YASKAWA SGM7D-30F Page 335 Product Manual Download

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4.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

4-10

Pn106

Second Position Loop
Gain

10 to 20,000

0.1/s

400

All

Immedi-

ately

Tuning

Pn109

Feedforward

0 to 100

All

Immedi-

ately

Tuning

Pn10A

Feedforward Filter Time
Constant

0 to 6,400

0.01 ms

All

Immedi-

ately

Tuning

Pn10B

Gain Application Selec-
tions

0000h to

5334h

–

0000h

All

–

Setup

–

Pn10C

Mode Switching Level
for Torque Reference

0 to 800

200

All

Immedi-

ately

Tuning

Pn10D

Mode Switching Level
for Speed Reference

0 to 10,000

1 min

-1

Rotary

Immedi-

ately

Tuning

Pn10E

Mode Switching Level
for Acceleration

0 to 30,000

1 min

-1

Rotary

Immedi-

ately

Tuning

Pn10F

Mode Switching Level
for Position Deviation

0 to 10,000

1 refer-

ence

unit

All

Immedi-

ately

Tuning

Pn11F

Position Integral Time
Constant

0 to 50,000

0.1 ms

All

Immedi-

ately

Tuning

Pn121

Friction Compensation
Gain

10 to 1,000

100

All

Immedi-

ately

Tuning

Pn122

Second Friction Com-
pensation Gain

10 to 1,000

100

All

Immedi-

ately

Tuning

Pn123

Friction Compensation
Coefficient

0 to 100

All

Immedi-

ately

Tuning

Pn124

Friction Compensation
Frequency Correction

-10,000 to

10,000

0.1 Hz

All

Immedi-

ately

Tuning

Pn125

Friction Compensation
Gain Correction

1 to 1,000

100

All

Immedi-

ately

Tuning

Pn131

Gain Switching Time 1

0 to 65,535

1 ms

All

Immedi-

ately

Tuning

Pn132

Gain Switching Time 2

0 to 65,535

1 ms

All

Immedi-

ately

Tuning

Pn135

Gain Switching Waiting
Time 1

0 to 65,535

1 ms

All

Immedi-

ately

Tuning

Continued on next page.

Continued from previous page.

Parameter

No.

Siz

Name

Setting

Range

Setting

Unit

Default
Setting

Applicable

Motors

When

Enabled

Classi-

fication

Refer-

ence



Mode Switching Selection

When

Enabled

Reference

Use the internal torque reference as the condition
(level setting: Pn10C).

Immedi-

ately

Use the speed reference as the condition (level set-
ting: Pn10D).

Use the speed reference as the condition (level set-
ting: Pn181).

Use the acceleration reference as the condition (level
setting: Pn10E).

Use the acceleration reference as the condition (level
setting: Pn182).

Use the position deviation as the condition (level set-
ting: Pn10F).

Do not use mode switching.





Speed Loop Control Method

When

Enabled

Reference

PI control

After

restart

I-P control

2 to 3

Reserved settings (Do not use.)





Reserved parameter (Do not change.)

n.X



Reserved parameter (Do not change.)

Summary of Contents for SGM7D-30F

Page 1: ...th FT EX Specification for Application with Special Motor SGM7D Motor 7 Series AC Servo Drive Product Manual MANUAL NO SIEP S800001 91D 1 2 3 4 Maintenance Parameter Lists Basic Information on SERVOPA...

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

Page 3: ...0001 27 7S SERVO PACK with MECHATROLINK III Communica tions References Product Manual Manual No SIEP S800001 28 7S SERVO PACK Command Option Attachable Type with INDEXER Module Product Manual Manual N...

Page 4: ...odule Alarm Displays and Troubleshooting 3 4 4 Resetting Alarms 12 2 3 12 2 3 12 2 3 15 2 4 Displaying the Alarm History 12 2 4 12 2 4 12 2 4 15 2 5 Clearing the Alarm History 12 2 5 12 2 5 12 2 5 15...

Page 5: ...3 2 Parameter Recording Table 14 2 13 2 13 3 16 3 Appendix Chapter 15 Chapter 14 Chapter 14 Chapter 17 Continued from previous page Item This Man ual 7S SERVO PACK with Analog Voltage Pulse Train Refe...

Page 6: ...iring and Connecting SERVOPACKs Wiring Precautions 4 1 Basic Wiring Diagrams 3 1 Wiring the Power Supply to the SERVOPACK 4 3 Wiring Servomotors 4 4 I O Signal Connections 3 2 Connecting Safety Functi...

Page 7: ...ules 12 2 6 Resetting Motor Type Alarms 12 2 7 Warning Displays 3 5 5 List of Warnings 3 5 6 Troubleshooting Warnings 3 5 7 INDEXER Warning Displays and Troubleshooting 3 5 8 Troubleshooting Based on...

Page 8: ...CKs 7S and 7W SERVOPACKs with Built in Controllers 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals 7 Series 7S 7W SERVOPACK Hardware Option Product Ma...

Page 9: ...ailed information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and 7 Series...

Page 10: ...procedures for installing the Safety Module in a SERVOPACK V Series V Series for Large Capacity Models 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for inst...

Page 11: ...Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001...

Page 12: ...anual SIEP S800001 95 7 Series AC Servo Drive 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 7 Series AC Servo Drive 7S SER...

Page 13: ...nications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a 7 Series Servo System 7 Series AC Servo Drive MECHATROLINK II...

Page 14: ...ries Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a 7 Series Servo System Distr...

Page 15: ...to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A...

Page 16: ...d Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification T...

Page 17: ...ed to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in...

Page 18: ...mation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in lo...

Page 19: ...y the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Br...

Page 20: ...y of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative...

Page 21: ...amaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of th...

Page 22: ...RVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of fail...

Page 23: ...cluding the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER VOPACK before you wire it Insert only one wi...

Page 24: ...en problems such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of th...

Page 25: ...rameter settings normal operation may not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being suppli...

Page 26: ...ways insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main cir...

Page 27: ...of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without no...

Page 28: ...ered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for wh...

Page 29: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar...

Page 30: ...uct Model EU Directive Harmonized Standards SERVOPACKs SGD7S Machinery Directive 2006 42 EC EN ISO13849 1 2015 EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Ca...

Page 31: ...C 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 PFH 4 05 10 9 1 h 4 05 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High...

Page 32: ...tions 1 7 1 4 2 Function Application Restrictions 1 10 1 5 SigmaWin 1 11 1 6 Combining the SERVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool 1 12 SERVOPACK Ratings and Spec...

Page 33: ...3 5 List of Warnings 3 128 3 3 6 Troubleshooting Warnings 3 130 3 3 7 Troubleshooting Based on the Operation and Conditions of the Servomotor 3 137 3 4 Command Option Attachable type FT82 SERVOPACKs w...

Page 34: ...eferences 4 32 4 3 FT82 SERVOPACK with MECHATROLINK III Communications References 4 67 4 3 1 List of Servo Parameters 4 67 4 3 2 List of MECHATROLINK III Common Parameters 4 106 4 4 Command Option Att...

