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YASKAWA SGMAH User Manual Download Page 254

Sigma II User’s Manual

Chapter 6:  Servo Adjustment

6 - 26

Setting Parameters for Online Auto-Tuning 

The following flowchart shows the procedure for setting the parameters for online 
auto-tuning.         

Start

Operate with factory 

settings of parameters

Set to always perform tuning.

(Set Pn110.0 to 1)

Adjust the rigidity setting

(Set in Fn001)

Set so that online autotuning 

is not performed.

(Set Pn110.0 to 2)

Load

inertia changes?

Operation 

OK?

Adjust the friction 

compensation.

Set in Pn110.2.

End

Make servo gain 

adjustments manually *

No

Yes

No

No

No

No

Save the results of autotuning  

to parameters.  From the next 

time, execute autotuning using 

the calculated value as the 

initial value.

Set in Fn007

Operation 

OK?

Operation 

OK?

Operation 

OK?

Yes

Yes

Yes

.

Yes

*Before making manual servo gain adjustments, Refer to 

6.4.3 

Making Manual Adjustments 

or 

6.2 High-Speed Positioning.

Summary of Contents for SGMAH

Page 1: ...Sigma II Series Servo System User s Manual...

Page 2: ......

Page 3: ...d be designed to detect faults dynamically and fail safely under all circumstances All products designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with a...

Page 4: ...ii This page intentionally left blank...

Page 5: ...CAUTION Copyright 2002 Yaskawa Electric Corporation All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanica...

Page 6: ...iv This page intentionally left blank...

Page 7: ...ed closed loop ring terminals designed to accept 4 AWG wires Required for 200V 11kW and 15kW amplifiers Use of Yaskawa kit number JZSP CKT75 for wiring the power input and output terminals of the SGDH...

Page 8: ...tor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury Before starting operation with a machine connected change the settings to m...

Page 9: ...he cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you...

Page 10: ...Sigma II User s Manual Table of Contents Preface viii Notes...

Page 11: ...nd Water 2 6 2 1 9 Cable Stress 2 6 2 2 Servo Amplifiers 2 7 2 2 1 Storage Conditions 2 7 2 2 2 Installation Site 2 7 2 2 3 Orientation 2 8 2 2 4 Installation 2 9 3 Wiring 3 1 3 1 Connecting to Periph...

Page 12: ...3 Three Phase Power Supply Specifications 400V 3 29 3 6 4 Position Control Mode 3 32 3 6 5 Speed Control Mode 3 33 3 6 6 Torque Control Mode 3 34 4 Trial Operation 4 1 4 1 Two Step Trial Operation 4...

Page 13: ...the Servo ON Input Signal S ON 5 72 5 5 3 Using the Positioning Completed Output Signal COIN 5 73 5 5 4 Speed Coincidence Output V CMP 5 75 5 5 5 Using the Running Output Signal TGON 5 76 5 5 6 Using...

Page 14: ...2 6 1 1 Using the Soft Start Function 6 2 6 1 2 Smoothing 6 3 6 1 3 Adjusting Gain 6 4 6 1 4 Adjusting Offset 6 5 6 1 5 Setting the Torque Reference Filter Time Constant 6 5 6 1 6 Notch Filter 6 6 6 2...

Page 15: ...9 7 2 9 Initializing Parameter Settings 7 42 7 2 10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 7 44 7 2 11 Adjusting the Motor Current Detection Offset 7 49 7 2 12 Write Prote...

Page 16: ...8 B List of Parameters B 1 B 1 Parameters B 2 B 1 1 List of Additional and Improved Parameters Applicable only to SGDH amplifiers with version 33 or higher B 5 B 2 Switches B 8 B 2 1 Additional Switc...

Page 17: ...Sigma II User s Manual Table of Contents Preface xv C 6 Torque Control Mode C 9...

Page 18: ...Sigma II User s Manual Table of Contents Preface xvi...

Page 19: ...ibes the procedure for checking products upon delivery as well as names for product parts 1 1 Checking the Sigma II Series Products on Delivery 1 2 1 1 1 Servomotors 1 2 1 1 2 Direct drive Motor Suppo...

Page 20: ...nts Are the delivered products the ones that were ordered Check the model numbers marked on the nameplates of the servomotor and servo amplifier Refer to the descrip tions of model numbers on followin...

Page 21: ...Optional C 17 bit incremental encoder Standard Standard Standard Code Specification SGMAH SGMPH SGMGH SGMSH SGMUH SGMBH 2 Straight without key Optional Optional Optional Optional Optional 4 Straight...

Page 22: ...direct drive motor model can be confirmed by the auxiliary function Fn011 Motor models display on the digital operator or the panel operator Fn011 F Voltage and Motor Model Display Voltage 00 100 VAC...

Page 23: ...Single turn Data Absolute Encoder SGMCS 02 B 3 A 1 1 Direct drive motor Rated torque 10 10N m 14 14N m 16 16N m 17 17N m 25 25N m Outer diameter B 135mm C 175mm M 280mm Brake Specifications 1 Without...

Page 24: ...ymbol Capacity kW Symbol Capacity kW A3 0 03 50 5 0 A5 0 05 60 6 0 01 0 10 75 7 5 02 0 20 1A 11 0 04 0 40 1E 15 0 05 0 50 2B 22 0 08 0 75 3Z 30 0 10 1 0 3G 37 0 15 1 5 4E 45 0 20 2 0 5E 55 0 30 3 0 L1...

Page 25: ...han 32 signify upgraded products SGD 10 A E Sigma II Series SGDH SGDM Servo Amplifier Maximum Applicable Servomotor Capacity See Table 1 4 Supply Voltage A 200V Single phase 3 phase B 100V Single phas...

Page 26: ...r 1 Checking Product and Part Names 1 8 1 2 Product Part Names This section describes product part names 1 2 1 Servomotors The figure below shows part names for servomotors with or without brakes Enco...

Page 27: ...other values when parameters are entered Used to set parameters Lights when the control power supply is ON Lights when the main circuit power supply is ON and stays as long as that component s capaci...

Page 28: ...or information not included in this manual Manual Name Manual Number Sigma II Series Servo System Product Catalog Supplement G MI 99001 Motion Products CD YEA CD MTN 1 Sigma II Series SGDH User s Manu...

Page 29: ...s 2 2 2 1 1 Storage Temperature 2 2 2 1 2 Installation Site 2 2 2 1 3 Alignment 2 3 2 1 4 Orientation 2 3 2 1 5 Allowable Shaft Loads 2 4 2 1 6 Vibration Resistance 2 5 2 1 7 Vibration Class 2 6 2 1 8...

Page 30: ...istened with paint thinner Avoid getting thinner on other parts of the servomotor 2 1 1 Storage Temperature Store the servomotor within the following temperature range as long as it is stored with the...

Page 31: ...t properly aligned When installing the coupling prevent direct impact to the shaft This can damage the encoder mounted on the opposite end 2 1 4 Orientation SGM H servomotors can be installed either h...

Page 32: ...f N LR in mm Reference Diagram SGMAH A3 15 29 68 12 14 54 0 79 20 A5 01 17 54 78 02 55 1 245 16 63 74 0 98 25 04 08 88 1 392 33 0 147 1 39 35 SGMPH 01 17 54 78 11 02 49 0 79 20 02 55 1 245 15 29 68 0...

Page 33: ...485 100 3 94 3Z 6272 1410 2156 485 100 3 94 3G 7448 1675 2156 485 100 3 94 4EA 7840 1763 2156 485 100 3 94 5EA 8428 1895 2156 485 100 3 94 Servomotor MODEL Allowable Radial Load Fr Lbf N Allowable Th...

Page 34: ...oil seal when needed to seal the through shaft section Install the servomotor with the connector facing down Note Through sections of the shaft This refers to the gap where the shaft protrudes from th...

Page 35: ...Heating Unit Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so the temperature around the servo amplifier does not exceed 55 C Installation N...

Page 36: ...the wall as shown in the figure The servo amplifier must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan Secure the servo amplifier using the mounti...

Page 37: ...tion Side by side Installation When installing servo amplifiers side by side as shown in the figure above allow at least 0 39in 10mm between and at least 1 97in 50mm above and below each servo amplifi...

Page 38: ...Sigma II User s Manual Chapter 2 Installation 2 10 NOTES...

Page 39: ...3 2 0 kW to 5 0kW 200V Models 3 8 3 2 4 6 0kW to 15 0kW 200V Models 3 9 3 2 5 0 5kW to 3 0kW 400V Models 3 9 3 2 6 5 0kW 400V Models 3 10 3 2 7 6 0kW to 7 5kW 400V Models 3 10 3 2 8 11 0kW to 15 0kW 4...

Page 40: ...s of Standard Connections 3 27 3 6 1 Single Phase Power Supply Specifications 3 27 3 6 2 Three Phase Power Supply Specifications 200V 3 28 3 6 3 Three Phase Power Supply Specifications 400V 3 29 Large...

Page 41: ...Chapter 3 Wiring 3 3 3 1 Connecting to Peripheral Devices This section provides examples of standard Sigma II Series product connections to peripheral devices It also briefly explains how to connect...

Page 42: ...ences and to display opera tion or alarm status Communication and control is also possible with a personal computer Cable model YS 12 Used to eliminate external Protects the power Used for a servomoto...

Page 43: ...n or alarm status Communication and control is also possible with a personal computer Cable model YS 12 Used to eliminate external Protects the power Used for a servomotor Connect an external regenera...

Page 44: ...sonal computer Cable model YS 12 Used to eliminate external Protects the power Used for a servomotor Connect an external regenerative line by shutting OFF the circuit when overcurrent is detected HI S...

Page 45: ...Open during servo alarm DC DC con verter POWER Analog voltage converter Serial port Reference pulse processing Current Sensor PG output Reference pulse input Speed torque reference input Sequence I O...

Page 46: ...e I O CPU Serial port P N Analog monitor output for supervision Digital operator personal computer Speed and torque reference input 10 15 Three phase 200 to 250V 50 60Hz Relay drive PWM generator Volt...

Page 47: ...for optional unit Analog monitor output for supervision personal computer Digital operator Speed and torque reference input 10 15 Three phase 200 to 250V 50 60Hz Gate drive over current protection XX...

Page 48: ...r optional unit personal computer Digital operator CN3 Analog monitor output for supervision CN5 10 15 Three phase 200 to 250V 50 60Hz XX3 XX1 XX2 L1 L2 L3 1MC Noise filter 2 1 RLY1 P N R S T FAN1 12V...

Page 49: ...n PG output Speed and torque reference input Sequence I O Reference pulse input Voltage sensor Gate drive over current protection W V U P N Relay drive Voltage sensor Gate drive Relay drive CN2 AC ser...

Page 50: ...after turning power OFF because high voltage may still remain in the servo amplifier Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the servo amp...

Page 51: ...rative resistor terminal 30W to 400W Normally not connected Connect an external regenerative resistor provided by the user between B1 and B2 if the regenerative capac ity is insufficient Note No B3 te...

Page 52: ...rm signal for two seconds or less when power is turned ON This is required in order to initialize the servo amplifier 3 3 3 Cable Specifications and Peripheral Devices Refer to the Sigma II Series Ser...

Page 53: ...V 0 03 SGDH A3BE 0 66 3 5 13 16 5 0 05 SGDH A5BE 0 95 5 2 18 2 0 10 SGDH 01BE 2 4 12 25 0 20 SGDH 02BE 3 0 16 4 29 4 Single phase 200V 0 03 SGDH A3AE 0 44 3 1 13 16 1 0 05 SGDH A5AE 0 64 4 6 17 6 0 10...

Page 54: ...o procedures shown in Fig A and Fig B on the following page 1 Fig A Use the provided lever to open the wire insert opening Fig B Using a commercially available 1 8in 3 0 to 3 5mm slotted screwdriver p...

Page 55: ...red by T I or the equivalent PSO PSO Amount of S phase rotation Serial data output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent SG V CMP COIN V CMP COIN TGON TGON S...

Page 56: ...AO PG divided output A phase 10 SG GND 35 PBO PG divided output B phase 11 SIGN Reference sign input 36 PBO PG divided output B phase 12 SIGN Reference symbol input 37 AL01 Alarm code output 13 PL2 Op...

Page 57: ...otor when movable part travels beyond the allowable range of motion 5 1 2 P CL N CL 45 46 Function selected with a parameter Forward current limit ON Reverse current limit ON Current limit function us...

Page 58: ...Converted two phase pulse A and B phase encoder output signal and origin pulse C phase signal RS 422 or the equivalent 5 2 3 PSO PSO 48 49 S phase signal With an absolute encoder outputs serial data c...

Page 59: ...ls is 12V Reference Position Input Circuit An output circuit for the reference pulse and error counter clear signal at the host controller can be either line driver or open collector outputs These are...

Page 60: ...rvo amplifier output circuits can be used Connect an input circuit at the host controller following one of these types Connecting to a Line driver Output Circuit Encoder serial data converted to two p...

Page 61: ...open collector circuits are Voltage 30VDC Current 20mADC Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm servo ready and other sequence output signal...

