor was turne...

Page 328: ... E74 Unsupported Safety Option Module An unsupported safety option module was connected Gr 1 N A A E75 Unsupported Feedback Option Module An unsupported feedback option module was connected Gr 1 N A A E81 2 SERVOPACK Safety Module Alarm A Eb1 Safety Function Signal Input Timing Error The safety function signal input timing is faulty Gr 1 N A H L L A Eb 2 SERVOPACK Safety Module Alarms A EC 2 SERVO...

Page 329: ... faulty The SERVOPACK may be faulty Replace the SERVOPACK A 021 Parameter Format Er ror 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...

Page 330: ...rvomotor capacities A linear scale fault occurred Replace the linear scale and see if the alarm occurs again Replace the linear scale A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 051 Unsupported Device Alarm The parameters of the motor parameter file are not written in the linear scale Only when not using serial converter units Check if the parameters of the motor...

Page 331: ...power consumed by DB resistance Un00B to see how many times the DB has been used Or check the alarm history display Fn000 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 The generated regenerative resis tor value exceeded the SERVO PACK regenerative energy processing ...

Page 332: ...he power supply voltage exceeds the specified limit Measure the power supply voltage Set the power supply voltage within the specified range Insufficient external regenerative resistance regenerative resistor capacity or SERVOPACK capac ity Or regenerative power has been continuously flowing back Check the operating condition or the capacity using the capacity selection Software SigmaJunma Size et...

Page 333: ...e the SERVOPACK A 400 Overvoltage Detected in the SER VOPACK main circuit power supply section For 100 VAC SERVOPACKs The AC power supply voltage exceeded 145 V For 200 VAC SERVOPACKs The AC power supply voltage exceeded 290 V For 400 VAC SERVOPACKs The AC power supply voltage exceeded 580 V For 200 VAC SERVOPACKs with DC power supply input The DC power supply voltage exceeded 410 V For 400 VAC SE...

Page 334: ...nce input gain adjust the servo gain or recon sider the operating conditions A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 511 Overspeed of Encoder Output Pulse Rate The encoder output pulse fre quency exceeded the limit Check the encoder output pulse set ting Decrease the setting of the encoder output resolution Pn281 The encoder output pulse output frequency exce...

Page 335: ...heck the power consumed by DB resistance Un00B to see how many times the DB has been used Reconsider the following Reduce the motor reference speed Reduce the mass ratio Reduce the number of times of the DB stop operation A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 740 Overload of Surge Current Limit Resistor The main circuit power is turned ON OFF too frequently...

Page 336: ...le side The servomotor speed is higher than the specified speed when the control power supply was turned ON Check the motor moving speed Un000 to confirm the servomotor speed when the power is turned ON Set the motor speed within the range specified by the linear scale manufacturer and restart the control power supply A linear scale fault occurred Turn the power supply OFF and then ON again If the...

Page 337: ...Detection Er ror 2 The current detection circuit for phase V is faulty Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b33 Current Detection Er ror 3 The detection circuit for the cur rent is faulty Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK The ser...

Page 338: ...ke measures against noise for the hall sensor wiring A C21 Hall Sensor Error The hall sensor is protruding from the motor magnetic way Check the hall sensor Correctly reinstall the motor coil assembly or motor magnetic way The setting of the linear scale pitch Pn282 is incorrect Check the setting of the linear scale pitch Pn282 Check the specifications of the lin ear scale and correct the value of...

Page 339: ...on Check the position after overtravel Perform the wiring for an overtravel signal Execute polarity detection at a position where an overtravel sig nal is not detected A C52 Polarity Detection Un completed The servomotor has been turned ON under the following circum stances Polarity detection was not yet complete The P DET signal was not input Input the P DET signal A C53 Out of Range for Po larit...

Page 340: ...eck the linear scale connection cables and connectors Confirm that there is no problem with the cable layout The linear scale connection cables are bundled with a high current line or near a high current line Check the cable layout for linear scale connection cables Confirm that there is no surge volt age on the cables The FG potential varies because of influence from machines on the servomotor si...