Page 35: ...g FT82 SERVOPACK Model Numbers 1 3 1 2 2 Interpreting FT83 SERVOPACK Model Numbers 1 4 1 2 3 Interpreting Direct Drive Servomotor Model Numbers 1 5 1 3 Combinations of SERVOPACKs and Servomotors 1 6 1...

Page 36: ...is manual were developed to drive SGM7D motors The SGM7D motors were designed for applications that require high torque easy operation and high precision The SERVOPACK will make the most of machine pe...

Page 37: ...KAEP S800001 23 FT EX Specification None B None BTO specification Specification Code BTO Specification 5 001 SGD7S 2R8A and 2R8F SGD7S 120A 020 4 000 002 SGD7S 120A 008 Single phase 200 VAC power supp...

Page 38: ...Specification None B None BTO specification Specification Code BTO Specification 4 001 SGD7S 2R8A and 2R8F SGD7S 120A 020 3 000 002 SGD7S 120A 008 Single phase 200 VAC power supply input No dynamic br...

Page 39: ...4 5 With cable on side With cable on bottom 1 Standard mechanical precision Applicable models Specification 2 High mechanical precision L Non load side Direct Drive Servomotors SGM7D 4th digit 6th di...

Page 40: ...W 2R8A and 2R8F SGM7D 05G 63 W SGM7D 08G 101 W 120A SGM7D 18G 226 W SGM7D 24G 302 W SGM7D 34G 320 W SGM7D 45G 565 W SGM7D 03H 38 W 2R8A and 2R8F SGM7D 28I 264 W 120A SGM7D 70I 440 W SGM7D 1ZI 628 W S...

Page 41: ...s on restrictions to these functions 1 4 2 Function Application Restrictions on page 1 10 1 4 1 SERVOPACK Functions Functions Related to the Machine These functions can be used with SERVOPACKs with ME...

Page 42: ...Zero Clamping V CMP Speed Coincidence Detection Signal Position Control Reference Pulse Form CLR Position Deviation Clear Signal Function and Set tings Reference Pulse Input Multiplication Switching C...

Page 43: ...Control 1 Tuning less Function Autotuning without Host Reference Autotuning with a Host Reference Custom Tuning Anti resonance Control Adjustment Vibration Suppression Gain Selection Friction Compensa...

Page 44: ...Linear Encoder Pitch Cannot be used Writing Linear Servomotor Param eters Cannot be used Selecting the Phase Sequence for a Linear Servomotor Cannot be used Polarity Sensor Setting Cannot be used Pola...

Page 45: ...o use the SigmaWin a model information file for the SERVOPACK must be added to Sig maWin version 7 FT82 SERVOPACKs Add the FT82 model information file to SigmaWin to use the SigmaWin FT83 SERVOPACKs A...

Page 46: ...Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP Series Machine Controller or the MPE720 Engi neering Tool it will be recognized as a SERVOPACK with s...

Page 47: ...ristics 2 4 2 3 Specifications 2 5 2 3 1 FT82 SERVOPACKs with Analog Voltage Pulse Train References 2 5 2 3 2 FT82 SERVOPACK with MECHATROLINK II Communications References 2 9 2 3 3 FT82 SERVOPACK wit...

Page 48: ...ower Loss W 12 15 Built in Regenerative Resistor Power Loss W 10 Total Power Loss W 34 5 97 6 Regenerative Resistor Built In Regenerative Resistor Resistance 20 Capacity W 60 Minimum Allowable Externa...

Page 49: ...2 8 Instantaneous Maximum Output Current Arms 9 3 Main Circuit Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 10 Control Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz...

Page 50: ...Pulse Train References Product Manual Manual No SIEP S800001 26 7 Series 7S SERVOPACK with MECHATROLINK II Communications References Product Manual Manual No SIEP S800001 27 7 Series 7S SERVOPACK with...

Page 51: ...or iron dust Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications 7 Series 7S SERVOPACK with Analog Voltage Puls...

Page 52: ...BIT Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Reference Pulse Input Multiplication Switch signal SEN Absolute Data Request signal A signal can be...

Page 53: ...Activated when a servo alarm or overtravel OT occurs or when the power supply to the main circuit or servo is OFF Regenerative Processing Built in Refer to the following catalog for details AC Servo D...

Page 54: ...or another control method is used when both signals are OFF Posi tion Con trol Feedforward Compensation 0 to 100 Output Signal Posi tioning Completed Width Setting 0 to 1 073 741 824 reference units I...

Page 55: ...n I Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 1 000 m max With derating usage is possible b...

Page 56: ...tage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A phot...

Page 57: ...etting data access monitoring adjustment etc MECHATROLINK II Communica tions Setting Switches Rotary switch S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output...

Page 58: ...1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications 7 Series 7S SERVOPACK with MECHATROLINK III Communications References...

Page 59: ...put Allowable voltage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of outpu...

Page 60: ...rd servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 10 VDC...

Page 61: ...on IP10 Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 000 m or less Others Do not use the SERVO...

Page 62: ...DEXER Module Allowable voltage range 24 VDC 10 Number of input points 11 MODE 0 1 Mode Switch Input signal Mode 0 Mode 1 START STOP Program Table Operation Start Stop Input sig nal PGMRES Program Tabl...

Page 63: ...pletion Output signal POUT0 Programmable Output 0 signal POUT1 Programmable Output 1 signal POUT2 Programmable Output 2 signal POUT3 Programmable Output 3 signal POUT4 Programmable Output 4 signal POU...

Page 64: ...earity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs or when the power s...

Page 65: ...00 m max Others Do not use the SERVOPACK in the following locations Locations subject to static electricity noise strong electro magnetic magnetic fields or radioactivity Applicable Standards Refer to...

Page 66: ...rnal Set Speed Selection signals C SEL Control Selection signal ZCLAMP Zero Clamping signal INHIBIT Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Refe...

Page 67: ...Output 4 signal POSRDY Origin Return Completed Output signal DEN Position Reference Distribution Completed signal A signal can be allocated and the positive and negative logic can be changed Communi...

Page 68: ...BB1 and HWBB2 Base block signals for Power Mod ules Output EDM1 Monitors the status of built in safety circuit fixed out put Applicable Standards 3 ISO13849 1 PLe Category 3 and IEC61508 SIL3 Applicab...

Page 69: ...s Refer ence Pulse Form One of the following is selected Sign pulse train CW CCW pulse trains and two phase pulse trains with 90 phase differential Input Form Line driver or open collector Maxi mum In...

Page 70: ...ATROLINK II Communications References 3 50 3 2 1 Alarm Displays 3 50 3 2 2 List of Alarms 3 50 3 2 3 Troubleshooting Alarms 3 55 3 2 4 Warning Displays 3 80 3 2 5 List of Warnings 3 80 3 2 6 Troublesh...

Page 71: ...and Troubleshooting 3 189 3 4 9 Troubleshooting Based on the Operation and Conditions of the Servomotor 3 197 3 5 FT83 SERVOPACKs with Analog Voltage Pulse Train References 3 205 3 5 1 Alarm Displays...

Page 72: ...1 26 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear the alarm List of Alarms Example If...