Page 62: ...l and absolute encoders of SGMGH and SGMSH motors only The numbers in parentheses are applicable to SGMAH motors For SGMPH motors refer to the Sigma II Servo System Product Catalog Supplement Incremen...

Page 63: ...r the equivalent A phase B phase C phase CN2 CN1 SN751LS194NS manufactured by T I PG 2 1 2 2 PG5V PG0V 1 19 1 20 PCO PCO P Shell Connector Connector shell shell Shield wires 1 33 1 34 PAO PAO P 1 35 1...

Page 64: ...SGMSH servomotor L shaped plug MS3108B20 29S Straight MS3106B20 29S Cable clamp MS3057 12A Note Encoder cables are available from Yaskawa For more details on the cables see Sigma II Series Servo Syst...

Page 65: ...N LS 3Ry 6Ry 7RY 46 P BAT 24V 5V 0V 24V Used only with an absolute encoder Servo ON Proportional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL...

Page 66: ...ortional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL V CMP T GON S RDY S RDY T GON V CMP Reverse current prohibited prohibited limit ON...

Page 67: ...rol P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL V CMP T GON S RDY S RDY T GON V CMP Reverse current prohibited prohibited limit ON limit ON ALO...

Page 68: ...ount of S phase rotation PG dividing ratio output Be sure to properly Optical prepare the end of encoder Applicable line receiver SN75175 or MC3486 manufac tured by T I or the equivalent Serial data o...

Page 69: ...486 manufac tured by T I or the equivalent Positioning completed ON when positioning is completed T GON output Servo ready output ON at levels above the setting ON when ready Connect shield to connect...

Page 70: ...nal control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL COIN T GON S RDY S RDY T GON COIN Reverse current prohibited prohibited limit ON limit...

Page 71: ...portional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL V CMP T GON S RDY S RDY T GON V CMP Reverse current prohibited prohibited limit O...

Page 72: ...Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL VLT T GON S RDY S RDY T GON VLT Reverse current prohibited prohibited limit ON limit ON ALO1 ALO2 ALO3 PAO PAO PBO PBO P...

Page 73: ...p Trial Operation 4 2 4 1 1 Step 1 Trial Operation for Servomotor without Load 4 3 4 1 2 Step 2 Trial Operation with the Servomotor Connected to a Load 4 9 4 2 Additional Setup Procedures in Trial Ope...

Page 74: ...ion Make sure the servomotor is wired properly and then turn the shaft prior to connecting the servomotor to the equipment Check wiring C N 3 C N 1 L1C L2C B1 B2 U V W L1 L2 1 2 C N 2 SGDM MODE SET DA...

Page 75: ...pleted as much as possible in step 1 prior to connecting the servomotor to equipment Note Check the items on the following pages in the order given during the servomotor trial operation See 4 2 1 Serv...

Page 76: ...er will appear as shown above Power is not supplied to the servomotor because the servo is OFF If an alarm display appears on the LED indicator as shown above the power supply circuit servomotor wirin...

Page 77: ...wer again 6 Check the input signals Check input signal wiring in Monitor Mode using the panel operator See 7 1 7 Opera tion in Monitor Mode for more details on the procedure Turn ON and OFF each signa...

Page 78: ...ON the servo Turn ON the servo using the following procedure a Make sure there are no reference signals input Set V REF CN1 5 and T REF CN1 9 to 0V for speed and torque control Set PULS CN1 7 and SIGN...

Page 79: ...00 1 to 0 Standard speed control setting is described here 1 Gradually increase the reference speed input V REF CN1 5 voltage The servomotor will rotate 2 Check the following items in Monitor Mode See...

Page 80: ...below to change the motor speed or direction of rotation If an alarm occurs or the servomotor fails to operate during the above operation CN1 connector wiring is incorrect or parameter settings do not...

Page 81: ...vomotors for more details on connecting the servomotor 3 Use autotuning to match the servo amplifier to equipment characteristics See 6 3 Auto Tuning 4 Operate the servomotor by reference input As in...

Page 82: ...the holding brake operation when using servomotors with brakes Note To prevent faulty operation due to gravity or external force first make sure that both the servomotor and holding brake work properl...

Page 83: ...w speed Input a reference speed of 60rpm for example to see if the servomotor makes one revolution per second Check the parameter setting at Pn300 to see if the reference speed gain is correct Simple...

Page 84: ...t if necessary Use the following parameter to reverse the direction of rotation 4 3 2 Input Signals Input signal selection settings through parameters can be used to eliminate the need for external sh...

Page 85: ...ronic Gear Function 5 28 5 2 6 Contact Input Speed Control 5 32 5 2 7 Using Torque Control 5 37 5 2 8 Torque Feed Forward Function 5 44 5 2 9 Speed Feed Forward Function 5 45 5 2 10 Torque Limiting by...

Page 86: ...er Capacity 5 86 5 7 Absolute Encoders 5 96 5 7 1 Interface Circuit 5 97 5 7 2 Configuring an Absolute Encoder 5 98 5 7 3 Handling Batteries 5 99 5 7 4 Absolute Encoder Setup 5 100 5 7 5 Absolute Enco...

Page 87: ...le only to SGDH amplifiers of version 33ooo or higher 5 139 5 11 1 Moment of Inertia Ratio Setting Range 5 139 5 11 2 Adaptation to Single turn Data Absolute Encoder 5 139 5 11 3 Improvement of Linear...

Page 88: ...Select basic and application functions such as the type of control or the stop mode used when an alarm occurs Servo Gain and Other Constants Pn100 to Pn123 Set numerical values such as speed and posit...

Page 89: ...nly the direction of shaft motion is reversed Setting Reverse Rotation Mode Use the parameter Pn000 0 Use the following settings to select the direction of servomotor rotation Standard Setting Reverse...

Page 90: ...r motion Drive status with an input signal ON or OFF is shown in the following table Input P OT CN1 42 Forward Run Prohibited Forward Overtravel Speed Torque Control Position Control Input N OT CN1 43...

Page 91: ...ut Signal Default Setting 3 Speed Torque Control Position Control Parameter Signal Setting Description Pn50A 3 P OT Signal Mapping Forward Run Prohibit Input Signal Default Setting 2 Uses the P OT inp...

Page 92: ...he servo OFF according to Pn001 0 1 Decelerates the servomotor to a stop at the preset torque and then locks the servomotor in Zero Clamp Mode Torque setting Pn406 Emergency Stop Torque 2 Decelerates...

Page 93: ...rque limits for forward and reverse rotation Used when torque must be limited due to equipment conditions The torque limit function always monitors torque and outputs the signals below when the limit...

Page 94: ...orque Control Position Control Status Conditions Description ON The circuit between CN1 1 and 2 is closed CN1 1 is at low level Servomotor output torque is being limited Internal torque reference is g...

Page 95: ...eters Torque limits can be set separately for forward and reverse rotation Parameter Setting Output Terminal CN1 1 2 Pn50F 0 0 1 25 26 2 27 28 3 29 30 Input P CL CN1 45 Forward External Torque Limit I...

Page 96: ...limit Limit Pn404 CN1 45 at high level when OFF Do not use forward torque limit Normal operation N CL CN1 46 at low level when ON Use reverse torque limit Limit Pn405 CN1 46 at high level when OFF Do...

Page 97: ...imiting by Analog Voltage Reference Using P CL and N CL Signals The procedure for using P CL and N CL as torque limit input signals is illustrated below Setting Description P CL CN1 45 Input Pn404 tor...

Page 98: ...ropor tion to the input voltage between V REF and SG Setting Examples Pn300 600 This setting means that 6V is equivalent to the rated motor speed Parameter Pn300 can be used to change the voltage inpu...

Page 99: ...e for the speed reference input V REF at CN1 5 according to host controller and external circuit output range The default setting is adjusted so that a 6V input is equivalent to the rated motor speed...

Page 100: ...ry slow speed and fail to stop even if 0 is specified as a speed reference In this case use P control mode to stop the motor 5 2 2 Position Reference The reference pulse reference code and clear input...

Page 101: ...wing table shows the signal logic for an open collector output This circuit uses the 12V power supply built into the servo amplifier The input is not isolated in this case Application Examples of V IR...

Page 102: ...lifier from the host controller Input PULS CN1 7 Reference Pulse Input Position Control Input PULS CN1 8 Reference Pulse Input Position Control Input SIGN CN1 11 Reference Code Input Position Control...

Page 103: ...ward Rotation Reference Reverse Rotation Reference 0 Sign pulse train Positive logic 1 CW pulse CCW pulse 2 Two phase pulse train with 90 phase differential 1 3 2 4 4 5 Sign pulse train Negative logic...

Page 104: ...ference L Reverse reference CW pulse and CCW pulse Maximum reference frequency 500kpps 200kpps open collector output t1 t2 0 1 s t3 3 s 1 0 s T 100 50 Two phase pulse train with 90 phase differential...

Page 105: ...Mode Pn200 1 Error Counter Clear Signal Form Default Setting 0 Position Control Pn200 1 Setting Description Clear Timing 0 Clears the error counter when the CLR signal goes high Error pulses do not a...

Page 106: ...input pulse train from the encoder mounted on the servomotor according to the preset pulse density and outputting the converted pulse The units are pulses per revolution PPR PG Servo amplifier CN2 CN1...

Page 107: ...tion during position control Output Phase Form Output PAO CN1 33 Encoder Output Phase A Speed Torque Control Position Control Output PAO CN1 34 Encoder Output Phase A Speed Torque Control Position Con...

Page 108: ...22 Battery Speed Torque Control Position Control Output SG CN1 1 Signal ground Speed Torque Control Position Control When using the servo amplifier phase C pulse signal to return to the machine origin...

Page 109: ...the equipment or the controller used The setting range varies with the encoder used Note 1 Turn OFF power once and turn ON again after changing the parameter 2 A 13 bit encoder will run at 2048PPR eve...

Page 110: ...supply as that used for output circuits The function allocation for sequence input signal circuits can be changed See 5 3 3 Input Circuit Signal Allocation for more details The external power supply...

Page 111: ...circuits Function allocation for some sequence output signal circuits can be changed See 5 3 4 Output Circuit Signal Allocation for more details 0V 0V Host controller Servo amplifier Photocoupler 50mA...

Page 112: ...of the applicable encoder is not the same as the Servomotor Model and Encoder Specifications Encoder Type Number of Encoder Pulses Per Revolution PPR A Incremental encoder 13 bit 2048 B 16 bit 16384 C...

Page 113: ...000 units is input the load moves 50mm 1 97in 50000 0 001mm 50mm 4 Determine the load travel distance per load shaft revolution in reference units When the ball screw pitch is 0 20in 5mm and the refer...

Page 114: ...hat both A and B are integers smaller than 65535 then set A and B in the respective parameters Set the electronic gear ratio according to equipment specifications B Number of encoder pulses 4 motor sp...

Page 115: ...revolution 6000 2048 4 1 6000 0 24in 0 00004in Load shaft 13 bit incremental encoder Ball screw pitch 0 24in 6mm Reference unit 0 00004in 0 0001mm Load shaft 13 bit Incremental encoder Deceleration r...

Page 116: ...erentiation Smoothing X1 X2 X4 Error counter Kp Feed forward gain Primary lag filter Bias Speed loop Current loop M Frequency dividing Pn201 Pn204 Pn202 Pn203 Pn102 Pn203 Pn202 Pn10A Pn107 Pn109 Servo...

Page 117: ...gnals are allocated to the input circuits See 5 3 3 Input Circuit Signal Allocation Parameter Signal Setting Control Mode Pn000 1 Control Mode Selection Default Setting 0 Speed Torque Control Position...

Page 118: ...etting Parameter Signal Setting rpm Control Mode Pn301 Speed 1 SPEED 1 Contact Input Speed Control Range 0 to 10000 Default Setting 100 Speed Control Pn302 Speed 2 SPEED 2 Contact Input Speed Control...

Page 119: ...used Note 1 0 OFF high level 1 ON low level 2 Input signals indicated by the horizontal bar are optional When contact input speed control is not used input signals are used as external torque limit in...

Page 120: ...ote When Pn000 1 set to 5 Soft Start is available only at contact input speed control and unavailable in pulse reference input If the Contact Input Speed Control Mode is switched to Pulse Reference In...

Page 121: ...o a specified position internal torque limit Level 3 Controls torque output rather than speed output Level 4 Switches between speed and torque control The following describes uses for levels 3 and 4 i...

Page 122: ...ference torque feed forward reference or torque limit depending on the control mode P CON C SEL CN1 41 is used to switch between torque and speed control Torque Control When P CON C SEL is OFF The T R...

Page 123: ...CON C SEL CN1 45 and N CL SPD B CN1 46 are used to switch control Parameter Pn002 0 State Speed Reference Input V REF CN1 5 6 Torque Reference Input T REF CN1 9 10 Comments 0 Speed Control Speed Refer...

Page 124: ...orque Reference Input Speed Torque Control Input SG CN1 10 Signal Ground for the Torque Reference Input Speed Torque Control With Pn400 30 VIN V Resulting Applied Torque 3 100 of rated torque in the f...