Page 341: ...e is too high Reduce the reference pulse fre quency and operate the SERVO PACK Reduce the position reference pulse frequency or acceleration of posi tion reference Or reconsider the electronic gear ratio The acceleration of the position reference is too high Reduce the reference acceleration and operate the SERVOPACK Apply the smoothing function such as using position reference accelera tion decel...

Page 342: ...The lag between activations of the input signals HWBB1 and HWBB2 for the HWBB function is ten second or more Measure the time lag between the HWBB1 and HWBB2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SERVOPACK input signal circuits may be faulty Alternatively the input signal cables may be disconnected Check if any of these items are faulty or have been disconnected ...

Page 343: ...p 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 SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be...

Page 344: ... exceeded the parameter setting Pn526 Pn528 100 H H H A 910 Overload This warning occurs before the overload alarms A 710 or A 720 occur If the warning is ignored and operation contin ues an overload alarm may occur L H H A 911 Vibration Abnormal vibration at the motor speed was detected The detection level is the same as A 520 Set whether to output an alarm or warning by the vibration detection s...

Page 345: ...leration time constant Pn216 Setting of the excessive position error alarm level Pn520 is low against the operating condition Check the alarm level Pn520 to see if it is set to an appropriate value Set the Pn520 to proper value A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 901 Position Error Over...

Page 346: ...tance regenerative resistor capacity or SER VOPACK capacity Reconsider the operating conditions using the capac ity selection software SigmaJunma Size etc Regenerative power continuously flowed back because negative load was continuously applied Check the load to the servomotor dur ing operation Reconsider the system including servo drives machine and operating condi tions A 921 Dynamic Brake Over...

Page 347: ... setting The SERVOPACK fuse is blown out Replace the SERVOPACK and con nect a reactor to the SERVOPACK A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 9A0 Overtrav el 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 Troubleshooti...

Page 348: ...ameters Pn50A to Pn50D Correct the settings for parameter Pn50A to Pn50D Servo ON signal S ON stays OFF Check the settings for parameters Pn50A 0 and Pn50A 1 Set the parameters Pn50A 0 and Pn50A 1 to turn the S ON signal ON P CON input function setting is incorrect Check the settings for parameter Pn000 1 Set parameters to match the applica tion SEN input is OFF Check the ON OFF status of the SEN ...

Page 349: ...Without Reference Input Speed control Speed reference input is incorrect Check V REF and SG to confirm if the control method and the input are agreed Correct the control method selec tion parameter and the input signal Force control Force reference input is incorrect Check V REF and SG to confirm if the control method and the input are agreed Correct the control method selec tion parameter and the...

Page 350: ... serial con verter unit 20 m Connection cables for linear scale 15 m Connection cables for hall sensor 15 m Noise interference due to damaged linear scale connection cables Check if the linear scale connection cables are bent and the sheaths are damaged Replace the linear scale connection cables and correct the cable layout Excessive noise to the linear scale connection cables Check if the linear ...

Page 351: ...les 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 linear scale con nection cables Noise interference due to length of linear scale connection cables Check the length of the linear scale connection cables The length of each cable must be equal to or shorter than the maxi mum wiring length listed here Conn...

Page 352: ...everse 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 0 allocate N OT Incorrect servomotor stop method selection Check the settings for parameters Pn001 0 and Pn001 1 when the ser v...

Page 353: ...e specified specifications If the reference pulse input multipli cation switching function is being used noise may be causing the I O signals PSEL and PSELA used for this function to be falsely detected The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm2 min Use input signal cable that satisfy specifications No...

Page 354: ...onnection to OMRON s Position Control Unit 10 5 10 1 5 Connection to MITSUBISHI s AD72 Positioning Module SERVOPACK in Speed Control 10 6 10 1 6 Connection to MITSUBISHI s AD75 Positioning Module SERVOPACK in Position Control 10 7 10 1 7 Connection to MITSUBISHI s QD75D Positioning Module SERVOPACK in Position Control 10 8 10 2 List of Parameters 10 9 10 2 1 Utility Functions 10 9 10 2 2 Parameter...