Page 73: ...An overcurrent flowed through the power trans former or the heat sink over heated Gr 1 No L H H A 101 Motor Overcurrent Detected The current to the motor exceeded the allowable cur rent Gr 1 No L H H...

Page 74: ...Tempera ture Error The surrounding tempera ture of the power PCB is abnormal Gr 2 Yes L L L A 7A3 Internal Temperature Sen sor Error An error occurred in the tem perature sensor circuit Gr 2 No L L L...

Page 75: ...d Reference A D Data Error An error occurred in the A D conversion data for the speed reference Gr 2 Yes H H H A b20 Torque Reference A D Error An error occurred in the A D converter for the torque re...

Page 76: ...nd the SERVOPACK Gr 1 No L H L A CF1 Reception Failed Error in Feedback Option Module Communications Receiving data from the Feedback Option Module failed Gr 1 No L H L A CF2 Timer Stopped Error in Fe...

Page 77: ...Gr 1 No H L L A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function signal Gr 1 No H L L A EC8 Gate Drive Error 1 An error occurred in the gate...

Page 78: ...or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVO...

Page 79: ...k the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Output...

Page 80: ...tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the encoder and check to see if the alarm still occurs Replace the Servomotor or encoder A failure occurre...

Page 81: ...place the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK w...

Page 82: ...ble phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or be...

Page 83: ...enerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect...

Page 84: ...applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity...

Page 85: ...may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power suppl...

Page 86: ...eded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK...

Page 87: ...conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed...

Page 88: ...ACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with t...

Page 89: ...r and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPAC...

Page 90: ...ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occ...

Page 91: ...he input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by...

Page 92: ...rs the SERVOPACK may be faulty Replace the SERVOPACK A b11 Speed Reference A D Data Error A malfunction occurred in the speed reference input sec tion Reset the alarm and restart operation 1 A failure...

Page 93: ...d ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF5 System Alarm 5 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again I...

Page 94: ...the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C80 Encoder Clea...

Page 95: ...around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPAC...

Page 96: ...ill occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be...

Page 97: ...bra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the S...

Page 98: ...occurred in the Serial Converter Unit Replace the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive...

Page 99: ...motor direction and external encoder installation orientation are backward Check the motor direc tion and the external encoder installation ori entation Install the external encoder in the opposite d...

Page 100: ...e catalog of the connected Safety Option Module Connect a compatible Safety Option Module A Eb1 Safety Function Signal Input Tim ing Error The delay between activation of the HWBB1 and HWBB2 input sig...

Page 101: ...onnection The Servomotor did not operate or power was not supplied to the Servomotor even though the S ON Servo ON signal was input when the Servomotor was ready to receive it A failure occurred in th...

Page 102: ...hey are only displayed on the panel display CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If an al...

Page 103: ...PCB is abnormal H L H A 913 Internal Temperature Warning 2 Power Board Temperature Error The surrounding temperature of the power PCB is abnormal H L H A 920 Regenerative Overload This warning occurs...

Page 104: ...X Preventative Maintenance Selection Continued from previous page Warning Number Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 Warning Number Warning Name Possible Cause Confirmation Correc...

Page 105: ...otor was not driven because of mechanical prob lems Check the operation reference and motor speed Remove the mechanical problem The overload warning level Pn52B is not suitable Check that the overload...

Page 106: ...ions A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too hig...

Page 107: ...at the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resist...

Page 108: ...compensa tion information stored in the SER VOPACK Reset the speed ripple compensation value on the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the...

Page 109: ...al monitor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would cause o...

Page 110: ...with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X S...

Page 111: ...the HWBB1 and HWBB2 input signals Turn ON the HWBB1 and HWBB2 input sig nals If you are not using the safety function con nect the Safety Jumper Connector provided as an accessory to CN8 The FSTP Forc...

Page 112: ...n control The refer ence pulse input is not appropriate Check the setting of Pn200 n X Refer ence Pulse Form and the sign and pulse signals Correctly set the con trol method and input method A failure...

Page 113: ...tors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cable...

Page 114: ...gral Time Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not...

Page 115: ...of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a SERVOPACK p...

Page 116: ...ocated in Pn50A n X If another signal is allo cated in Pn50A n X allocate the P OT signal instead Check to see if the N OT signal is allocated in Pn50B n X If another signal is allo cated in Pn50B n X...

Page 117: ...improve the mounting conditions of the Servomotor The coupling between the machine and Servomotor is not suitable Check to see if position offset occurs at the cou pling between machine and Servomotor...

Page 118: ...t dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK...

Page 119: ...duct Man ual Manual No SIEP S800001 27 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear t...

Page 120: ...or The AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes...

Page 121: ...Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A3...

Page 122: ...th the Feedback Option Module Gr 1 No A d00 Position Deviation Over flow The setting of Pn520 Excessive Position Devia tion Alarm Level was exceeded by the position deviation while the servo was ON Gr...

Page 123: ...supported Safety Option Module An unsupported Safety Option Module was con nected Gr 1 No A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function s...

Page 124: ...ps or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SER...

Page 125: ...roper combina tion of SERVOPACK and Servomotor capacities 1 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A parameter setting is outside of the setting range C...

Page 126: ...r 2 For 4 byte parameter bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceed...

Page 127: ...Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK...

Page 128: ...phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short cir...

Page 129: ...generative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connec...

Page 130: ...applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity...

Page 131: ...CK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power sup...

Page 132: ...eeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPAC...

Page 133: ...g conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor spee...

Page 134: ...PACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with...

Page 135: ...er and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPA...

Page 136: ...larm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK...

Page 137: ...the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset...

Page 138: ...supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATR...

Page 139: ...y Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace th...

Page 140: ...y vibration Check the operating environment Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the wi...

Page 141: ...ccurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faul...

Page 142: ...s Reduce machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be f...

Page 143: ...e the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded b...

Page 144: ...oder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mechanical coupl...

Page 145: ...n the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E61 Synchronization Interval Error in MECHATROLINK...

Page 146: ...input sig nals for the HWBB was ten second or longer Measure the time delay between the HWBB1 and HWBB2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SER VOPACK input signal...

Page 147: ...connection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo ON command was input when the Servomotor was ready to receive it A failure occurred in...

Page 148: ...ry They are only displayed on the panel display CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If a...

Page 149: ...wer Board Temperature Error The surrounding temperature of the power PCB is abnormal A 920 Regenerative Overload This warning occurs before an A 320 alarm Regenerative Overload occurs If the warning i...

Page 150: ...command was sent A 960 MECHATROLINK Communications Warning A communications error occurred during MECHATROLINK communica tions A 971 Undervoltage This warning occurs before an A 410 alarm Undervoltag...

Page 151: ...erence is too high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference...

Page 152: ...el Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace th...

Page 153: ...A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Che...

Page 154: ...ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic bra...

Page 155: ...or An invalid param eter number was used Check the command that caused the warn ing Use the correct parameter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the...

Page 156: ...ollowing countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring and implement countermeasures to pre vent noise from entering Attach a ferrite core to the MECHATROLIN...

Page 157: ...ignal monitor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would caus...