Page 125: ...utomatically when Pn50A 0 is set to 0 Input P CON CN1 41 Proportional Control Reference etc Speed Torque Control Position Control Pn000 1 Setting P CON Function 0 1 Switches between P proportional and...

Page 126: ...it detection signal VLT functions the same in torque control as the CLT signal see 5 1 3 Limiting Torque where the CLT signal is described Parameter Signal Setting 0 1V x rated torque Control Mode Pn4...

Page 127: ...esponds to the rated motor speed The default setting is 6V the rated motor speed Principle of Speed Limit When the control speed range is exceeded torque inversely proportional to the difference betwe...

Page 128: ...ed forward reference signal to T REF CN1 9 and 10 Using the Torque Feed Forward Function To use the torque feed forward function set the following parameter to 2 This setting enables the torque feed f...

Page 129: ...t this reference together with the position reference to the servo amplifier Too high a speed feed forward value will result in either overshoot or undershoot To prevent this set the optimum value whi...

Page 130: ...The default setting at Pn300 is 600 If for example the speed feed forward value is 6V then speed is limited to 100 of the rated torque Parameter Signal Setting Control Mode Pn207 1 Speed Control Optio...

Page 131: ...g voltage reference This function cannot be used with the torque feed forward function described in 5 2 8 Torque Feed Forward Function To use this function verify how input signals have been allocated...

Page 132: ...hever is smaller CN1 45 is at H level when OFF Torque is not limited at the forward run side Normal Operation N CL CN1 46 is at L level when ON Torque is limited at the reverse run side Limit value ei...

Page 133: ...Parentheses around an INHIBIT signal indicate that a signal has been allocated to the input circuit See 5 3 3 Input Circuit Signal Allocation for more details Parameter Signal Setting rpm Control Mode...

Page 134: ...apter 5 Parameter Settings and Functions 5 50 Relationship between Inhibit Signal and Reference Pulses ON Reference pulse OFF t1 ON t2 Input reference pulses are not counted during this period INHIBIT...

Page 135: ...s are divided into the following three groups Note Appendix B shows a list of parameters provided for reference See 7 1 6 Operation in Parameter Setting Mode for more details on the procedure for sett...

Page 136: ...the motor speed when operating the servomotor from a panel or digital operator If the setting is higher than the maximum motor speed of the servomotor then the servomotor will rotate at its maximum s...

Page 137: ...A 0 is set to 1 CN1 Connector Terminal Numbers Input Terminal Name Default Setting Symbol Name 40 SI0 S ON Servo ON 41 SI1 P CON Proportional control refer ence 42 SI2 P OT Forward run prohibit 43 SI3...

Page 138: ...for each input signal Parameter Signal Setting Description Pn50A Input Signal Selection 1 Default Setting 2100 Speed Torque Control Position Control Pn50B Input Signal Selection 2 Default Setting 6543...

Page 139: ...to the same input circuit When the servo is ON the forward run prohibit or reverse run prohibit signal is used At a setting with inverted polarity the failed safe operation may not be possible in the...

Page 140: ...l to always enabled 8 Sets the specified signal to always disabled 9 Inputs the specified inverse signal from SI0 CN1 40 A Inputs the specified inverse signal from SI1 CN1 41 B Inputs the specified in...

Page 141: ...nal Name Default Setting Comments Symbol Name 25 SO1 V CMP COIN Speed coincidence detection positioning completed The signal output will vary depending on the control mode 26 SG V CMP COIN 27 SO2 TGON...

Page 142: ...l from the SO1 CN1 25 and 26 output terminal 2 Outputs the specified signal from the SO2 CN1 27 and 28 output terminal 3 Outputs the specified signal from the SO3 CN1 29 and 30 output terminal Speed C...

Page 143: ...Default Setting 0 Speed Torque Control Position Control Pn000 1 Setting Control Mode 0 Speed Control Analog Reference 1 Position Control Pulse Train Reference 2 Torque Control Analog Reference 3 Cont...

Page 144: ...ference speed control is enabled when both P CL SPD A and N CL SPD B input signals are OFF high level See 5 2 6 Contact Input Speed Control Contact Input Speed Control Selection Contact Reference Posi...

Page 145: ...d control through the P CON C SEL signal See 5 2 7 Using Torque Control Speed Control Analog Reference Zero Clamp This speed control mode is used to set the zero clamp function when the servo amplifie...

Page 146: ...t the reference offset to 0V Note Use manual rather than automatic adjustment if a position control loop is formed in the host con troller See the following sections in Chapter 7 Using the Digital Ope...

Page 147: ...ds to be turned OFF when the main power supply or the control power supply is OFF disconnect the servomotor wiring U V and W Note The dynamic brake is an emergency stop function Do not repeatedly star...

Page 148: ...be used when an input circuit signal is allocated See 5 3 3 Input Circuit Signal Allocation for more details Parameter Signal Setting ms Description Pn000 1 Control Method Selection Default Setting 0...

Page 149: ...mp Conditions Zero clamp is performed when all the following conditions are satisfied Zero clamp speed control is selected parameter Pn000 1 is set to A P CON ZCLAMP CN1 41 is ON 0V Speed reference dr...

Page 150: ...orque Wiring Example Use the servo amplifier contact output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example CN1 1 BK and CN1 2...

Page 151: ...r to output the BK signal alone See 5 3 4 Output Circuit Signal Allocation State Status Result ON Closed or low level Releases the brake OFF Open or high level Applies the brake Parameter Description...

Page 152: ...nding on equipment configuration and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507 a...

Page 153: ...ircuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after servo OFF The time set at Pn508 has elapsed since servo OFF The actual speed used will be the...

Page 154: ...tsothisalarmoutput ALM turnsOFFtheservoamplifier Output ALM CN1 31 Servo Alarm Output Speed Torque Control Position Control Output ALM CN1 32 Signal Ground for Servo Alarm Output Speed Torque Control...

Page 155: ...servo amplifier turns OFF when an alarm occurs Alarms are reset automatically when the control power supply is turned OFF Alarms can also be reset using a panel or digital operator Note 1 Encoder alar...

Page 156: ...erates according to signal input This is the default state OFF Open or high level Servomotor cannot operate Do not turn OFF the servomotor while it is operating except in an emergency Do not use the S...

Page 157: ...0 Enables the servo ON S ON input signal The servo is OFF when CN 40 is open and is ON when CN1 40 is at 0V 7 Disables the servo ON S ON input signal The servo is always ON and has the same effect as...

Page 158: ...tioning completed signal COIN when the position reference pulse is input and servomotor operation is completed Set the number of error pulses in reference units Too large a value set at this parameter...

Page 159: ...ignal is output between CN1 25 and 26 See 5 3 4 Output Circuit Signal Allocation for more details on parameter Pn50E Output V CMP CN1 25 Speed Coincidence Output Signal Speed Control V CMP State Statu...

Page 160: ...ing the Running Output Signal TGON The basic use and wiring procedures for the running TGON output signal photocoupler output signal are described below The signal can be activated to indicate that th...

Page 161: ...N This parameter is used to set the speed at which the servo amplifier determines that the servomotor is running and then to output an appropriate signal The following signals are generated when motor...

Page 162: ...receive the Servo ON signal The following parameter setting is used to change the CN1 connector terminal that outputs the S RDY signal The parameter is factory set so the V CMP signal is output betwe...

Page 163: ...llocated with parameter Pn 510 0 Multiple signals allocated to the same output terminal follow Boolean OR logic In order to use the WARN output signal alone set other output signals to a value other t...

Page 164: ...ting Result 0 Outputs alarm codes alone for alarm codes ALO1 ALO2 and ALO3 1 Outputs both alarm and warning codes for alarm codes ALO1 ALO2 and ALO3 and outputs an alarm code when an alarm occurs Warn...

Page 165: ...utput signals above Notes 1 and 2 are output terminals allocated with parameter Pn 510 0 Multiple signals allocated to the same output terminal follow Boolean OR logic In order to use the WARN output...

Page 166: ...g of 20ms means that servomotor operation will continue if power is lost for less than 20ms In the following instances however either a servo alarm is generated or control is lost equivalent to normal...

Page 167: ...ed at 20 of the capacity of the servo amplifier s built in regenerative resistor 2 The values in parentheses are for the optional JUSP RA04 Regenerative Resistor Unit 3 The values in parentheses are f...

Page 168: ...et Pn600 to 240 if there is forced air cooling for the resistor Set Pn600 to 96 if natural convection cooling is used For details see notes 1 and 2 below Notes 1 In general when resistors for power ar...

Page 169: ...ted derating Use one of the following resistor unit for the large capacity amplifiers 22 55kW Servo Amplifier Applicable Regenerative Resistor Unit Resistance Specifications SGDH 60AE JUSP RA04 6 25 2...

Page 170: ...lifiers with a capacity of 400W or less do not have built in regenerative resistors The energy that can be absorbed by capacitors is shown in the following table If the rotational energy in the servo...

Page 171: ...f 6 0kW or more do not have built in regenerative resistors The following table summarizes the allowable frequencies for the servomotor during regeneration mode when the servo amplifier is combined wi...

Page 172: ...calculate the allowable frequency for regeneration mode operation Where n JL JM JL Motor axis conversion load inertia kg m2 JM Servomotor rotary inertia kg m2 Allowable frequency 1 Cycles T Minute Sp...

Page 173: ...gy consumed by load system loss EL during the deceleration period tD L oz in N m EL Joules J NM rpm tD s 3 Calculate the energy lost EM from servomotor winding resistance tD s deceleration stopping ti...

Page 174: ...ed by load system loss in step 2 above is unknown then perform the calculation using EL 0 When the operation period in regeneration mode is continuous add the following items to the above calculation...

Page 175: ...servomotor SGMAH Servomotor 200V SGMAH Servomotor 100V SGMPH Servomotor 200V SGMPH Servomotor 100V 200 250 150 100 50 0 0 100 200 300 300 Torque W SGMAH 04A 08A 01A 02A A5A A3A Loss 200 180 160 140 12...

Page 176: ...05A A 2800 1800 1600 1400 1200 1000 800 600 400 200 00 Torque Loss W 0 100 200 300 2600 2400 2200 2000 1EA A 1AA A SGMSH 50A 40A 30A 20A 15A 10A 1400 1200 1000 800 600 400 200 00 Torque Loss W 0 100...

Page 177: ...Sigma II User s Manual Chapter 5 Parameter Settings and Functions 5 93 SGMUH Servomotor 400V SGMUH 30D 15D 10D 600 500 400 300 200 100 0 Torque Loss W 0 100 200 300 400...

Page 178: ...Servo Amplifier for 200V motor continued 10 12 6 4 2 0 90 100 110 120 16 8 14 18 AC input power supply voltage Vrms Servo amplifier SGDH A5BE to 02BE A3BE Absorbable energy J Absorbable energy J AC i...

Page 179: ...motor continued SGDH Servo amplifier 20DE 30DE 10DE 15DE 05DA 140 120 100 80 60 40 20 0 AC input power supply voltage Vrms Absorbable energy J 320 100 440 480 360 520 SGDH Servo amplifier 50DE 1ADE 1...

Page 180: ...he continuous counting method when limits are exceeded as compared in the following table The output range of multi turn data for Sigma II series absolute detection system differs from that used in co...

Page 181: ...ON signal S ON Note If for some reason it is necessary to turn OFF a SEN signal that is already ON and then to turn it back ON again maintain the high level for at least 1 3 seconds before turning it...

Page 182: ...the user must first enter the change to the parameter and then cycle turn OFF and then turn ON the power Since the encoder s multi turn limit value is set as default to 65535 the following alarm occur...

Page 183: ...e Lithium battery by Toshiba ER6VC3 3 6V 2000mAh Battery Provided for Servo Amplifier Lithium battery JZSP BA01 includes battery and connector Battery Toshiba ER3 V 3 6V 1000mAh Connect the ground ter...

Page 184: ...ng the Digital Operator Setup Using the Hand held Digital Operator 1 Press the MODE SET key to select the auxiliary function mode 2 Select the user function Fn008 Press the Left Arrow or Right Arrow k...

Page 185: ...Arrow key to select the parameter Fn008 3 Press the DATA SHIFT key holding it down for at least one second The following display will appear 4 Press the Up Arrow key holding it down until PGCL5 is dis...

Page 186: ...rm is generated in the encoder the alarm must be cleared by turning OFF the power Multi turn Setup Using the Hand held Digital Operator 1 Press the MODE SET key to select the auxiliary function mode 2...

Page 187: ...encoder s multi turn limit setting operation Cycle the power to the servo amplifier The multi turn limit value should be changed only for special applications Changing it inappropriately or unintenti...

Page 188: ...ence position position specified at setup Initial incremental pulse Outputs pulses at the same pulse rate as when the motor shaft rotates from the home position to the current position at approximatel...

Page 189: ...ransmission Sequence 1 Set the SEN signal at high level 2 After 100ms set the system to serial data reception waiting state Clear the incremental pulse up down counter to zero 3 Receive eight bytes of...