Page 355: ...4 V DI_2 ZERO HOME LS SG PA PC SG AO_1 TREF DO_4 DI_3 P OT DI_0 SVALM SEN 5 V 㧙 PBL AI GND DO_1 ALMRST 24 V DI_5 EXT DEC SG AI_1 TMON PB SG AO GND DO_0 SV ON DI_4 N OT DI_1 SRDY SG V REF PA PA PC PC SG T REF ALM CN1 CN2 CN1 P OT 24 V IN ALM VTG TMON AI GND TGON BRK SG SEN S RDY PB PB SG ALM RST S ON N OT S RDY TGON BRK GND GND CN5 SGDV 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24...

Page 356: ...xample 4 Incorrect signal connections will cause damage to the machine controller and SERVOPACK Wire all connec tions carefully 5 Open the signal lines not to be used 6 The above connection diagram shows the connections for only one axis When using other axes make connec tions to the SERVOPACK in the same way 7 Short circuit the normally closed NC input terminals that are not used at the I O conne...

Page 357: ...ce the risk and ensure the safety of the machine in operation Necessary circuits and settings are required in CN8 to use these functions If these functions are not used use the SERVOPACK with the enclosed safety jumper connected to CN8 For details refer to 5 11 Safety Function CN1 3 4 5 16 8 9 13 12 11 19 15 14 18 1 5 6 1 19 20 L1C L3 L2 L1 L2C 35 34 20 4 36 47 32 10 10 17 2 4 6 14 1 2 2 31 33 44 ...

Page 358: ...the servomotor can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of the movable parts of the machines reduce the risk and ensure the safety of the machine in operation Necessary circuits and settings are required in CN8 to use these functions If these functions are not used use the SERVOPACK with the enclos...

Page 359: ...s make connec tions to the SERVOPACK in the same way 6 Short circuit the normally closed NC input terminals that are not used at the I O connector section of the posi tioning module 7 Make the settings so that the servo can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of the movable parts of the machines r...

Page 360: ...d NC input terminals that are not used at the I O connector section of the posi tioning module 7 Make the settings so that the servomotor can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of the movable parts of the machines reduce the risk and ensure the safety of the machine in operation Necessary circuit...

Page 361: ... the normally closed NC input terminals that are not used at the I O connector section of the posi tioning module 7 Make the settings so that the servo can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of the movable parts of the machines reduce the risk and ensure the safety of the machine in operation Nec...

Page 362: ... 2 Fn00A Manual servo tuning of speed reference offset 5 3 2 Fn00B Manual servo tuning of force reference offset 5 5 2 Fn00C Offset adjustment of analog monitor output 7 8 Fn00D Gain adjustment of analog monitor output 7 9 Fn00E Automatic offset signal adjustment of the motor current detection signal 7 10 Fn00F Manual offset signal adjustment of the motor current detec tion signal 7 11 Fn010 Write...

Page 363: ...n control pulse train reference 2 Force control analog reference 3 Internal set speed control contact reference 4 Internal set speed control contact reference Speed control analog reference 5 Internal set speed control contact reference Position control pulse train reference 6 Internal set speed control contact reference Force control analog reference 7 Position control pulse train reference Speed...

Page 364: ...ut Selection Reference Section 0 Applicable to AC power input Input AC power supply through L1 L2 and L3 terminals 3 1 4 1 Applicable to DC power input Input DC power supply between B1 and 2 or input DC power supply between B1 and Warning Code Output Selection Reference Section 0 ALO1 ALO2 and ALO3 output only alarm codes 5 10 2 1 ALO1 ALO2 and ALO3 output both alarm codes and warning codes While ...

Page 365: ...ard 1 V 1000 mm s 0A Force feedforward 1 V 100 rated force 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference completed 5 V not completed 0 V 0D Reserved Do not use Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 2 Signal Selection 00 Motor moving speed 1 V 1000 mm s 01 Speed reference 1 V 1000 mm s 02 Force reference...

Page 366: ...es not detect undervoltage 5 2 9 1 Detects warning and limits force by host controller 2 Detects warning and limits force 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 Reserved Do not change Current Control Method Selection Ref...