Page 158: ...ad and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Enc...

Page 159: ...the wir ing Tighten any loose ter minals or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Doe...

Page 160: ...tuning less level set tings The machine mounting is not secure Check to see if there are any loose mounting screws Tighten the mounting screws The machine mounting is not secure Check to see if there...

Page 161: ...nce occurred because the Encoder Cable is damaged Check the Encoder Cable to see if it is pinched or the sheath is damaged Replace the Encoder Cable and correct the cable installation envi ronment The...

Page 162: ...Motor Speed Overshoot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence The setting o...

Page 163: ...e influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a...

Page 164: ...el limit switches Check the wiring of the overtravel limit switches e g check for cable damage and loose screws Correct the wiring of the overtravel limit switches There is a mistake in the allo catio...

Page 165: ...rate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Uni...

Page 166: ...dirt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOP...

Page 167: ...roduct Man ual Manual No SIEP S800001 28 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear...

Page 168: ...or The AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes...

Page 169: ...Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A...

Page 170: ...back Option Module Gr 1 No A d00 Position Deviation Over flow The setting of Pn520 Excessive Position Devia tion Alarm Level was exceeded by the position deviation while the servo was ON Gr 1 Yes A d0...

Page 171: ...y Option Module Detection Failure Detection of the Safety Option Module failed Gr 1 No A E72 Feedback Option Module Detection Failure Detection of the Feedback Option Module failed Gr 1 No A E74 Unsup...

Page 172: ...ops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SE...

Page 173: ...heck the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Outp...

Page 174: ...or capaci ties do not match each other Confirm that the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci tie...

Page 175: ...Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPAC...

Page 176: ...e phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short ci...

Page 177: ...egenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly conne...

Page 178: ...d applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacit...

Page 179: ...ACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power su...

Page 180: ...ceeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPA...

Page 181: ...ng conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor spe...

Page 182: ...OPACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with...

Page 183: ...der and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOP...

Page 184: ...alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPAC...

Page 185: ...k the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset...

Page 186: ...supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHAT...

Page 187: ...ty Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace t...

Page 188: ...by vibration Check the operating environment Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the w...

Page 189: ...occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be fau...

Page 190: ...ns Reduce machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be...

Page 191: ...ce the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded...

Page 192: ...ction or change the setting of Pn002 n X External Encoder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupli...

Page 193: ...till occurs the SERVOPACK may be faulty Replace the SERVOPACK A E51 MECHATROLINK Synchronization Failed The WDT data at the host controller was not updated correctly at the start of syn chronous commu...

Page 194: ...K may be faulty Replace the SERVOPACK A E71 Safety Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Safety Option Module Check the connection between the SE...

Page 195: ...An error occurred in the gate drive circuit A Ed1 Command Exe cution Timeout A timeout error occurred for a MECHATROLINK command Check the motor status when the command is executed Execute the SV_ON o...

Page 196: ...in If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK FL 2 5 System Alarm FL 3 5 System Alarm FL 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator...

Page 197: ...ed A 910 Overload This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and operation is continued an alarm may occur Required A 911 Vibration Abnormal vibration...

Page 198: ...m mand Conditions A command was sent when the conditions for sending a command were not satisfied Automatically reset A 95b Command Warning 2 Unsupported Com mand An unsupported command was sent Autom...

Page 199: ...ertravel Warning Detection Selection Not affected by the setting of Pn008 n X A 9b0 Pn00F n X Preventative Maintenance Selection Warning Number Warning Name Possible Cause Confirmation Correction Refe...

Page 200: ...ause of mechanical prob lems Check the operation reference and motor speed Remove the mechanical problem The overload warning level Pn52B is not suitable Check that the over load warning level Pn52B i...

Page 201: ...A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Ch...

Page 202: ...ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic br...

Page 203: ...94A Data Setting Warn ing 1 Parameter Number Error An invalid param eter number was used Check the command that caused the warn ing Use the correct parameter number A 94b Data Setting Warn ing 2 Out o...

Page 204: ...oise Confirm the installation conditions Implement the following countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring and implement countermeasures to pre vent nois...

Page 205: ...ting ranges A 9A0 Overtravel Over travel status was detected Overtravel was detected while the servo was ON Check the status of the overtravel signals on the input signal moni tor Even if an overtrave...

Page 206: ...Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of...

Page 207: ...r connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Ser...

Page 208: ...bear ings Replace the Servomo tor There is a vibration source at the driven machine Check for any foreign matter damage or defor mation in the machine s moving parts Consult with the machine manufactu...

Page 209: ...e on the signal line from the encoder Implement counter measures against noise for the encoder wiring The encoder was subjected to excessive vibration or shock Check to see if vibration from the machi...

Page 210: ...posi tion when the power was next turned ON Noise interference occurred because of incorrect Encoder Cable specifications Check the Encoder Cable to see if it satisfies speci fications Use a shielded...

Page 211: ...Drive Prohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition...

Page 212: ...e cable installation envi ronment The Encoder Cable was sub jected to excessive noise interference Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur re...

Page 213: ...re around the Servomotor Reduce the surround ing air temperature to 40 C or less The surface of the Servomo tor is dirty Visually check the surface for dirt Clean dirt dust and oil from the surface Th...

Page 214: ...S SERVOPACK Command Option Attach able Type with INDEXER Module Product Manual Manual No SIEP S800001 64 Indicators Green indicator Remains unlit Red indicator Remains lit Refer to the following secti...

Page 215: ...042 Parameter Combina tion Error The combination of some parameters exceeds the setting range Gr 1 No A 044 Semi Closed Fully Closed Loop Control Parameter Setting Error The settings of the Option Mod...

Page 216: ...Control Board Temperature Error The surrounding temperature of the con trol PCB is abnormal Gr 2 Yes A 7A2 Internal Temperature Error 2 Power Board Temperature Error The surrounding temperature of th...

Page 217: ...ERVOPACK Gr 1 No A bF1 System Alarm 1 Internal program error 1 occurred in the SERVOPACK Gr 1 No A bF2 System Alarm 2 Internal program error 2 occurred in the SERVOPACK Gr 1 No A bF3 System Alarm 3 In...

Page 218: ...Pn526 Excessive Position Deviation Alarm Level at Servo ON while the servo was OFF Gr 1 Yes A d02 Position Deviation Overflow Alarm for Speed Limit at Servo ON If position deviation remains in the dev...

Page 219: ...Gr 1 No A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No A Ed1 Command Option Module IF Command...

Page 220: ...drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the...

Page 221: ...Check the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Ou...

Page 222: ...t the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the...

Page 223: ...ty Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOP...

Page 224: ...ble phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short...

Page 225: ...e regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly co...

Page 226: ...load applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capa...

Page 227: ...OPACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power...

Page 228: ...exceeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVO...

Page 229: ...ating conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor...

Page 230: ...R VOPACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status w...

Page 231: ...ncoder and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SER...

Page 232: ...an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVO...

Page 233: ...eck the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was res...

Page 234: ...Error 3 A failure occurred in the current detection circuit Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF0 Sys...