Page 190: ...The number of revolutions and the absolute position within one revolution are always output in five and seven digits respectively The data output cycle is approximately 40ms Data Transfer Method Start...

Page 191: ...set the pulse dividing ratio This parameter sets the number of output pulses for PG output signals PAO PAO PBO PBO Pulses from the motor encoder PG are divided by the number of pulses set here before...

Page 192: ...O outputs to the host device as serial data Note Refer to 9 2 3 Alarm Display Table for a table of alarm contents Alarm Contents Output Example SEN Signal Digital Operator Display PAO Serial Data PG P...

Page 193: ...ly If the motor is insulated from the machine ground the motor directly 3 Do not bend or apply tension to cables The conductor of a signal cable is very thin 0 0079 to 0 012in 0 2 to 0 3mm handle the...

Page 194: ...ncy oscillator install a noise filter on the input side of the power supply line Notes 1 Since the servo amplifier uses high speed switching elements signal lines may receive noise To prevent this alw...

Page 195: ...ned ON 2 SGDH servo amplifiers do not have built in ground protection circuits To configure a safer system install a ground fault interrupter with or without a circuit breaker for protection against o...

Page 196: ...all a ground fault interrupter with or without a circuit breaker for protection against overload and short circuit conditions Main Circuit Power Supply Servo Amplifier Model Applicable Motor Power Cap...

Page 197: ...circuit breaker for protection against overload and short circuit conditions Main Circuit Power Supply Servo Amplifier Model Applicable Motor Power Capacity per Servo Amplifier kVA 1 Current Capacity...

Page 198: ...Connector Terminal Block Converter Unit JUSP TA50P cable included Length of cable supplied 19 69 500 0 10 CN1 50 pin connector plug MR 50RMD2 50 pin terminal block M3 5 screws 1 77 45 9 74 247 5 1 16...

Page 199: ...TGON S RDY S RDY ALM ALM PAO PAO BPO PBO ALO1 ALO2 ALO3 S ON P CON P OT N OT ALM RST P CL N CL 24V IN PSO PSO 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33...

Page 200: ...ting to the casing use a wire with a thickness of at least 0 005in2 3 5mm2 preferably a braided flat copper wire Correct Grounding Grounding the Motor Frame Always connect servomotor frame terminal FG...

Page 201: ...ffner Voltage Servo Amplifier Model Recommended Noise Filter Model Manufacturer Single phase 100V SGDH A3AE to 01BE FN2070 6 07 FS 5827 4 07 Schaffner SGDH 02BE FN2070 10 07 Single phase 200V SGDH A3A...

Page 202: ...esults Separate the input lines from the output lines Do not put the input and output lines in the same duct or bundle them together Isolate the noise filter ground wire from the output lines Do not p...

Page 203: ...round wire to other ground wires When grounding a noise filter inside an enclosure If a noise filter is located inside an enclosure connect the noise filter ground wire and the ground wires from other...

Page 204: ...ay 1RY to operate The output transistor is turned OFF when the ALM output signal enters an alarm state Multiple servos can share a single MCCB or noise filter Always select an MCCB or noise filter tha...

Page 205: ...m allowable cable length is 50m Preparing 50m 164 0ft Encoder Cables Cable Model Number UL20276 SB Cables are ordered in units of meters Specify the length when ordering Connectors or Connector Kits C...

Page 206: ...ter Settings and Functions 5 122 Preparing Encoder Cables Encoder Connector at Servo Amplifier Cable Line Encoder Connector at Servomotor For SGMAH and SGMPH servomotors For SGMGH SGMSH and SGMUH serv...

Page 207: ...e Refer to the capacities shown in the following table when selecting a voltage conversion transformer Do not connect the servo amplifier directly to any voltage level other than what is specified on...

Page 208: ...er is turned ON and OFF at the secondary damaging the servo amplifier Single phase Power Supply Connection Example Three phase 200V SGDH 05AE 1 4 SGDH 08AE 1 9 SGDH 10AE 2 3 SGDH 15AE 3 2 SGDH 20AE 4...

Page 209: ...for power supply harmonic suppression Connecting a DC Reactor The DC reactor is connected in series to the rectifier circuit s output side Refer to 3 2 Servo Amplifier Internal Block Diagrams At the t...

Page 210: ...E SGDH A5BE SGDH 01BE 10 0 1 8 X5063 SGDH 02BE 4 7 3 5 X5062 Single phase 200V SGDH A3AE SGDH A5AE SGDH 01AE 22 0 1 0 X5071 SGDH 02AE 10 0 1 8 X5070 SGDH 04AE 4 7 3 5 X5069 SGDH 08AE S 4 4 8 X5079 SGD...

Page 211: ...r EMF energy The DB unit does not need to be installed if the dynamic brake function is not required Specifications Use one of the following DB units according to the Amplifier model SDGH 2BDE 3ZDE 3G...

Page 212: ...by the Customer to the Contactor as illustrated below Make sure that the contactor can withstand the surge current as shown below Model SC 4 1 G DC24V Maker Fuji Electric Co Ltd Standard Coil Voltage...

Page 213: ...not change any of them from the default setting Parameter Number Lower Limit Upper Limit Default Setting Pn002 3 0 2 0 Pn004 0000 Pn005 0001 Pn110 3 0 3 0 Pn119 1 2000 60 Pn11A 1 2000 1000 Pn11B 1 15...

Page 214: ...SGDH Second stage notch filter is added so that two notch filters first stage and second stage notch filters can be set for two resonance generating points The setting of parameter Q value that deter...

Page 215: ...rpm or less is connected the SERVOPACK changes the setting unit to 1 10 of the standard automatically Besides the parameter the speed setting for the auxiliary function Fn003 Zero point search mode is...

Page 216: ...or more use Pn212 For the setting method of dividing ratio for 17 bit or more resolution refer to Setting PG dividing ratio of 5 digit or more on the next page The setting range of Pn212 differs depe...

Page 217: ...t above the resolution of mounted encoder When Pn212 is set without connecting a servomotor to the servo amplifier the upper limit is automatically set to 230 1073741824 the maximum output value of th...

Page 218: ...ess DSPL SET Key to select the parameter setting mode 2 Select the parameter Pn212 Press Left or Right Cursor Key to select the digit The enabled digit blinks Press Up or Down Cursor Key to change the...

Page 219: ...layed 5 Press Left or Right Cursor Key to select the digit The enabled digit blinks Press Up or Down Cursor Key to change the value Pressing Left or Right Cursor Key when the left end or right end dig...

Page 220: ...oard in the configuration SGDH servomotor and option board 1 n Pn217 1 Reference pulse input switching PSEL Enable Disable Reference pulse input switcing PSELA Enable Internal processing 4ms or less 4...

Page 221: ...m the SI2 CN1 42 input terminal 3 Inputs from the SI3 CN1 43 input terminal 4 Inputs from the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input t...

Page 222: ...ing turn OFF the power and ON again to enable the new setting Parame ter No Digit Place Name Set ting Contents Factory Setting Pn510 2 PSELA Signal Mapping 0 Disabled 0 Disabled 1 Outputs from the SO1...

Page 223: ...motor does not require harmonic gear etc so that the servomotor can be connected directly to a load Therefore for its absolute value detecting system the load end absolute value can be obtained by mea...

Page 224: ...data The transmission format is the same as that of multi turn absolute data However the data section is always set to 0 as follow P 00000 CR PSO serial data The transmission format is the same as tha...

Page 225: ...m speed setting alarm occurs To change the maximum speed in Pn384 set also the PG dividing ratio using the following functions Calculation of speed for linear motors and PG dividing ratio The allowabl...

Page 226: ...ve i To fix the maximum dividing ratio and change the maximum motor speed Pn080 3 1 i S Displays the maximum motor speed that can be set Press DSPL SET Key to dis play the next line ii ii P Displays t...

Page 227: ...ed on the base of speed FB and the newly added parameter An alarm occurs under the following condition Overload level Thrust reference2 d Reference thrust2 d is obtained by the following equation d 1...

Page 228: ...are 0 or 1 when the Hall sensors are connected these signals are ignored However if it occurs two times consecutively the alarm A C2 occurs If U phase edge does not activate two times continuously it...

Page 229: ...10 6 2 2 Using Feed Forward Control 6 12 6 2 3 Using Proportional Control 6 13 6 2 4 Setting Speed Bias 6 14 6 2 5 Using Mode Switch 6 15 6 2 6 Automatic Gain Switching Function Applicable Only to SG...

Page 230: ...on enables smooth speed control when progressive speed references are input or when contact input speed control is used Set both Pn305 and Pn306 to 0 for normal speed control Set these parameters as f...

Page 231: ...ilter This function provides smooth motor operating in the following cases When the host device which outputs references cannot perform acceleration deceleration processing When the reference pulse fr...

Page 232: ...ill tend to vibrate or become too sensitive Smooth operation is not possible under such conditions Reduce each loop gain value to an appropriate value Refer to 6 2 1 Setting Servo Gain for details reg...

Page 233: ...e offset adjustment 6 1 5 Setting the Torque Reference Filter Time Constant If there is machine vibration which may be caused by the servodrive try adjusting the filter time constant in Pn401 This may...

Page 234: ...e notch filters have both center fre quency and Q value adjustments The notch filter may eliminate specific frequency vibration generated by resonance of a machine The notch filter puts a notch in the...

Page 235: ...second stage notch filter are identical The filtering is executed in the following order Fig 1 Torque Reference Filtering First Stage Notch Filter Second Stage Notch Filter Torque Reference Filter Lo...

Page 236: ...e of the speed proportional gain can be obtained if the difference between the speed proportional gain and the vibration frequency is too small Setting a smaller Q value decreases the response in wide...

Page 237: ...when the inertia ratio Pn103 is set to the correct value 2 Change the notch filter frequency Pn409 Pn40B only when the motor is stopped Vibration may occur if the notch filter frequency is changed wh...

Page 238: ...ng on machine characteristics Speed loop gain Kv is adjusted in 1Hz increments provided that the following parameter is set correctly The load inertia of the servo amplifier reflected at the motor sha...

Page 239: ...this parameter the error pulse level at which a position error pulse overflow alarm A d0 is detected If the machine permits only a small position loop gain value to be set in Pn102 an overflow alarm m...

Page 240: ...cts of external disturbance By increasing the effective servo gain feed for ward control improves the system s response Parameter Pn109 is set to apply feed forward frequency compensation to position...

Page 241: ...nly This method can suppress overshooting and shorten setting time Refer to 6 2 5 Using Mode Switch for particular conditions If PI control mode is used when the speed reference has a reference offset...

Page 242: ...g according to the application The bias increment width Pn108 is expressed as an error pulse width that determines the time in which bias input Pn107 takes effect The bias input is ON if the error pul...

Page 243: ...de switch is used to fully utilize performance of a servodrive to achieve very high speed position ing The speed response waveform must be observed to adjust the mode switch 2 For normal use the speed...

Page 244: ...ershoot due to torque saturation during motor acceleration or deceleration The mode switch function suppresses torque saturation and eliminates motor speed overshoot or undershoot Speed Reference Used...

Page 245: ...cceleration Used as Detection Point If motor acceleration exceeds the value set in parameter Pn10E the speed loop switches to P control Motor speed Speed reference Without mode switch Long setting tim...

Page 246: ...ameter Pn10F the speed loop switches to P control Operating Example In this example the mode switch is used to reduce setting time Generally speed loop gain must be increased to reduce setting time Us...

Page 247: ...oard Note that the automatic gain switching function is disabled for the control modes other than position control And the real time autotuning function is disabled while gain setting 2 is selected Ga...

Page 248: ...p Gain switching timer 0 clear Position error Pn125 Automatic gain switching condition Position reference and Position error Gain switching timer count up Gain switching timer 0 clear Without position...

Page 249: ...tory Set ting Pn10B 2 Automatic gain switching selection 0 Automatic gain switching dis abled 0 1 Position reference 2 Position error 3 Position reference and position error Parameter No Name Unit Set...

Page 250: ...tails regarding Pn110 2 First make normal servo gain adjustments with no feedback compensation In this case gradually increase the speed loop gain in Pn100 while reducing the speed loop integral time...

Page 251: ...5 Decrease the speed feedback compensation to a value lower than 90 Then repeat steps 2 through 4 to shorten the setting time If the speed feedback com pensation is too low however the response wavefo...

Page 252: ...ics of the machinery automatically and makes the necessary servo gain adjustments The function is easy to use and makes it possible for even beginners to perform servo gain tuning and set all servo ga...

Page 253: ...load changes rapidly When the application has slow acceleration or deceleration using the soft start function and the speed error of the servomotor being driven is small When adjusting the servomotor...

Page 254: ...001 Set so that online autotuning is not performed Set Pn110 0 to 2 Load inertia changes Operation OK Adjust the friction compensation Set in Pn110 2 End Make servo gain adjustments manually No Yes No...

Page 255: ...s in the above table Note If parameters Pn102 Pn100 Pn101 and Pn401 are set manually with the online auto tuning function enabled tuning is performed with the manually set values as target values Chan...