Page 367: ... the speed reference to 0 5 2 6 1 Same setting as Pn001 0 Stops the motor by applying DB or by coasting Power Supply Method for Three phase SERVOPACK Reference Section 0 Three phase power supply 3 1 3 1 Single phase power supply Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Selection of Test without a Motor 0 Disables test without a motor 1 Enables test without a motor Reserved ...

Page 368: ...2 2nd Position Loop Gain 10 to 20000 0 1 s 400 Immediately Tuning Pn109 2 Feedforward Gain 0 to 100 1 0 Immediately Tuning 6 9 1 Pn10A 2 Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immediately Tuning cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section Hall Sensor Selection 0 Enables selection 1 Disables selection Motor Phase Sele...

Page 369: ...in Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning 6 8 1 Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning Pn135 2 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning Pn136 2 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section Mode Swi...

Page 370: ...hing 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 reference pulse input OFF 5 Position reference pulse input ON Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit ...

Page 371: ...Anti Resonance Control Related Switch 0000 to 0011 0010 Immediately Tuning 6 3 1 6 4 1 6 5 1 6 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 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section Model Following Control Type Selectio...

Page 372: ...diately Tuning cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section Tuning less Function Selection When Enabled Classification Reference Section 0 Disables tuning less function After restart Setup 6 2 1 Enables tuning less function Control Method during Speed Control When Enabled Classification Reference Section 0 Uses as speed control Aft...

Page 373: ... at the falling edge of the signal Clear Operation Reference Section 0 Clears position error at the baseblock servomotor power OFF or alarm occurred 5 4 2 1 Does not clear position error possible to clear error counter only with CLR signal 2 Clears position error when an alarm occurs Filter Selection Reference Section 0 Uses reference input filter 1 for line driver signal to 1 Mpps 5 4 1 1 Uses re...

Page 374: ...0 Immediately Setup 5 3 4 Pn310 2 Vibration Detection Switch 0000 to 0002 0000 Immediately Setup Pn311 2 Vibration Detection Sensibility 50 to 500 1 100 Immediately Tuning 7 16 Pn324 2 Mass Calculating Start Level 0 to 20000 1 300 Immediately Setup 6 3 2 Pn380 2 Internal Set Speed 1 0 to 10000 1 mm s 10 Immediately Setup 5 6 1 Pn381 2 Internal Set Speed 2 0 to 10000 1 mm s 20 Immediately Setup Pn3...

Page 375: ...ant 0 to 65535 0 01 ms 0 Immediately Setup 5 5 3 Pn423 2 Reserved Do not change 0000 Pn424 2 Force Limit at Main Circuit Voltage Drop 0 to 100 1 50 Immediately Setup 5 2 9 Pn425 2 Release Time for Force Limit at Main Circuit Voltage Drop 0 to 1000 1 ms 100 Immediately Setup Pn456 2 Sweep Force Reference Amplitude 1 to 800 1 15 Immediately Tuning 7 21 cont d Parameter No Size Name Setting Range Uni...

Page 376: ...ty Detection Range 1 to 65535 1 mm 10 Immediately Tuning Pn490 2 Polarity Detection Load Level 0 to 20000 1 100 Immediately Tuning Pn495 2 Polarity Detection Confirmation Force Reference 0 to 200 1 100 Immediately Tuning Pn498 2 Polarity Detection Allowable Error Range 0 to 30 1 deg 10 Immediately Tuning Pn506 2 Brake Reference Servo OFF Delay Time 0 to 50 10 ms 0 Immediately Setup 5 2 5 Pn508 2 W...

Page 377: ...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 P CON Signal Mapping P control when ON closed Reference Section 0 to F Same as Servo ON Signal S ON Mapping 6 9 4 P OT Signal Mapping Forward run prohibited when OFF open Reference Section 0 Forward run a...

Page 378: ...N1 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 ALM RST Signal Mapping Alarm reset when OFF open to ON closed Reference Section 0 Active on the falling edge of CN1 40 input signal 5 10 1 1 Active on the falling edge of CN1 41 input signal 2 Active on the falling edge of CN1 42 input signal 3 Active...