Page 235: ...re that the Servo motor is correctly wired A failure occurred in the encoder If the motor wiring is cor rect and an alarm still occurs after turning the power supply OFF and ON again the Servomotor ma...

Page 236: ...the wiring around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to anot...

Page 237: ...l occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be f...

Page 238: ...ce machine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomo...

Page 239: ...e that connects the Serial Converter Unit The length of the cable between the Serial Con verter Unit and SERVO PACK must be 20 m or less The sheath on cable between the Serial Converter Unit and SERVO...

Page 240: ...vel is too low for the operating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 1 A failure occurred in the...

Page 241: ...ion module is faulty Check the connection between the SERVO PACK and the com mand option module Correctly connect the command option module A command option module fault occurred Replace the command o...

Page 242: ...occurred Replace the SERVO PACK A E71 Safety Option Module Detec tion Failure The connection between the SERVO PACK and the safety option module is faulty Check the connection between the SERVO PACK a...

Page 243: ...rator or Sig maWin and turn the power supply OFF and then ON again A EA2 Alarm in Current Communications between the INDEXER Module and SERVO PACK 1 An error occurred in communications between the IND...

Page 244: ...ring Make sure that the power supply is correctly wired 1 The three phase power supply is unbalanced Measure the voltage for each phase of the three phase power sup ply Balance the power sup ply by ch...

Page 245: ...ystem Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the conn...

Page 246: ...ion set disabled Gr 1 N A E14A A AEF Parameter Checksum Alarm Detected only when control power supply is turned ON Incorrect or cor rupted parameters are stored in EEPROM This alarm can occur if the c...

Page 247: ...ted When a parame ter has been changed during occurrence of A 040 alarm Connect the encoder and then change the parame ter Cancel the A 040 alarm and then change the parame ter If the alarm display is...

Page 248: ...power supply is turned ON The combination of the firmware version and the ZONE table version is wrong Change the firm ware version Change the ZONE table version to match the firmware version Gr 1 Ava...

Page 249: ...power supply is turned ON A value set in the JOG speed table is not within the allowed setting range Change the firm ware version Change the JOG speed table version to match the firm ware version Gr 1...

Page 250: ...nual Manual No SIEP S800001 64 Digital Operator When a warning occurs the warning code is displayed at the top left of the screen Response to the Alarm or Warning Read Command ALM Warning code Respons...

Page 251: ...y Error This warning occurs when the voltage of absolute encoder s battery is low L L H A 93B Overheat Warning The input voltage temperature for the overheat protection input TH signal exceeded the se...

Page 252: ...is too high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference with one of the following meth ods Reduce the acceleration rate ACC and...

Page 253: ...Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the S...

Page 254: ...fications A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is to...

Page 255: ...re that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake r...

Page 256: ...ue on the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensation However changing the set...

Page 257: ...have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures a...

Page 258: ...or Warning Read Command ALM No change Response to the Most Recent Error Read Command ERR Error code the most recent closest error code ALM Signal No change WARN Signal The signal is valid for 2 secon...

Page 259: ...an overflow in the reception buf fer used for serial commands An error will occur if too many serial com mands are sent consecutively without waiting for the responses Normally the reception buffer w...

Page 260: ...e s reception buffer was over written with the subsequent data Normally data is read before it is over written so this error does not occur Repair the hard ware E4BE A A9F Moving Disabled Error due to...

Page 261: ...exceeds the position reference of reverse software limit set in PnB23 Check the tar get position specification Check the reverse soft ware limit in PnB23 Check the mov ing mode rotary or lin ear set...

Page 262: ...stance was not specified even once there was a request by the RS command to start regis tration positioning Specify a regis tration distance with the RDST command E53E A A9F Move Reference Duplication...

Page 263: ...nal or exe cuting the SVON command The motor is rotating during servo ON execution The main power supply went OFF during servo ON execution Hard wire base block status HWBB sta tus Error E5BE will occ...

Page 264: ...com mand was executed while the main power supply was OFF Turn the servo ON after turning ON the main power supply E5DE A A9F Origin Return Method Unspeci fied Error The origin return method is not sp...

Page 265: ...ates that Pn205 does not match the setting in the encoder after the multi turn limit setting in Pn205 was changed and the control power supply was turned OFF and ON Use the Multi turn Limit Setting op...

Page 266: ...oad and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X En...

Page 267: ...s or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X...

Page 268: ...t 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no lo...

Page 269: ...al Time Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not a...

Page 270: ...rference occurred because the Encoder Cable is damaged Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no...

Page 271: ...supply 24 V voltage for the input signals Eliminate fluctuation from the external power supply 24 V voltage for the input signals Check to see if the opera tion of the overtravel limit switches is uns...

Page 272: ...te them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Unit...

Page 273: ...irt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPAC...

Page 274: ...displayed Refer to the following manual for details 7 Series 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 Digital Operator The alarm code is display...

Page 275: ...or the heat sink overheated Gr 1 No L H H A 101 Motor Overcurrent Detected The current to the motor exceeded the allowable current Gr 1 No A 300 Regeneration Error There is an error related to regene...

Page 276: ...ecksum Alarm There is an error in the checksum results for encoder memory Gr 1 No A 830 Encoder Battery Alarm The battery voltage was lower than the specified level after the control power supply was...

Page 277: ...ror The multiturn data for the absolute encoder was not correctly cleared or set Gr 1 No A C90 Encoder Communica tions Error Communications between the encoder and SERVOPACK is not possible Gr 1 No A...

Page 278: ...Option Mod ule failed Gr 1 No A E74 Unsupported Safety Option Module An unsupported safety option module was connected Gr 1 No A E75 Unsupported Feed back Option Module An unsupported feedback option...

Page 279: ...ere fre quently changed from the host controller The SERVOPACK may be faulty Replace the SER VOPACK Reconsider the method for writing the parame ters 1 A malfunction was caused by noise from the AC po...

Page 280: ...OPACK A 040 Parameter Set ting Error A parameter set ting is outside of the setting range The SERVOPACK and Servomotor capaci ties do not match each other Check the combination of the SERVOPACK and Se...

Page 281: ...g of Pn002 n X 1 A 04A Parameter Set ting Error 2 A parameter reserved by the system was changed Set the following reserved parameters to the default settings Pn200 2 Pn207 1 Pn50A 0 Pn50A 1 Pn50A 2 P...

Page 282: ...esistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overloa...

Page 283: ...U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits ac...

Page 284: ...ween the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals Correctly conne...

Page 285: ...to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the...

Page 286: ...ERVOPACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the pow...

Page 287: ...he maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The S...

Page 288: ...erating conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and moto...

Page 289: ...A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERV...

Page 290: ...encoder and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The S...

Page 291: ...ll occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be...

Page 292: ...Check the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was...

Page 293: ...SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF1 System Alarm 1 A failure occurred in the SERVOPACK T...

Page 294: ...motor wiring is not correct Check the Servomotor wiring Make sure that the Servo motor is correctly wired A failure occurred in the encoder If the motor wiring is cor rect and an alarm still occurs af...

Page 295: ...around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPA...

Page 296: ...till occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may b...

Page 297: ...machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Re...