Page 256: ...ator 1 Press the MODE SET key to select Fn007 in the auxiliary function mode 2 Press the DATA SHIFT key for a minimum of 1 second The following data will be displayed 3 Press Up Arrow or Down Arrow ke...

Page 257: ...ant Fn007 in the auxiliary function mode In this case the inertia value set in parameter Pn103 will be changed On the basis of the rotor inertia of the servomotor the inertia ratio is expressed in per...

Page 258: ...e DATA ENTER key to return to the auxiliary function mode This completes the procedure for saving the results of online auto tuning When the servo amplifier is turned ON again the inertia ratio set in...

Page 259: ...ates due to the load conditions Then the response characteristics can be kept stable by continuously refreshing the inertia calculation data is refreshed continuously and reflecting them in the servo...

Page 260: ...ia If this compensation function is enabled select small or large friction compensation according to the extent of friction in order to ensure highly precise load inertia calculation Note 1 Do not set...

Page 261: ...feedback loops i e position loop speed loop and current loop The innermost loop must have the highest response speed and the middle loop must have higher response speed than the outermost If this prin...

Page 262: ...as shown in the following graph If this happens reduce the position loop gain or increase the speed loop gain The position loop gain must not exceed the natural frequency of the mechanical system For...

Page 263: ...if the inertia ratio set in Pn103 is correct Speed loop gain Kv Set value of Pn100 Hz Set Pn103 to the following value Note In the case of manual adjustments of parameters the user must set the value...

Page 264: ...mp mode only In normal control operation change the position loop gain through the host or change the speed reference input gain in Pn300 in the servo amplifier The position loop gain remains the same...

Page 265: ...the value of the time constant increases the response becomes slower If the load inertia is large or the mechanical system is likely to vibrate make sure that the speed loop integral time constant is...

Page 266: ...high pitched tone shaft torsional resonance may occur In that case set Pn401 to a larger value 5 Finally progressively make fine adjustments to parameters such as the position loop gain speed loop gai...

Page 267: ...nction This function adds the bias set in Pn107 to the output i e speed reference of the error counter if the number of accumulated pulses of the error counter exceeds the bias increment width set in...

Page 268: ...sible Machines with High Rigidity These machines are directly connected to ball screws Examples Chip mounting machine bonding machine and high precision machine tool Machines with Medium Rigidity Thes...

Page 269: ...wing formula Where Kp s 1 Position Loop Gain Vs pps Constant Speed Reference Pulse Constant Error The number of accumulated pulses of the error counter at the above constant speed When the inertia rat...

Page 270: ...ble Color Signal Name Description White Analog monitor 1 Torque reference 1V 100 rated torque Red Analog monitor 2 motor speed 1 V 1000rpm Black two wires GND 0V Parameter Signal Setting Description P...

Page 271: ...meter Setting Mode 7 8 7 1 7 Operation in Monitor Mode 7 14 7 2 Applied Operation 7 20 7 2 1 Operation in Alarm Traceback Mode 7 21 7 2 2 JOG Operation Using the Digital Operator 7 22 7 2 3 Automatic...

Page 272: ...ch can be connected to the servo amplifier through connector CN3 of the servo amplifier There is no need to turn OFF the servo amplifier to connect this hand held operator to the servo amplifier Refer...

Page 273: ...et each parameter or display the set value of each parameter Value Change JOG Key Up Arrow Key Press this key to increase the set value This key is used as a forward start key in JOG operation Down Ar...

Page 274: ...rm after eliminating the cause of the alarm first Refer to 9 2 Troubleshooting SGDM MODE SET DATA SERVOPACK 200V YASKAWA Built in Panel Operator Key Name Function Up Arrow Key Press this key to set pa...

Page 275: ...ata and codes are displayed to indicate the status of the servo amplifier Selecting Status Display Mode The digital operator goes into status display mode when the digital operation is turned ON Data...

Page 276: ...put speed reference exceeds preset value Specified value Set in Pn502 Default setting is 20rpm Torque Reference Input Lit if input torque reference exceeds preset value Preset value 10 rated torque is...

Page 277: ...eset value Set in Pn502 Default setting is 20rpm Reference Pulse Input Lit if reference pulse is input Error Counter Clear Input Lit when error counter clear signal is input Power Ready Lit when main...

Page 278: ...d to change parameter data Check the permitted range of the parameters in Appendix B List of Parameters before changing the data The example below shows how to change parameter Pn507 from 100 to 85 Us...

Page 279: ...to select the parameter number to set Pn507 is selected in this example 3 Press the DATA SHIFT key for a minimum of one second to display the current data for the parameter selected in step 2 4 Press...

Page 280: ...itches 2 0000 See 1 Pn003 Function Selection Application Switches 3 0002 Gain related Parameters Pn10B Gain related Application Switches 0000 See 2 Pn110 Online Autotuning Switches 0010 See 2 Position...

Page 281: ...eter Pn000 is expressed as Pn000 0 Each digit of the function selection parameters is defined as shown below The parameter displayed below shows how the digits in the display are assigned Display Appl...

Page 282: ...ess the Up Arrow or Down Arrow key to change the value Pn000 is selected in this example 3 Press the DATA ENTER key to display the current data of the parameter selected in the above step 2 4 Press th...

Page 283: ...n000 is selected in this example 3 Press the DATA SHIFT key for a minimum of one second to display the current data for the selected parameter 4 Press the DATA SHIFT key to select the digit to be set...

Page 284: ...low shows how to display 1500 the contents of monitor number Un000 when the Servomotor rotates at 1500rpm Example With the Hand held Digital Operator 1 Press the DSPL SET key to select the monitor mod...

Page 285: ...speed rpm Un001 Input speed reference rpm See note 3 below Un002 Internal torque reference Value for rated torque Un003 Rotation angle 1 pulses Number of pulses from the origin Un004 Rotation angle 2...

Page 286: ...top and bottom rows The horizontal segments are not used here These turn ON or OFF relative to the state of the corresponding input signals ON for L level and OFF for H level Examples When S ON signa...

Page 287: ...hey are indicated by the ON OFF status of the vertical parts of seven segment displays located in top and bottom rows The horizontal segments are not used here These turn ON or OFF relative to the sta...

Page 288: ...rnately display the leftmost and the rightmost 16 bit data 5 Press both the Up Arrow AND Down Arrow keys simultaneously to clear the 32 bit counter data 6 Press the DATA ENTER key once more to return...

Page 289: ...Using the Digital Operator 7 19 5 Press both the Up Arrow AND Down Arrow keys simultaneously to clear the 32 bit counter data 6 Press the DATA SHIFT key once more for a minimum of one second to retur...

Page 290: ...arch mode Fn004 Reserved parameter Fn005 Parameter settings initialization See note Fn006 Alarm traceback data clear Fn007 Writing to EEPROM the inertia ratio data obtained from online auto tuning Fn0...

Page 291: ...in the auxiliary function mode 2 Press the DATA ENTER key and the alarm traceback data will be displayed 3 Press the Up Arrow or Down Arrow key to scroll the alarm sequence numbers up or down and dis...

Page 292: ...e Digital Operator Operation from the digital operator allows the servo amplifier to run the motor This allows rapid checking of motor s rotation direction and speed setting during machine setup and t...

Page 293: ...he SVON key to set to the servo ON state with motor power turned ON 4 Press the Up Arrow or Down Arrow key to operate the motor The motor keeps operating while the key is pressed 5 Press the MODE SET...

Page 294: ...motor power turned OFF Alternatively press the DATA SHIFT key for a minimum of one second to set to the servo OFF state 6 Press the DATA SHIFT key for a minimum of one second and the display will reve...

Page 295: ...The amount of offset can be checked in the Speed Reference Offset Manual Adjustment Mode Refer to 7 2 4 Manual Adjustment of the Speed and Torque Reference Offset for details The automatic reference...

Page 296: ...t Arrow or Right Arrow key to select the digit Press the Up Arrow or Down Arrow key to change the value 4 Press the DATA ENTER key and the display will be as shown below 5 Press the MODE SET key and t...

Page 297: ...n to the auxiliary function mode display This completes the speed torque reference offset automatic adjustment 7 2 4 Manual Adjustment of the Speed and Torque Reference Offset Manual speed torque refe...

Page 298: ...plifiers The figure below shows the offset adjustment ranges and resolutions for new Sigma II amplifiers Sigma II Amplifier with version 33 or higher Reference Speed or Reference Torque Offset Setting...

Page 299: ...l adjustment mode for the speed reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as shown below 5 Press the Left Arrow or Right Arrow key to display the speed re...

Page 300: ...ON the Servo ON S ON signal The display will be as shown below 5 Press the DATA SHIFT key for less than one second to display the speed reference offset amount 6 Press the Up Arrow or Down Arrow key t...

Page 301: ...Press the DATA ENTER key and the display will be as shown below The manual adjustment mode for the torque reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as sh...

Page 302: ...t will be entered 4 Turn ON the Servo ON S ON signal The display will be as shown below 5 Press the DATA SHIFT key for less than one second to display the torque reference offset amount 6 Press the Up...

Page 303: ...ator 1 Press the DSPL SET key to select the auxiliary function mode 2 Select the parameter Fn006 Press the Left Arrow or Right Arrow key to select the digit Press the Up Arrow or Down Arrow key to cha...

Page 304: ...hown above in step 3 5 Press the DATA SHIFT key for a minimum of one second to return to the parameter code display This completes the alarm traceback data clearing procedure 7 2 6 Checking the Motor...

Page 305: ...ress the DATA ENTER key to return to the auxiliary function mode display Voltage Servomotor Model Code Voltage Code Servomotor Model 00 100VAC or 140VDC 00 SGMAH 01 200VAC or 280VDC 01 SGMPH 02 400VAC...

Page 306: ...TA SHIFT key for a minimum of one second to display the servomotor model and voltage code 4 Press the MODE SET key to display the Servomotor capacity 5 Press the MODE SET key and the encoder type and...

Page 307: ...unction mode display Pressing the DATA SHIFT key after the above displays in steps 3 to 5 will also return to the auxiliary function mode display This completes the motor type checking procedure Encod...

Page 308: ...n of the encoder mounted on the motor will be displayed 4 Press the DATA ENTER key to return to the parameter code display This completes the checking software version procedure Using the Built in Pan...

Page 309: ...for executing the origin search is 60rpm The following conditions must be met to perform the origin search operation If the Servo ON input signal S ON is ON turn it OFF Release the Servo ON signal mas...

Page 310: ...display will be as shown below Now it is ready for executing the origin search 5 Hold down the Up Arrow or Down Arrow key to execute the origin search When the parameter is set to Pn000 0 0 default pr...

Page 311: ...n search mode 5 Hold down the Up Arrow or Down Arrow key to execute the origin search When the parameter is set to Pn000 0 0 default pressing the Up Arrow key will rotate the motor in the forward dire...

Page 312: ...or Right Arrow key to select the digit Press the Up Arrow or Down Arrow key to change the value 3 Press the DATA ENTER key and the display will be as shown below 4 Press the DSPL SET key and the displ...

Page 313: ...Press the MODE SET key and the display will be as shown below The parameters will be initialized 5 Press the DATA SHIFT key for a minimum of one second to return to the auxiliary function mode display...

Page 314: ...zero adjustment function to compensate for the output voltage drift or the zero point drift caused by noise entering the monitor system The gain adjustment function can be changed to match the sensit...

Page 315: ...low 4 Press the DSPL SET key Each time the MODE SET key is pressed the monitor output will toggle between the displays for the two channels shown below 5 Press the Left Arrow or Right Arrow key to dis...

Page 316: ...s shown below 5 Press the DATA SHIFT key for less than one second and the analog monitor gain parameter will be displayed Pressing the DATA SHIFT key again for less than one second will return to the...

Page 317: ...y Each time the DSPL SET key is pressed the monitor output will toggle between the displays for the two channels shown below 5 Press the Left Arrow or Right Arrow key to display the analog monitor gai...

Page 318: ...HIFT key for less than one second The gain parameter for the analog monitor will be displayed Pressing the DATA SHIFT key again for less than one second will return to the display shown above in step...

Page 319: ...t of the Motor Current Detection Offset Use the following procedure to perform automatic adjustment of the current detection offset Using the Hand held Digital Operator 1 Press the DSPL SET key to sel...

Page 320: ...ect the auxiliary function mode 2 Press the Up Arrow or Down Arrow key to select the parameter Fn00E 3 Press the DATA SHIFT key for a minimum of one second and the display will be as shown below 4 Pre...

Page 321: ...adjustment mode 5 Press the Left Arrow or Right Arrow key to display the current detection data Pressing the Left Arrow or Right Arrow key again will return to the display shown above in step 3 or 4...

Page 322: ...Cu1_0 and V phase Cu2_0 current detection offset adjustment mode 5 Press the DATA SHIFT key for less than one second to display the current detection data Press the DATA SHIFT key again for less than...

Page 323: ...otection feature Using the Hand held Digital Operator 1 Press the DSPL SET key to select the auxiliary function mode 2 Select the parameter Fn010 Press the Left Arrow or Right Arrow key to select the...