Page 379: ...ed 6 Active when CN1 46 input signal is ON closed 7 Reserved Do not change 8 Not active fixed 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is 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 sig...

Page 380: ...l 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 INHIBIT Signal Mapping Reference pulse inhibit when ON closed Reference Section 0 to F Same as ZCLAMP Signal Mapping 5 4 8 G SEL1 Signal Mapping Gain change when ON closed Reference Section 0 to F Same as ZCLAMP Signal Mapping 6 9 6 P DET Signal Ma...

Page 381: ...ection Signal Mapping VLT Reference Section 0 to 3 Same as CLT Signal Mapping 5 5 4 Brake Signal Mapping BK Reference Section 0 to 3 Same as CLT Signal Mapping 5 2 5 Warning Signal Mapping WARN Reference Section 0 to 3 Same as CLT Signal Mapping 5 10 2 4th 3rd 2nd 1st digit digit digit digit n Near Signal Mapping NEAR Reference Section 0 Disabled the above signal is not used 5 4 7 1 Outputs the si...

Page 382: ...ification Reference Section Output Signal Inversion for CN1 25 or 26 Terminal 0 Does not inverse outputs 1 Inverses outputs Output Signal Inversion for CN1 27 or 28 Terminal 0 Does not inverse outputs 1 Inverses outputs Output Signal Inversion for CN1 29 or 30 Terminal 0 Does not inverse outputs 1 Inverses outputs Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not cha...

Page 383: ...er restart Setup Pn52D 2 Reserved Do not change 50 Pn52F 2 Monitor Display at Power ON 0000 to 0FFF 0FFF Immediately Setup 8 9 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section Reserved Do not change Reference Pulse Input Multiplication Switching Input Signal Mapping PSEL Reference Section 0 Active when CN1 40 input signal is ON closed ...

Page 384: ...ed Level 1 to 10000 1 mm s 20 Immediately Setup 5 10 3 Pn582 2 Speed Coincidence Signal Output Width 0 to 100 1 mm s 10 Immediately Setup 5 3 8 Pn583 2 Brake Reference Output Speed Level 0 to 10000 1 mm s 10 Immediately Setup 5 2 5 Pn584 2 Speed Limit Level at Servo ON 0 to 10000 1 mm s 10000 Immediately Setup 6 1 4 Pn585 2 Program JOG Movement Speed 1 to 10000 1 mm s 50 Immediately Setup 7 5 cont...

Page 385: ...rs Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor The upper limit is the maximum output capacity W of the SERVOPACK These parameters can be set in SERVOPACKs with safety modules For details refer to V Series User s Manual Safety Module No SIEP C720829 06 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Cl...

Page 386: ...electric angle deg Un005 1 Input signal monitor Un006 2 Output signal monitor Un007 5 Input reference pulse speed valid only in position control mm s Un008 5 Position error amount valid only in position control reference unit Un009 Accumulated load ratio in percentage to the rated force effec tive force in cycle of 10 seconds Un00A Regenerative load ratio as a percentage of the processable regener...

Page 387: ...is Address Selection for UART USB communications After restart Pn080 0000 Application Function Select Switch 80 After restart Pn081 0000 Application Function Select Switch 81 After restart Pn100 400 Speed Loop Gain Immediately Pn101 2000 Speed Loop Integral Time Constant Immediately Pn102 400 Position Loop Gain Immediately Pn103 100 Mass Ratio Immediately Pn104 400 2nd Speed Loop Gain Immediately ...

Page 388: ...er restart Pn160 0010 Anti 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 R...

Page 389: ...mmediately 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 Force Reference Filter Frequency Immediately Pn410 50 2nd Step 2nd Force Reference Filter Q Value Immediately Pn412 100 1st Step 2nd Forc...