Page 298: ...ble that connects the Serial Converter Unit The length of the cable between the Serial Con verter Unit and SERVO PACK must be 20 m or less The sheath on cable between the Serial Converter Unit and SER...

Page 299: ...low for the operating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 1 A failure occurred in the SERVOPACK...

Page 300: ...turn the power supply OFF and then ON again 1 A safety option mod ule fault occurred Replace the safety option module A failure occurred in the SERVOPACK Replace the SERVO PACK A E72 Feedback Option...

Page 301: ...low for more than one second for phase R S or T when the main power supply was ON The three phase power supply wiring is not correct Check the power sup ply wiring Make sure that the power supply is...

Page 302: ...5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect th...

Page 303: ...Gr 1 N A E14A A EF9 Parameter Checksum Alarm Detected only when control power supply is turned ON Incorrect or cor rupted parameters are stored in EEPROM This alarm can occur if the control power supp...

Page 304: ...rogram table is being saved or ini tialized Initialize the pro gram table Fn063 If the problem is not solved correct the program table Gr 1 Available 1 E1AA A EF9 Program Table Version Unmatched Detec...

Page 305: ...power supply is turned ON The JOG speed table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while the JOG speed table is being saved o...

Page 306: ...s turned ON exceeded the percentage set with the following formula Pn526 Pn528 100 A 910 Overload This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and opera...

Page 307: ...s warning occurs before an A 410 alarm Under voltage occurs If the warning is ignored and oper ation is continued an alarm may occur L L L A 9A0 Overtravel Overtravel was detected while the servo was...

Page 308: ...o high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference with one of the following meth ods Reduce the acceleration rate ACC and dece...

Page 309: ...is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO...

Page 310: ...tions A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too hi...

Page 311: ...hat the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resis...

Page 312: ...the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensation However changing the setting...

Page 313: ...ns Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures against noise A 9b0 Preventative Mainte nance Wa...

Page 314: ...speed table by using Fn061 While initializing a JOG speed table by using Fn065 Repair the hard ware E44E A 9F9 Canceled Pro gram Table Error There was a request to start program table operation even t...

Page 315: ...erence of reverse software limit set in Pn63A Check the tar get position specification Check the reverse soft ware limit in Pn63A Check the set ting of the Mov ing Mode rotational linear coordinates P...

Page 316: ...crease the regis tration distance or shorten the decel eration distance i e increase the deceleration rate Registration dis tance RDST in the program table Deceleration rate Pn640 E55E A 9F9 Servo ON...

Page 317: ...t the same time as the function that was being executed Example There was a request to start program table operation while the program table was being initialized Execute the oper ation again after th...

Page 318: ...h no load and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002...

Page 319: ...connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo...

Page 320: ...2 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer...

Page 321: ...ime Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not appro...

Page 322: ...nce occurred because the Encoder Cable is damaged Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surg...

Page 323: ...y 24 V voltage for the input signals Eliminate fluctuation from the external power supply 24 V voltage for the input signals Check to see if the opera tion of the overtravel limit switches is unstable...

Page 324: ...o separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con vert...

Page 325: ...load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK and Ser vomotor with larger capacities Polarity detection was not performed corr...

Page 326: ...Communications References 4 32 4 3 FT82 SERVOPACK with MECHATROLINK III Communications References 4 67 4 3 1 List of Servo Parameters 4 67 4 3 2 List of MECHATROLINK III Common Parameters 4 106 4 4 Co...

Page 327: ...ith pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed...

Page 328: ...6 as the maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop...

Page 329: ...EF as an external torque limit input when P CL or N CL is ON 1 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All 1 1 Use V REF as an external speed li...

Page 330: ...amplifier deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08...

Page 331: ...ioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position r...

Page 332: ...od set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop u...

Page 333: ...motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input 1...

Page 334: ...ing 1 Pn105 2 Second Speed Loop Integral Time Constant 15 to 51 200 0 01 ms 2000 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Sett...

Page 335: ...24 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gai...

Page 336: ...he first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NE...

Page 337: ...Selections 0000h to 0011h 0010h All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 Al...

Page 338: ...Function Related Selections 0000h to 2711h 1401h All Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors Wh...

Page 339: ...Clear position deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block at servo...

Page 340: ...on 1 to 4 096 1 edge pitch 20 All After restart Setup 1 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 All Immedi ately Setup 1 Pn301 2 Internal Set Speed 1 0 to 10 000 R...

Page 341: ...Input Gain 10 to 100 0 1 V rated torque 30 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward To...

Page 342: ...0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn415 2 T REF Filter Time Con stant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No S...

Page 343: ...g 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Continued on next page...

Page 344: ...ately Setup 1 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 C...

Page 345: ...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 n X P CON Proportional Control Si...

Page 346: ...Signal Allocation Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed 1 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2...

Page 347: ...6 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1...

Page 348: ...e when CN1 45 input signal is ON closed 6 Active when CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Act...

Page 349: ...ocations 1 n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X S RDY Servo Ready Signal Allo...

Page 350: ...t the signal from the CN1 38 output terminal 6 Output the signal from the CN1 39 output terminal n X Reserved parameter Do not change n X PSELA Reference Pulse Input Multiplication Switching Output Si...

Page 351: ...Do not change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 1 Output the signal from the CN1...

Page 352: ...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 inp...

Page 353: ...otor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 inpu...

Page 354: ...2 Monitor Display at Startup 0000h to 0FFFh 0FFFh All Immedi ately Setup 1 Pn530 2 Program Jogging Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Pn531 4 Program Jogging Travel Dist...

Page 355: ...Resistor Capacity 4 Depends on model 5 10 W 0 All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 6 Pn603 2 Regenerative Re...

Page 356: ...ies User s Manual Safety Module Manual No SIEP C720829 06 4 Normally set this parameter to 0 If you use an External Regenerative Resistor set the capacity W of the Exter nal Regenerative Resistor 5 Th...

Page 357: ...pping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake 1 1 Stop the motor by the applying dynamic brake and then release the dynamic brake 2 Coast the m...

Page 358: ..._TLIM as the torque limit when P_CL or N_CL in the OPTION field is ON n X Torque Control Option Applicable Motors Reference 0 Ignore the setting of the speed limit for torque con trol VLIM All 2 1 Use...

Page 359: ...er deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positi...

Page 360: ...etion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of...

Page 361: ...in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using th...

Page 362: ...coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power sup...

Page 363: ...Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Preventative Mainte...

Page 364: ...uning 1 Pn124 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1...

Page 365: ...gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near O...

Page 366: ...ol Related Selections 0000h to 0011h 0010h All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 00...

Page 367: ...ge Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less funct...

Page 368: ...1 Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time...

Page 369: ...Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2 Reverse External...

Page 370: ...econd Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Defa...

Page 371: ...h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 3 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 00...

Page 372: ...ly Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Settin...

Page 373: ...2 Enable forward drive when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5 Enable forward d...

Page 374: ...hen CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signa...

Page 375: ...RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X CLT Torque Limit Detection Output Signal Allocation Refere...

Page 376: ...Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 input signal is OFF open D Active when CN1 10...