Page 324: ...ng the write protect The new setting password will be valid after the next power OFF ON cycle 7 2 13 Clearing the Option Unit Detection Alarm The alarm A E7 option unit detection failure occurs the fi...

Page 325: ...he Up Arrow or Down Arrow key to change the value 3 Press the DATA SHIFT key for a minimum of one second and the display will be as shown below 4 Press the DSPL SET key and the display will be as show...

Page 326: ...to change the value 3 Press the DATA SHIFT key for a minimum of one second and the display will be as shown below 4 Press the MODE SET key and the display will be as shown below The parameters will b...

Page 327: ...servo drives 8 1 Servomotors Ratings Specifications and Dimensional Drawings 8 2 8 1 1 SGMAH Servomotors 8 2 8 1 2 SGMPH Servomotors 8 7 8 1 3 SGMGH Servomotors 8 11 8 1 4 SGMSH Servomotors 8 15 8 1 5...

Page 328: ...Vibration Class 15 m or below Withstand Voltage 1500Vac for one minute Insulation Resistance 500VDC 10M minimum Enclosure Totally enclosed self cooled IP55 except for through sections of the shaft Amb...

Page 329: ...SGMAH A3A A5A 01A 02A 04A 08A A3B A5B 01B 02B Moment of Inertia oz in s2 x 10 3 0 235 0 312 0 515 1 501 2 45 9 52 0 235 0 312 0 515 1 501 kg m2 x 10 4 0 0166 0 0220 0 0364 0 106 0 173 0 672 0 0166 0 0...

Page 330: ...4 6 8 0 400 800 1200 TORQUE N m TORQUE oz in B A SPEED rpm 4000 3000 2000 1000 5000 0 0 0 5 1 1 5 2 0 100 200 300 TORQUE N m TORQUE oz in SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 50 100 150 TORQUE N...

Page 331: ...UE N m TORQUE oz in 0 50 100 150 TORQUE oz in TORQUE N m SGMAH 01 SPEED rpm 4000 3000 2000 1000 5000 0 B A SGMAH A3 B A 0 0 1 0 2 0 3 0 4 0 20 40 60 TORQUE N m TORQUE lb in SPEED rpm 4000 3000 2000 10...

Page 332: ...72 94 5 0 32 8 0 7 1 8 0 7 1 8 0 12 3 0 5 1 10 02A B 3 80 96 5 1 18 30 0 24 6 2 36 60 0 12 3 2 76 70 0 22 5 5 0 56 14 1 98 50 0 79 20 0 12 3 0 2 5 0 2 5 1 1 2 43 04A 4 90 124 5 1 7 3 75 08A 5 71 145...

Page 333: ...o 40 C Ambient Humidity 20 to 80 with no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method Voltage 200V 100V Servomotor Model SGMPH 01A 02A 04A 08A 15A 01B 02B...

Page 334: ...00 600 TORQUE oz in B A SGMPH 15 SPEED rpm 4000 3000 2000 1000 5000 0 0 800 1600 2400 TORQUE oz in 0 4 8 12 16 TORQUE N m B A SGMPH 08 SPEED rpm 4000 3000 2000 1000 5000 0 0 2 4 6 8 TORQUE N m 0 400 8...

Page 335: ...9 100V B A TORQUE oz in 0 50 100 150 0 0 25 0 5 0 75 1 0 TORQUE N m SGMPH 01 SPEED rpm SGMPH 02 B A 0 100 200 300 TORQUE oz in 0 0 5 1 1 5 2 TORQUE N m SPEED rpm 4000 3000 2000 1000 5000 0 4000 3000 2...

Page 336: ...90 0 28 7 0 56 14 2 76 70 0 64 16 0 12 3 0 2 5 0 2 5 3 09 1 4 04A B 3 43 87 4 63 2 1 08A B 3 410 86 5 1 18 30 0 39 10 4 72 120 0 14 3 5 5 71 145 0 39 10 0 64 16 4 37 110 0 87 22 9 26 4 2 15A 4 51 114...

Page 337: ...20 to 80 with no condensation Mounting Flange method Drive Method Direct drive Voltage 200V Servomotor Model SGMGH 05A A 09A A 13A A 20A A 30A A 44A A 55A A 75A A 1AA A 1EA A Rated Output 1 kW 0 45 0...

Page 338: ...102 165 252 310 425 620 845 N m 2 84 5 39 8 34 11 5 18 6 28 4 35 0 48 0 70 0 95 4 Instantaneous Peak Torque 1 lb in 79 122 207 254 404 630 804 1091 1550 1960 N m 8 92 13 8 23 3 28 7 45 1 71 1 90 7 12...

Page 339: ...600 800 0 50 100 150 TORQUE N m TORQUE lb in 0 500 1000 1500 B A SPEED rpm 3000 2000 1000 0 TORQUE N m TORQUE lb in 0 20 40 60 80 0 200 400 600 800 SPEED rpm 3000 2000 1000 0 B A SPEED rpm 3000 2000 1...

Page 340: ...6 54 166 3 11 79 0 71 18 7 09 180 0 13 3 2 7 87 200 0 53 13 5 1 38 35 4 50 114 3 2 99 76 2 36 60 0 20 5 0 39 10 0 31 8 30 9 14 30A A 30D A 7 56 192 39 7 18 44A A 44D A 8 9 226 50 7 23 55A A 55D A 10 2...

Page 341: ...to 80 with no condensation Mounting Flange method Drive Method Direct drive Voltage 200V Servomotor Model SGMSH 10A A 15A A 20A A 30A A 40A A 50A A Rated Output 1 kW 1 0 1 5 2 0 3 0 4 0 5 0 Rated Torq...

Page 342: ...ervomotors Voltage 400V Servomotor Model SGMSH 10D A 15D A 20D A 30D A 40D A 50D A Rated Output 1 kW 1 0 1 5 2 0 3 0 4 0 5 0 Rated Torque 1 lb in 28 2 43 56 4 87 112 140 N m 3 18 4 9 6 36 9 8 12 6 15...

Page 343: ...TORQUE N m TORQUE lb in 0 20 40 60 80 TORQUE N m TORQUE lb in 0 10 20 30 SPEED rpm 4000 3000 2000 1000 5000 0 B A SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 5 10 20 15 TORQUE N m 0 50 100 150 TORQUE...

Page 344: ...74 95 1 57 40 1 26 32 0 16 4 0 31 8 0 28 7 10 14 4 6 15A A 15D A 6 89 175 12 79 5 8 20A A 20D A 7 80 198 15 43 7 0 30A A 30D A 7 83 199 2 48 63 0 47 12 5 12 130 0 24 6 5 71 145 0 35 9 1 10 28 4 33 110...

Page 345: ...esistance 500VDC 10M minimum Enclosure Totally enclosed self cooled IP67 except for through sections of the shaft Ambient Temperature 0 to 40 C Ambient Humidity 20 to 80 with no condensation Excitatio...

Page 346: ...or speed characteristics of the SGMUH servomotors TORQUE N m TORQUE lb in 0 20 40 60 80 SPEED rpm 6000 4000 2000 0 0 4 8 12 SGMUH 10D A TORQUE N m TORQUE lb in 0 100 200 SPEED rpm 6000 4000 2000 0 0 1...

Page 347: ...16 0 14 3 5 5 12 130 0 35 9 0 94 24 4 33 110 1 57 40 1 26 32 10 14 4 6 15D A 6 89 175 12 78 5 8 30D A 7 83 199 2 36 60 0 47 12 6 10 155 6 50 165 0 43 11 1 10 28 5 12 130 2 17 55 1 96 50 24 25 11 Speci...

Page 348: ...Built In Mounting Flange mounting or Foot Mounted 55kW only Servomotor Model SGMBH 2BD A 3ZD A 3GD A 4ED A 5ED A Rated Output kW 22 30 37 45 55 Rated Torque N m 140 191 236 286 350 Instantaneous Peak...

Page 349: ...0 5325 7100 TORQUE N m TORQUE lb in 0 200 400 600 800 SGMBH 5EA D B A SPEED rpm 2000 1000 0 0 1775 3550 5325 TORQUE N m TORQUE lb in SGMBH 4EA D B A SGMBH 3GA D SPEED rpm 2000 1000 0 TORQUE N m TORQUE...

Page 350: ...0 05 0 0012 0 03 A W T U Y Y Cross section Y Y KT KS KN LC Q QK S LB J LC 4 LZ LE LG LN LF LP LD LL L KG KB1 KB2 CK1 CK2 L H L A Fan connector Encoder connector Power wiring LR 2 40 61 Specified Tole...

Page 351: ...0 43 11 0 28 7 3Z D A6C 36 64 930 31 13 790 9 65 245 18 16 461 24 57 624 26 46 672 11 5 292 A A 0 0020 0 05 0 0020 0 05 0 0012 0 03 A W T U Y Y Cross section Y Y KT KS KN LC Q QK S LB J LC 4 LZ LE LG...

Page 352: ...C Q QK S L A LB J LC 4 LZ LE LG LN LF LP LD LL L KG KB1 KB2 0 0020 0 05 A 0 0020 0 05 A A 0 0012 0 03 Fan connector Encoder connector Power wiring W T U Y Y Cross section Y Y CK1 CK2 L H 2 40 61 Type...

Page 353: ...me when using either incremental or absolute encoders 2 Tolerances on the dimensions of flange type LB of shaft extensions S and of keyway width and depth are based on JIS Japanese Industrial Standard...

Page 354: ...Rotor Moment of Inertia N m 10 4 25 0 61 0 99 0 67 0 167 0 266 0 Construction Outside Diameter mm 135 175 Length mm 51 80 120 59 80 120 Mass kg 5 0 6 2 8 6 7 2 10 2 14 2 Protective Construction IP42 V...

Page 355: ...1260 1730 1260 2360 3140 Rated Torque N m 45 80 110 80 150 200 Instantaneous Peak Torque N m 135 240 330 240 450 600 Rated Current A 5 8 9 74 13 4 9 35 17 4 18 9 Instantaneous Max Current A 17 28 42...

Page 356: ...s the number of times the servomotor is allowed to accelerate and decelerate through a 0rpm maximum motor speed 0rpm cycle in a minute Voltage Single phase 200V Three phase 200V Servo Amplifier Model...

Page 357: ...W 0 1 0 2 0 4 0 75 1 5 0 75 1 5 Motor Speed rpm Rated 3000 maximum 5000 Applicable Encoder Standard 13 bit incremental encoder Continuous Output Current Arms 0 89 2 0 2 6 4 1 7 5 4 1 7 5 Maximum Outpu...

Page 358: ...Three phase 200V Servo Amplifier Model SGDH 10AE 15AE 20AE 30AE 40AE 50AE SGMSH Series Applicable Servo motor Model SGMSH 10A 15A 20A 30A 40A 50A Capacity kW 1 0 1 5 2 0 3 0 4 0 5 0 Motor Speed rpm Ra...

Page 359: ...02BE SGMAH Series Applicable Servomotor Model SGMAH A3B A5B 01B 02B Capacity kW 0 03 0 05 0 1 0 2 Motor Speed rpm Rated 3000 maximum 5000 Applicable Encoder Standard 13 bit incremental encoder Continu...

Page 360: ...3 1 8 2 9 4 4 5 5 7 5 11 15 Motor Speed rpm Rated 1500 maximum 3000 Rated 1500 maximum 2000 Applicable Encoder Standard 17 bit incremental encoder Continuous Output Current Arms 1 9 3 5 5 4 8 4 11 9...

Page 361: ...nerative Resistor for more details on allowable regenerative energy and frequency Voltage Three phase 400V Servo Amplifier Model SGDH 05DE 10DE 15DE 20AE 30DE SGMSH Series Applicable Servomotor Model...

Page 362: ...A A 1500rpm 05 09 13 20 30 SGMSH A 10 15 20 30 400V SGMGH D 05 09 13 20 30 SGMSH D 10 15 20 30 SGMUH D 10 15 30 Basic Specifications Maximum Applicable Servomotor Capacity kW 0 03 0 05 0 1 0 2 0 4 0 4...

Page 363: ...Main Circuit 100V For Single phase 100 to 115Vac 10 to 15 50 60Hz 200V Single Three phase 200 to 230Vac 10 to 15 50 60Hz 400V Three phase 380 to 480VAC 10 to 15 50 60Hz Control Circuit 100V For Singl...

Page 364: ...Setting 0 to 10s Can be set individually for acceleration and deceleration Input Signals Speed Reference Input Reference Voltage 2 6VDC Variable setting range 2 to 10VDC at rated torque positive torq...

Page 365: ...ernal regenerative resistor Built in Overtravel Stop Dynamic brake stop at P OT or N OT deceleration to a stop or free run to a stop Electronic Gear 0 01 A B 100 Protection Overcurrent overvoltage low...

Page 366: ...Current Arms 32 9 46 9 54 7 58 6 78 0 Maximum Output Current Arms 84 110 130 140 170 400V Continuous Input Current Arms 14 9 17 8 22 3 32 7 44 6 Continuous Output Current Arms 16 5 21 1 27 4 28 1 37 2...