Page 390: ...r restart Pn50F 0000 Output Signal Selection 2 After restart Pn510 0000 Output Signal Selection 3 After restart Pn511 8888 Input Signal Selection 5 After restart Pn512 0000 Output Signal Inverse Setting After restart Pn513 0000 Output Signal Selection 4 After restart Pn515 8888 Input Signal Selection 6 After restart Pn517 0000 Reserved Pn51E 100 Excessive Position Error Warning Level Immediately P...

Page 391: ...ion Width Immediately Pn561 100 Overshoot Detection Level Immediately Pn580 10 Zero Clamp Level Immediately Pn581 20 Zero Speed Level Immediately Pn582 10 Speed Coincidence Signal Output Width Immediately Pn583 10 Brake Reference Output Speed Level Immediately Pn584 10000 Speed Limit Level at Servo ON Immediately Pn585 50 Program JOG Movement Speed Immediately Pn586 0 Motor Running Air cooling Rat...

Page 392: ...ns 5 84 automatic adjustment of reference offset force control 5 51 speed control 5 23 automatic gain switching 6 57 automatic offset signal adjustment of the motor current detection signal Fn00E 7 17 automatically setting the notch filter 6 12 B baseblock 2 3 BB iii 4 13 brake signals 5 12 C CE xiv changing detection timing of overload low load alarm A 720 5 21 changing detection timing of overlo...

Page 393: ...nterruption settings 5 16 internal block diagrams 1 8 internal force limit 5 63 internal set speed 5 57 internal set speed control 5 56 J JOG operation Fn002 7 4 L limit switches 5 7 limiting force 5 63 line driver output 5 38 linear scale connection examples 3 39 absolute linear scale made by Magnescale Co Ltd 3 42 absolute linear scale made by Mitutoyo 3 42 incremental linear scale made by Heide...

Page 394: ...ntenance 1 20 model designation 1 19 part names 1 2 precautions when using more than one SERVOPACK 3 15 ratings 1 3 speed position force control 1 7 status display mode 2 3 setting encoder output pulse 5 34 setting motor overload detection level 5 20 setting regenerative resistor capacity 3 45 SIGN 3 18 5 37 5 40 signal setting for speed control 5 22 single phase 200 V power supply input main circ...

Page 395: ...ions of the servomotor 9 25 tuning parameters 2 5 tuning less function 6 11 tuning less level settings Fn200 6 12 U UL xiv UP key 2 2 using the mode switch P PI switching 6 67 utility functions Fn 2 4 10 9 V vibration detection level initialization Fn01B 7 24 vibration suppression function Fn205 6 51 vibration shock resistance 1 4 V REF 5 22 W warning code output 9 21 warning output signal 5 76 wi...

Page 396: ...mber 2010 0 Based on Japanese user s manual SIJP S800000 47E 6 0 printed in July 2010 All chapters Completely revised 3 5 3 Addition Connection example for the MJ620 T13 interpolator 5 2 5 Addition Note when using the 24 V brake 5 4 4 5 3 7 Addition Note when using the MJ620 T13 interpolator Back cover Revision Address Addition Original instructions September 2009 1 Preface Addition Warranty Back ...

Page 397: ... District Shanghai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI 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...

Page 398: ...ontroller PLC اﯾﻠﯿﺎ ﻫﻮﺷﻤﻨﺪ ﭘﺮدازان داده ﺷﺮﮐﺖ و اي ﺣﺮﻓﻪ ﭘﺸﺘﯿﺒﺎﻧﯽ ﺧﺪﻣﺎت اراﺋﻪ ﮐﻨﻨﺪه ﺗﺎﻣﯿﻦ ﺗﺠ ﻬﯿ ﺰات Yaskawa آﻣﻮزﺷﯽ ﻫﺎي دوره ﺑﺮﮔﺰاري PLC HMI Servo Sensor Inverter Industrial Network ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ﭘﺮوژﻫﺎي اﻧﺠﺎم ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ادوات ﮐﻠﯿﻪ ﺗﺨﺼﺼﯽ ﺗﻌﻤﯿﺮات ﺗﻤﺎس ﻫﺎي ﺗﻠﻔﻦ 15 88594014 ﻓﮑﺲ 88594013 وب ﺳﺎﯾﺖ www dphi ir www indus ir ...

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