Page 377: ...nverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is no...

Page 378: ...100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Se...

Page 379: ...Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2 Regenerative Resistor Cap...

Page 380: ...t Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Overheat Protection Selection 0 Disable overheat protection 1 Use overheat protection in the Yaskawa Linear Servomotor 8...

Page 381: ...11 Setup 2 Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 11 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 ref e...

Page 382: ...Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Origin Return Direction 0 Return in forward direction 1 Return in rever...

Page 383: ...48 to 2 147 483 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors...

Page 384: ...er rotation displayed in decimal All 0014h Un004 Rotational Angle 2 deg Electrical angle from polarity origin All 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007...

Page 385: ...s those for the Option Monitor 1 Selection n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to...

Page 386: ...e bit 8 to V_PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V...

Page 387: ...bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BA...

Page 388: ...lassi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_...

Page 389: ...Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 00...

Page 390: ...to FFFFFFFFh 0h All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fi...

Page 391: ...ual Manual No SIEP S800001 73 8 The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function 9 Enabled only when Pn61A is set to n 2 or n 3 10 The parameter setting is enabled after SE...

Page 392: ...ved parameter Do not change n X Motor Stopping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake 1 1 Stop the motor by the applying dynamic brake and the...

Page 393: ...setting Do not use 3 Reserved setting Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed li...

Page 394: ...unit 04 Position amplifier deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V...

Page 395: ...g completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Comple...

Page 396: ...the stopping method set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the...

Page 397: ...rake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase po...

Page 398: ...All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer enc...

Page 399: ...Enabled Classi fication Refer ence n X Mode Switching Selection When Enabled Reference 0 Use the internal torque reference as the condition level setting Pn10C Immedi ately 1 1 Use the speed referenc...

Page 400: ...ll Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn139 2 A...

Page 401: ...edi ately Tuning 1 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning 1 Pn14B 2 Vibration Suppression 2 Correction 10 to 1 000 1 100 All Immedi ately Tuning 1 Con...

Page 402: ...on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type S...

Page 403: ...tion Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After re...

Page 404: ...p 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Pn30A 2 Deceleration Tim...

Page 405: ...0 1 3 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2...

Page 406: ...2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range S...

Page 407: ...Immedi ately Tuning 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 3 50 All Immedi ately Setup 1 Cont...

Page 408: ...Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page...

Page 409: ...nal is ON closed 2 Enable forward drive when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5...

Page 410: ...reverse drive when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN...

Page 411: ...le tion signal allocations 1 n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X S RDY Servo...

Page 412: ...Default Setting Applicable Motors When Enabled Classi fication Refer ence n X NEAR Near Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 1 Output the signal from th...

Page 413: ...tive 9 Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 input signal is OFF open D Active when...

Page 414: ...nverted 1 The signal is inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Ter...

Page 415: ...on 0 to 100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting R...

Page 416: ...1 min 1 All Immedi ately Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2...

Page 417: ...00 All Immedi ately Setup 1 Pn61D 9 2 Overheat Alarm Filter Time 0 to 65 535 1 s 0 All Immedi ately Setup 1 Pn621 to Pn628 4 Safety Module Related Parameters All Continued on next page Continued from...

Page 418: ...95 warnings 4 Ignore communications warnings A 96 5 Ignore both A 94 and A 96 warnings 6 Ignore both A 95 and A 96 warnings 7 Ignore A 94 A 95 and A 96 warnings 8 Ignore data setting warnings A 97A an...

Page 419: ...ed 0 to 65 535 100 ref erence units s 0 All Immedi ately 12 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 All Immedi ately 13 Setup 2 Pn811 2 Exponen...

Page 420: ...Motors When Enabled Classi fication Refer ence M2 15 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 7 input terminal 3 Monitor CN1 8 input terminal 4 Monitor CN1 9...

Page 421: ...otational Angle 2 deg Electrical angle from polarity origin All 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007 Input Reference Speed min 1 All 0018h Un008 Posit...

Page 422: ...settings are the same as those for the Option Monitor 1 Selection M2 15 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCF...

Page 423: ...Allocate bit 8 to V_PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit...

Page 424: ...to 5 to BANK_SEL1 3 Allocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1...

Page 425: ...led Classi fication Refer ence M2 15 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 t...

Page 426: ...curve Acceleration Deceleration Rate 0 to 50 1 0 All Immedi ately 12 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Im...

Page 427: ...0 to 3 The settings are the same as those for the Latch Sequence 5 Signal Selec tion M3 10 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal moni...

Page 428: ...7 The settings are the same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input s...

Page 429: ...cate bit 26 IO_STS3 to CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29...

Page 430: ...ut will be affected 13 The settings are updated only if the reference is stopped i e only if DEN is set to 1 14 Refer to the following manual for details 7 Series AC Servo Drive MECHATROLINK II Commun...

Page 431: ...or 1h All Device information 02 PnA04 4 Motor Type Selection read only 0h or 1h All 03 PnA06 4 Semi closed Fully closed Selection read only 0h or 1h All 04 PnA08 4 Rated Motor Speed read only 0h to FF...

Page 432: ...Reverse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit Selection 2 0h...

Page 433: ...upported Unit Sys tems read only 0601011F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When...

Page 434: ...Movement Time 0 to 510 000 1 s 0 1 ms 0 All Immedi ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Origin...

Page 435: ...rrent communications phase 00h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 E...

Page 436: ...3 min 1 10000 All Immedi ately 90 PnB20 4 Servo Command Control Field Enable Disable Selections read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Sett...

Page 437: ...ed Bit 2 and 3 Reserved 0 Disabled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_R...

Page 438: ...nce is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFE h All Comma...

Page 439: ...art Setup Pn001 2 Application Function Selections 1 0000h to 1142h 0000h All After restart Setup Continued on next page Note n X Rotation Direction Selection Reference 0 Use CCW as the forward directi...

Page 440: ...ation 2 Reserved setting Do not use 3 The external encoder moves in the reverse direc tion for CCW motor rotation 4 Reserved setting Do not use n XX Analog Monitor 1 Signal Selection 00 Motor speed 1...

Page 441: ...positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of posit...

Page 442: ...ol mode 2 1 2 Use current control mode 2 n X Speed Detection Method Selection Reference 0 Use speed detection 1 1 1 Use speed detection 2 n X Reserved parameter Do not change n X Motor Stopping Method...

Page 443: ...ng the speed reference to 0 1 1 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Thr...

Page 444: ...Mode Test Operation Selection 0 Enable connection with the Command Option Module 1 Disable connection with the Command Option Module n X Reserved parameter Do not change n X Reserved parameter Do not...

Page 445: ...All Setup Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Phase C Pu...

Page 446: ...Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiti...

Page 447: ...cond Model Follow ing Control Gain Correc tion 500 to 2 000 0 1 1000 All Immedi ately Tuning 1 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning 1 Pn14B 2 Vibrat...

Page 448: ...Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type Selection Ref...

Page 449: ...2 Fully closed Control Selections 0000h to 1003h 0000h Rotary After restart Setup 1 Pn230 2 Reserved parameter Do not change 0000h All Pn231 2 Reserved parameter Do not change 0 All Pn233 2 Reserved p...