Page 367: ...ng 0 to 10s Can be set individually for acceleration and deceleration Input Signals Speed Reference Input Reference Voltage 2 6VDC Variable setting range 2 to 10VDC at rated torque positive torque ref...

Page 368: ...Brake Operated at main power OFF servo alarm servo OFF or overtravel Regeneration Built in External regenerative resistor Overtravel Stop Dynamic brake stop at P OT or N OT deceleration to a stop or f...

Page 369: ...r Location Ambient Storage Temperature 2 0 to 55 C 20 to 85 C Ambient Storage Humidity 90 Relative Humidity or less no condensing Vibration Shock Resistance 9 8m s2 1G 49m s2 5G Cyclic shock resistanc...

Page 370: ...rotation current limit or contact input speed control Sequence Out put Servo alarm 3 bit alarm codes Select three of the follow ing Positioning complete speed coincidence TGON servo ready current limi...

Page 371: ...0 39 10 Mounting Hole Diagram 0 22 5 89 149 5 0 020 0 5 Mounting pitch 0 20 0 20 5 Approximate mass 1 76lb 0 8kg The same servo amplifier connector is used for SGDH A3AE 30W to SGDH 30AE 3 0kW and SGD...

Page 372: ...HARGE DATA POWER YASKAWA SERVOPACK SGDH 5 12 130 2 95 75 2 95 75 0 24 6 0 24 6 0 39 10 0 20 5 Ground terminal 2 x M4 screws 6 30 160 2 0 20 5 holes Terminal block 3 types Mounting Hole Diagram 0 22 2...

Page 373: ...E DATA POWER YASKAWA SERVO SGDH 3 54 90 7 09 180 1 06 0 39 10 1 38 35 2 95 75 Ground 2 x M4 0 24 6 6 30 160 Terminal block 3 types L3 B3 Air flow 0 59 15 Air flow 2 17 55 Air flow 0 67 17 Mounting Hol...

Page 374: ...ER YASKAWA SGDH 7 09 180 2 95 75 0 20 5 4 33 110 2 x M4 screws Terminal block 3 types 6 30 160 Air flow Air flow Heat sink 2 0 20 5 holes Mounting Hole Diagram 0 22 2 x M4 screw holes 5 89 149 5 0 020...

Page 375: ...SERVOPACK SGDH 7 09 180 2 95 75 Mounting Hole Diagram 0 24 4 x M5 screw holes 9 39 238 5 0 020 0 5 Mounting pitch 0 22 0 020 0 5 Mounting pitch Cooling fan Approximate mass 8 38lb 3 8kg 0 16 4 100 1...

Page 376: ...1 8 1 54 9 84 250 5 31 135 4 92 125 0 20 4 x M5 screw holes 0 24 0 22 Mounting pitch Heat sink 2 0 24 6 holes Ground terminal 2 M4 screws 5 pin terminal M6 mounting screw 3 pin terminal M5 mounting sc...

Page 377: ...x 0 75 19 6 75 171 1 11 4 92 125 maximum 13 78 350 0 98 25 terminal A Main circuit terminal maximum 9 25 235 4 20 106 8 3 45 87 7 1 06 27 10 0 39 CN10 Control circuit terminal 0 83 21 1 54 39 8 31 21...

Page 378: ...CN5 CN2 CN1 4 61 117 1 81 46 0 28 7 0 28 1 2 30 7 1 11 0 79 maximum 9 05 230 6 22 158 M8 Ground terminal M5 Main circuit terminal maximum 9 25 235 Cooling fan Air flow Air flow CN10 L1 L2 L3 B1 B2 U V...

Page 379: ...flow 0 68 17 0 75 SERVOPACK 200V SGDH Ver YASKAWA 7 87 200 0 295 0 295 7 5 19 0 28 7 1 42 36 0 35 9 1 18 1 18 0 31 30 30 0 28 M4 Mounting screws 7 0 295 7 5 17 13 435 8 8 8 8 8 5 51 140 CN2 CN1 CN3 DA...

Page 380: ...2 117 0 94 24 11 22 285 Air flow 0 68 17 0 75 SERVOPACK 200V SGDH Ver YASKAWA 7 87 200 0 295 0 295 7 5 19 0 28 7 1 42 36 0 35 9 1 18 1 18 0 31 30 30 0 28 M4 Mounting screws 7 0 295 7 5 17 13 435 8 8 8...

Page 381: ...l 2 x M8 screws Cooling fan Front cover Air flow Control circuit connector 19 69 500 4 57 116 5 59 142 Note Dimensions are for positioning of application module Unlike other Sigma II amplifiers the ma...

Page 382: ...01 305 6 61 152 18 70 475 4 M8 Mounting holes unting Hole Diagram M8 Main circuit terminal Ground terminal 2 x M8 screws Cooling fan Front cover Air flow Control circuit connector 19 69 500 4 57 116 5...

Page 383: ...holes Mounting Hole Diagram M8 Main circuit terminal Ground terminal 2 x M8 screws Cooling fan Front cover Air flow 3CN 2CN 1CN 3 56 65 Approximate Mass 132 3lb 60kg Control circuit connector Mating c...

Page 384: ...5 4 M8 Mounting holes Mounting Hole Diagram M10 Main circuit terminal Ground terminal 2 x M8 screws Cooling fan Front cover Air flow 2 56 65 Approximate Mass 143 3lb 65kg Control circuit Connector for...

Page 385: ...arm display 9 1 Servodrive Inspection and Maintenance 9 2 9 1 1 Servomotor Inspection 9 2 9 1 2 Servo Amplifier Inspection 9 3 9 1 3 Replacing the Battery for the Absolute Encoder 9 4 9 2 Troubleshoot...

Page 386: ...ection 1 Measure across the servomotor FG and the U phase V phase or W phase power line During inspection and maintenance do not disassemble the servomotor If disassembly of the servomotor is required...

Page 387: ...e starting operation Periodic Part Replacement Operating Conditions Ambient Temperature Annual average of 30 C Load Factor 80 maximum Operation Rate 20 hours day maximum Action or Problem Frequency Pr...

Page 388: ...eries for the battery type recommended for absolute encoders Replace the battery using the following procedure if the battery voltage drops below the minimum required battery voltage Battery Replaceme...

Page 389: ...action to be taken Contact Yaskawa if the problem has not been solved after following the described procedures Note A Normal Operation is not an alarm Additional information appears on 38 A 02 A 02 Pa...

Page 390: ...us and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A Circuit board 1PWB or 2PWB defective Replace servo amplifier Alarm Out...

Page 391: ...FF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A The range of servomotor capaci ties that can be com...

Page 392: ...and servomotor Check and correct wiring B Shorted servomotor U V or W phase Replace servomotor C Defective circuit board 1PWB Defective power transistor Replace servo amplifier D Defective current fe...

Page 393: ...O3 ON ON OFF OFF Cause of the Problem Solution A Malfunctioning regenerative transistor Replace servo amplifier B Regenerative resistor is open Replace servo amplifier or regen erative resistor C Disc...

Page 394: ...y for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON ON OFF OFF Cause of the Problem Solution A Regenerative power exceeds the limit Use an external regenerative resistor that matc...

Page 395: ...LM Output ALO1 ALO2 ALO3 OFF OFF ON OFF Cause of the Problem Solution A Power supply voltage is not within the range of specifications Check power supply B Load exceeds capacity of the regen erative u...

Page 396: ...stor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF ON OFF Cause of the Problem Solution A The power supply voltage exceeds specified range Check p...

Page 397: ...ON OFF ON OFF Cause of the Problem Solution A Incorrect servomotor wiring Check and correct wiring Check for U V and W phase wiring errors B Position or speed reference input is too large Lower the r...

Page 398: ...or Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Cause of the Problem Solution A Incorrect or disconnected servo motor wiring Check wiring and connectors at the servomot...

Page 399: ...level is set under hot start conditions at a servomotor ambient temperature of 40 C Note The overload protection characteristics of A and B in the figure are applicable when the servo ampli fier is c...

Page 400: ...t ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Cause of the Problem Solution A The product of the square of rotational motor speed the combined inertia of the motor and load rotation energy exceeds the capa...

Page 401: ...alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Cause of the Problem Solution A Frequently turning the main ci...

Page 402: ...at sink overheats Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Cause of the Problem Solution A The ambient temperature of the servo amplifier exceeds 55 C Alter conditions so...

Page 403: ...Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A The following power supplies to the absolute encoder both failed 5V supply Battery power...

Page 404: ...Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A Error during encoder memory check Follow absolute encoder setup procedure Replace servo...

Page 405: ...ifier if the battery error occurs during operation Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A Disconnected battery Defective battery conn...

Page 406: ...Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A Malfunctioning absolute encoder Replace servomotor if error occurs frequently B Operational error in encoder cause...

Page 407: ...tput transistor is OFF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A Absolute encoder turned ON at m...

Page 408: ...ode Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A The ambient temperature of the servomotor is high Alter conditions so that the ambi ent temperature goes below 40 C...

Page 409: ...utputs Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A Error in refe...

Page 410: ...e of the Problem Solution A Incorrect or disconnected servomotor wiring Check wiring and connectors at the servomotor B Incorrect or disconnected encoder wiring Check wiring and connectors at the enco...

Page 411: ...tputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause of the Problem...

Page 412: ...tus and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause of the Problem Solution A Incorrect or disconnected encoder wiring Check wiring and connectors at...

Page 413: ...and Outputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause of the P...

Page 414: ...OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause of the Problem Solution A Incorrect or disconnecte...

Page 415: ...LM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause of the Problem Solution A Incorrectly set Multi Turn Limit Setting parameter Pn205 in the servo amplifier Change the value in parameter Pn205 B No Multi Tu...

Page 416: ...ervo amplifier was not correctly adjusted Increase speed loop gain Pn100 and position loop gain Pn102 C Motor load was excessive Reduce load torque or inertia If problem persists replace with a larger...

Page 417: ...ut ALO1 ALO2 ALO3 ON ON OFF OFF Cause of the Problem Solution A The SGDH amplifier is used immediately after disconnection of an option unit without clearing the unit detector To use the SGDH amplifie...

Page 418: ...higher Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF ON OFF OFF Cause of the Problem Solution A One phase L1 L2 or L3 of the main circuit power supply is dis connected Check power sup...

Page 419: ...nd Outputs Status and Remedy for Alarm Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 Not Applicable Cause of the Problem Solution A Cable defective or poor contact between digital operator...

Page 420: ...larm Code Output ALM Output ALO1 ALO2 ALO3 Not Applicable Cause of the Problem Solution A Cable defective or poor contact between digital operator and servo amplifier Check connector connections Repla...

Page 421: ...2 2 Troubleshooting Problems with No Alarm Display Use the tables below to identify the cause of a problem that causes no alarm display and follow the described corrective procedure Turn OFF the servo...

Page 422: ...rm whether incremental or absolute encoder is used Set parameter Pn002 2 to the encoder type being used P OT and N OT inputs are turned OFF Refer to section 5 1 2 Turn P OT and N OT input signals ON C...

Page 423: ...otor surface dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor Abnormal noise Incorrect mechanical mounting S...

Page 424: ...not match each other A 10 ON OFF OFF OFF Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT Heat sink of servo amplifier was overheated A 30 ON ON OFF OFF Regeneration Error D...

Page 425: ...r reference speed input is faulty A b2 Reference Torque Input Read Error The A D converter for reference torque input is faulty A bF System Alarm A system error occurred in the servo amplifier A C1 ON...

Page 426: ...et in Pn281 Not available Check Un010 and correct the setting Turn OFF the control power and turn it ON again to enable the new setting A 0A Encoder model unmatched The mounted serial encoder is not s...

Page 427: ...FF Overload This warning occurs before either of the overload alarms A 71 or A 72 occurs If the warning is ignored and operation continues an overload alarm may result A 92 OFF ON OFF Regenerative Ove...

Page 428: ...board timed out Timer in SGDH starts timing when control board function starts Timer currently is set for 10 sec A E2 Watch Dog Timer alarm Option board and SGDH are out of synchronism A E5 MECHATROLI...

Page 429: ...ntroller when actually connecting to them A 1 Connecting the GL series MC20 Motion Module A 2 A 2 Connecting the CP 9200SH Servo Controller Module SVA A 3 A 3 Connecting the GL series B2813 Positionin...

Page 430: ...kawa s MC20 Servopack SGDM L1C W V U L3 L2 L1 L2C P CN1 PA PAO 1 33 PAO 2 34 PB PBO 3 35 PBO 4 36 PC PCO 5 19 PCO 6 20 VREF VREF 7 5 SG SG 8 6 BAT BAT 9 21 BAT0 BAT 10 22 24V 24VIN 19 47 SVON SON 13 4...

Page 431: ...24VIN 17 47 DO0 SON 22 40 DO1 PCON 47 41 DO2 NOT 23 43 DO3 POT 48 42 DO4 ALMRST 24 44 DI2 TGON 19 27 TGON 28 DI1 VCMP 43 25 VCMP 26 DI0 SRDY 18 29 SRDT 30 DI3 ALM 44 31 024V ALM 45 32 21 BAT BAT 22 S...