Page 450: ...to 65 535 1 min 1 10000 Rotary After restart Setup 1 Pn324 2 Moment of Inertia Cal culation Starting Level 0 to 20 000 1 300 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter...

Page 451: ...s 100 All Immedi ately Tuning 1 Pn416 2 Torque Related Func tion Selections 2 0000h to 1111h 0000h All Immedi ately Setup 1 Pn417 2 Third Stage Notch Filter Frequency 50 to 5 000 1 Hz 5000 All Immedi...

Page 452: ...n424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 4 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup...

Page 453: ...arameter Do not change 0000h 1 All Pn511 2 Reserved parameter Do not change 6543h 7 All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Se...

Page 454: ...1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Pn52C 2 Base Current Derating at Motor Overload Detection 10 to 100 1 100 All After restart Setup 1 Pn530 2 Program Jogging Rel...

Page 455: ...on Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2 Regenerative Resistor Capacity 11 Depends on model 12 10 W 0 All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumpt...

Page 456: ...munications method CRLF is used as delimiter 0006h Half duplex wiring is used for communications method CRLF is used as delimiter Echo back is performed for each character 0007h Half duplex wiring is...

Page 457: ...mode 1 Jog in reverse while the JOGN signal is OFF open 0002h When MODE signal is ON closed mode 0 The SEL0 signal is always active When MODE signal is OFF open mode 1 Do not perform jogging 0003h Wh...

Page 458: ...signal is ON closed mode 0 SEL4 signal is active when ON closed When MODE signal is OFF open mode 1 JOG3 signal is active when ON closed 0001h When MODE signal is ON closed mode 0 The SEL4 signal is...

Page 459: ...ertravel 0001h When input signal is ON closed reverse run is prohibited reverse overtravel 0002h Reverse run is always prohibited reverse overtravel 0003h Reverse run is always enabled N OT signal is...

Page 460: ...turns OFF closes when programmable output 4 is active 0000h The POUT5 signal turns ON opens when programmable output 5 is active 0001h The POUT5 signal turns OFF closes when programmable output 5 is...

Page 461: ...ation rate 1 to 99999999 16 1000 Refer ence units min ms 1000 All Immedi ately Setup 1 PnB2D 4 INPOSITION Width 1 to 99999 1 refer ence unit 1 All Immedi ately Setup 1 PnB2F 4 NEAR Width 1 to 99999 1...

Page 462: ...o Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence 0000h When the control power supply is turned ON or the SERVOPACK is reset the POUT0 to...

Page 463: ...99 999 according to the setting of PnB2D Do not change the setting 11 Normally set this parameter to 0 If you use an External Regenerative Resistor set the capacity W of the Exter nal Regenerative Re...

Page 464: ...control with pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences...

Page 465: ...maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using t...

Page 466: ...3 Use T REF as an external torque limit input when P CL or N CL is ON 1 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All 1 1 Use V REF as an externa...

Page 467: ...r deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positio...

Page 468: ...tion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of...

Page 469: ...n Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the...

Page 470: ...coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supp...

Page 471: ...tant 15 to 51 200 0 01 ms 2000 All Immedi ately Tuning 1 Pn106 2 Second Position Loop Gain 10 to 20 000 0 1 s 400 All Immedi ately Tuning 1 Continued on next page Continued from previous page Paramete...

Page 472: ...All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 G...

Page 473: ...to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF...

Page 474: ...quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damp ing Gain 0 to 300 1 0 All Immedi...

Page 475: ...1h All Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tunin...

Page 476: ...signal 2 Clear position deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block...

Page 477: ...4 096 1 edge pitch 20 All After restart Setup 1 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 All Immedi ately Setup 1 Pn301 2 Internal Set Speed 1 0 to 10 000 Rotary 1...

Page 478: ...Reference Input Gain 10 to 100 0 1 V rated torque 30 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2...

Page 479: ...535 0 01 ms 100 All Immedi ately Tuning 1 Pn415 2 T REF Filter Time Con stant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name...

Page 480: ...tely Tuning 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 1 50 All Immedi ately Setup 1 Continued on...

Page 481: ...tup 1 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued...

Page 482: ...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 n X P CON Proportional C...

Page 483: ...Allocation Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed 1 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2 Active...

Page 484: ...hen CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active...

Page 485: ...ive when CN1 46 input signal is OFF open n X INHIBIT Reference Pulse Inhibit Input Signal Allocation Applicable Motors Reference 0 to F The allocations are the same as the ZCLAMP Zero Clamping Input s...

Page 486: ...Limit Detection Signal Allocation Reference 0 to 6 The allocations are the same as the CLT Torque Limit Detection Output signal allocations 1 n X BK Brake Output Signal Allocation Reference 0 to 6 The...

Page 487: ...s 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 37 Terminal 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 38 Ter...

Page 488: ...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 inp...

Page 489: ...otor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 inpu...

Page 490: ...F 2 Monitor Display at Startup 0000h to 0FFFh 0FFFh All Immedi ately Setup 1 Pn530 2 Program Jogging Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Pn531 4 Program Jogging Travel Dis...

Page 491: ...pacity 4 Depends on model 5 10 W 0 All Immedi ately Setup Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 6 Pn603 2 Regenerative Resis tance 0 t...

Page 492: ...en CN1 44 input signal is OFF open E Mode 0 is used when CN1 45 input signal is OFF open F Mode 0 is used when CN1 46 input signal is OFF open n X START STOP Program Table Operation Start Stop Input S...

Page 493: ...put signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 i...

Page 494: ...Active when CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B...

Page 495: ...n 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 s...

Page 496: ...ame as for POUT0 Programmable Output 0 Signal Allocation 1 n X POUT2 Programmable Output 2 Signal Allocation Reference 0 to 6 The settings are the same as for POUT0 Programmable Output 0 Signal Alloca...

Page 497: ...0 refer ence units min 1 ms 1000 All Immedi ately Setup 1 Pn642 2 Origin Return Method 0000h to 0003h 0000h All After restart Continued on next page Continued from previous page Parameter No Size Name...

Page 498: ...to 0001h 0000h All Immedi ately Pn644 4 Origin Return Movement Speed 1 to 199 999 999 1 000 refer ence units min 1 1000 All Immedi ately Setup 1 Pn646 4 Origin Approach Speed 1 to 199 999 999 1 000 r...

Page 499: ...Communications References 3 98 FT82 SERVOPACKs with Analog Voltage Pulse Train References 3 3 FT83 SERVOPACKs with Analog Voltage Pulse Train References 3 205 list of MECHATROLINK III common parameter...

Page 500: ...mperature Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 2 15 FT82 SERVOPACK with MECHATROLINK II Communications References 2 9 FT82 SERVOPACK with MECHATROLINK III Communications...

Page 501: ...of control power supply 2 3 Addition Information on overheat protection input Chapter 3 Addition A 862 and A 93B Chapter 4 Addition Pn022 Pn475 Pn476 Pn61A Pn61B Pn61C and Pn61D Deletion Pn52D Back c...

Page 502: ...co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEI...

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