Page 432: ...circuit power supply to the servopack 2 Set user parameter Pn200 0 to 1 3 Connect the shield wire to the connector shell P indicates twisted pair wires 1Ry CN2 CN1 M P G CN2 CN1 024 V 24 V 12 V 5 V 0...

Page 433: ...the shield wire to the connector shell P indicates twisted pair wires Note Only signals applicable to OMRON s C500NC221 Position Control Unit and Yaskawa s SGDM servo amplifier are shown here P P P CN...

Page 434: ...3 Manufactured by Yaskawa Controls Co Note Only signals applicable to OMRON s C500NC112 Position Control Unit and Yaskawa s SGDM servo amplifier are shown here CN1 CN2 12V I O Power Supply C500NC112 M...

Page 435: ...bers are the same for both the X axis and the Y axis 3 Connect the connector wire of the cable to the connector shell P indicates twisted pair wires Note Only signals applicable to MITSUBISHI s AD72 P...

Page 436: ...he ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the servopack Note Only signals applicable to MITSUBISHI s AD75 Positioning Unit and Yaskawa s SGDM servo ampl...

Page 437: ...hes Applicable only to SGDH amplifiers with version 33ooo or higher B 12 B 3 Input Signal Selections B 13 B 4 Output Signal Selections B 15 B 4 1 Additional Output Signal Selection Applicable only to...

Page 438: ...10000 0 6 2 1 6 3 3 Pn104 2nd Speed Loop Gain Hz 1 to 2000 40 Pn105 2nd Speed Loop Integral Time Constant 0 01ms 15 to 51200 2000 Pn106 2nd Position Loop Gain s 1 1 to 2000 40 Pn107 Bias rpm 0 to 450...

Page 439: ...2 Speed Parameters Pn300 Speed Reference Input Gain 0 01V rated speed 150 to 3000 600 5 2 1 Pn301 Speed 1 rpm 0 to 10000 100 5 2 6 Pn302 Speed 2 rpm 0 to 10000 200 5 2 6 Pn303 Speed 3 rpm 0 to 10000 3...

Page 440: ...to 10000 10 5 4 3 Pn502 Rotation Detection Level rpm 1 to 10000 20 5 5 5 Pn503 Speed Coincidence Signal Output Width rpm 0 to 100 10 5 5 4 Pn504 NEAR Signal Width ref units 1 to 250 7 5 5 8 Pn505 Ove...

Page 441: ...nctionSelection Application Switches 4 1 0000H 1110H 0000H The settings on 2nd and 3rd digits are added Pn080 FunctionSelection Basic Switches Only for linear motors 1 0000H 1011H 0000H The setting on...

Page 442: ...o Only for linear motors 1 pulse scale pitch 1 255 20 Upper limit is modified from 256 to 255 Speed Related Parameters Pn309 Reserved Do not change rpm 0 500 60 Newly added Pn384 Motor Max Speed Only...

Page 443: ...e above list is the upper limit For further information on the restrictions refer to 4 2 Additional Setup Procedures in Trial Operation Sequence Related Parameters Pn510 Output Signal Selections 3 1 0...

Page 444: ...eed control analog reference Zero clamp B Position control pulse tra in reference Position control Inhibit 2 Axis Address 0 to F Sets servo amplifier axis address 0 3 Reserved 0 Pn001 Function Selecti...

Page 445: ...ue Reference Monitor Analog Monitor 2 Speed Reference Monitor 0 Motor speed 1V 1000rpm 2 1 Speed reference 1V 1000rpm 0 2 Torque reference 1V 100 3 Position error 0 05V 1 reference units 4 Position er...

Page 446: ...phase B phase x1 negative logic 8 A phase B phase x2 negative logic 9 A phase B phase x4 negative logic 1 Error Counter Clear Signal Form 0 Clears error counter when the signal goes high 0 1 Clears er...

Page 447: ...dix B List of Parameters B 11 Pn408 Torque Control Function Switches 0 Notch Filter Selection 0 Disabled 0 1 Uses a notch filter for torque reference 1 Not used 2 3 Parameter Digit Place Name Setting...

Page 448: ...e the allowable maximum dividing ratio 0 The setting on 3rd digit is added 1 Fix the maximum dividing ratio and calculate the allowable maximum motor speed Pn10B Gain Application Switches 2 Automatic...

Page 449: ...he SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reverse signal from the SI0 CN1 40 input terminal A Inputs the reverse signal from the SI1 CN1 41 input terminal B Inputs t...

Page 450: ...F Same as above 8 OFF Pn513 0 PSEL Signal Mapping Reference pulse input multiplication 0 Inputs from the SI0 CN1 40 input terminal 8 Set signal OFF 1 Inputs from the SI1 CN1 40 input terminal 2 Inputs...

Page 451: ...tput terminal 3 Outputs from the SO3 CN1 29 30 output terminal 1 V CMP Signal Mapping 0 to 3 Same as above 1 SO1 2 TGON Signal Mapping 0 to 3 Same as above 2 SO2 3 S RDY Signal Mapping 0 to 3 Same as...

Page 452: ...s with version 33 or higher Parameter No Digit Place Name Setting Contents Factory Setting Remarks Pn510 2 PSELA Signal Mapping 0 Disabled 0 Disable d The setting on 2nd digit is added 1 Outputs from...

Page 453: ...et and encoder alarm reset Fn009 Automatic tuning of analog speed torque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of torque reference offset Fn00C Man...

Page 454: ...tion Servomotor models 32 SGMCS C 33 SGMCS D 34 SGMCS B 35 SGMCS E 36 SGMCS L 37 SGMCS M 38 SGMCS N 39 SGMCS R Only the additional models are described Applic able only to SGDH amplifiers with version...

Page 455: ...07 Input reference pulse speed rpm Un008 Error counter value reference units Amount of position error Un009 Accumulated load rate Value for the rated torque Displays in 10s cycle Un010 Allowable maxim...

Page 456: ...nertia ratio 0 20000 0 Pn10B Gain related application switch 1 0000H 2314H 0000H Position related parameters Pn207 Position control function switch 1 0000H 1111H 0000H Pn212 Dividing ratio 1 pulse 000...

Page 457: ...ameters Sequence related parameters Pn510 Output signal setting 3 1 0000H 0333H 0000H Pn513 Input signal selection 5 1 0000H 00FFH 0088H Pn51E Excessiveposition error warning level 0 100 0 Pn584 Self...

Page 458: ...ividing ratio is fixed and settable peak speed of the motor is calculated Pn10B Gain related application 2 Automatic gain switch selection 0 No automatic gain switch 0 1 Only the positioning reference...

Page 459: ...from the SI4 CN1 40 input terminal 5 Inputs from the SI5 CN1 40 input terminal 6 Inputs from the SI6 CN1 40 input terminal 7 Fixes the signal to Enabled 8 Fixes the signal to Disabled 9 Inputs the inv...

Page 460: ...2 PSELA Signal Mapping 0 Reserved 0 Reserved 1 Outputs from the SO1 CN1 25 26 output terminal 2 Outputs from the SO2 CN1 27 28 output terminal 3 Outputs from the SO3 CN1 29 30 output terminal Paramet...

Page 461: ...ult of Un010 and then cycle control power or reset the software A 0A Encoder type unmatched The attached serial encoder type is not supported An alarm occurs when the encoder type is other than the fo...

Page 462: ...connection alarm The detected torque is 10 or less but the commanded torque reference is 90 or more for 10ms This alarm is not activated in cases of BB due to hardware issues In those cases an A F6 or...

Page 463: ...ervo amplifier connections by specifications and type of control C 1 Single Phase Power Supply Specifications C 2 C 2 Three Phase Power Supply Specifications 200V C 3 C 3 Three Phase Power Supply Spec...

Page 464: ...te encoder Servo ON Proportional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL V CMP T GON S RDY S RDY T GON V CMP Reverse current prohib...

Page 465: ...ON Proportional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL V CMP T GON S RDY S RDY T GON V CMP Reverse current prohibited prohibited...

Page 466: ...rtional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL V CMP T GON S RDY S RDY T GON V CMP Reverse current prohibited prohibited limit ON...

Page 467: ...PSO PSO SG Amount of S phase rotation PG dividing ratio output Be sure to properly Optical prepare the end of encoder Applicable line receiver SN75175 or MC3486 manufac tured by T I or the equivalent...

Page 468: ...N75175 or MC3486 manufac tured by T I or the equivalent Positioning completed ON when positioning is completed T GON output Servo ready output ON at levels above the setting ON when ready Connect shie...

Page 469: ...Forward current S ON P CON P OT N OT ALM RST P CL N CL COIN T GON S RDY S RDY T GON COIN Reverse current prohibited prohibited limit ON limit ON ALO1 ALO3 ALO3 PAO PAO PBO PBO PCO PCO PSO PSO SG Amoun...

Page 470: ...te encoder Servo ON Proportional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL V CMP T GON S RDY S RDY T GON V CMP Reverse current prohib...

Page 471: ...ute encoder Servo ON Proportional control P control Forward run Reverse run Alarm reset Forward current S ON P CON P OT N OT ALM RST P CL N CL VLT T GON S RDY S RDY T GON VLT Reverse current prohibite...

Page 472: ...Sigma II User s Manual Appendix C Examples of Standard Connections C 10 Notes...

Page 473: ...cale pitch setting error 9 44 A 09 Dividing ratio setting error 9 42 A 0A Encoder model unmatched 9 42 A 10 Overcurrent or Heat Sink Overheated 9 8 A 30 Regenerative Error Detected 9 9 A 32 Regenerati...

Page 474: ...02 ball screws electronic gear function 5 31 batteries absolute encoders replacement 9 4 specifications and handling 5 99 installation warning 5 99 servo amplifiers 5 99 battery holder picture and des...

Page 475: ...ns 5 59 Motor Model Check Mode 7 34 to 7 37 settings 5 59 switching modes and or references 5 60 to 5 61 control panel servo amplifiers 2 9 control power supply terminal picture and description 1 9 co...

Page 476: ...ition Control Mode 7 7 Status Display Mode 7 5 dimensional drawings servo amplifiers 8 45 to 8 54 servomotors SGMAH 8 6 SGMGH 8 14 SGMPH 8 10 SGMSH 8 18 SGMUH 8 21 8 24 dimensional drawings See servo...

Page 477: ...reference pulse form 5 19 forward run prohibited P OT signal 7 22 7 39 friction compensation selection 6 32 full wave rectification 8 37 Function Automatic Gain Switching 6 19 Functions Additional 5...

Page 478: ...r 5 19 input references for control modes 5 59 to 5 61 Input Signals Selection List B 23 input signals allocation 5 53 to 5 56 analog voltage reference switching 5 59 to 5 61 contact input speed contr...

Page 479: ...lifiers 5 121 measuring matching system sensitivity 7 44 mechanical wear replacement schedule 9 3 medium rigidity setting gain 6 40 Mitsubishi AD72 Positioning Unit A 7 AD75 Positioning Unit A 8 mode...

Page 480: ...position reference 5 17 monitor display 7 17 names and functions 3 20 open collector 5 17 overload warning 5 79 position reference used for 5 16 positioning completed used as interlock 5 73 servo ala...

Page 481: ...32 position loop See position control loop position loop gain 6 24 6 33 adjustment 6 38 basic rules 6 33 to 6 34 conditions 6 4 reference values 6 40 to 6 41 responsiveness 6 37 to 6 38 setting 6 11 6...

Page 482: ...r capacity 5 86 to 5 95 regenerative resistors 5 83 to 5 95 built in 5 83 calculating capacity 5 89 calculating energy consumption 5 89 calculating regenerative power capacity 5 86 5 87 connecting 5 8...

Page 483: ...ve resistors 5 83 to 5 95 Reverse Rotation Mode 5 5 setting up 5 51 special wiring fuse 5 111 noise control 5 116 standard connection examples 3 27 to 3 34 stopping procedure 5 62 to 5 69 torque limit...

Page 484: ...13 5 48 P CON 5 41 P CON zero clamp function 5 16 5 49 5 64 5 65 photocoupler running output S RDY 5 78 running output T GON 5 76 to 5 77 warning output WARN 5 79 to 5 80 positioning completed output...

Page 485: ...phase 400V 5 123 Switches B 12 switches default settings list B 8 to B 12 switching control modes and or references 5 60 to 5 61 switching noise 5 116 T terminals CN1 inverting signals SO1 to SO3 5 5...

Page 486: ...e 6 33 notch filter 6 6 positioning time setting 6 12 resistance and class servomotors 2 5 servo amplifiers 2 9 speed loop integral time constant 6 35 VLT signal see also CLT signal 5 42 voltage conve...

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Page 488: ...0 Fax 44 12 3645 8182 YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg 901 188 3 1 Ga Euljiro Joong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 2639 YASKAWA ELECTRIC SINGAPORE PTE LTD Head Office...

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