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YASKAWA Sigma-7-Series Product Manual Download Page 173

6.3  List of MECHATROLINK-III Common Parameters

6-43

6

Parameter Li

s

t

s

49
PnA92

4

Supported Unit Sys-
tems (read only)

–

–

0601011F

h

Rotary

–

Un

it setti

ngs

61
PnAC2

4

Speed Loop Gain

1,000 to 

2,000,000

0.001 Hz

[0.1 Hz]

40000

Rotary

Immedi-

ately

62
PnAC4

4

Speed Loop Integral 
Time Constant

150 to 512,000

1 

μ

s 

[0.01 ms]

20000

Rotary

Immedi-

ately

63
PnAC6

4

Position Loop Gain

1,000 to 

2,000,000

0.001/s 

[0.1/s]

40000

Rotary

Immedi-

ately

64
PnAC8

4

Feedforward Com-
pensation

0 to 100

1%

0

Rotary

Immedi-

ately

65
PnACA

4

Position Loop Inte-
gral Time Constant

0 to 5,000,000

1 

μ

s 

[0.1 ms]

0

Rotary

Immedi-

ately

66
PnACC

4

Positioning Com-
pleted Width

0 to 

1,073,741,824

1 reference 

unit

7

Rotary

Immedi-

ately

67
PnACE

4

Near Signal Width

1 to 

1,073,741,824

1 reference 

unit

10737418

24

Rotary

Immedi-

ately

81
PnB02

4

Exponential Acceler-
ation/Deceleration 
Time Constant

0 to 510,000

1 

μ

s

[0.1 ms]

0

Rotary

Immedi-

ately

*6

82
PnB04

4

Movement Average 
Time

0 to 510,000

1 

μ

s 

[0.1 ms]

0

Rotary

Immedi-

ately

*6

83
PnB06

4

External Positioning 
Final Travel Distance

-1,073,741,823 to 

1,073,741,823

1 reference 

unit

100

Rotary

Immedi-

ately

84
PnB08

4

Origin Approach 
Speed

0h to 

3FFFFFFFh

10

-3

 min

-1

×

 5,000h ref-

erence units/

s converted 

to 10

-3

 min

-1

Rotary

Immedi-

ately

Continued on next page.

Continued from previous page.

Parameter 

No.

Size

Name

Setting Range

Setting Unit 
[Resolution]

Default 
Setting

Applicable 

Motors

When 

Enabled

Classi-

fication

Speed Units

Bit 0

Reference units/s (1: Enabled)

Bit 1

Reference units/min (1: Enabled)

Bit 2

Percentage (%) of rated speed (1: Enabled)

Bit 3

min

-1

 (rpm) (1: Enabled)

Bit 4

Maximum motor speed/4000000h (1: Enabled)

Bits 5 to 7

Reserved (0: Disabled).

Position Units

Bit 8

Reference units (1: Enabled)

Bits 9 to 15

Reserved (0: Disabled).

Acceleration Units

Bit 16

Reference units/s

2

 (1: Enabled)

Bit 17

ms (acceleration time required to reach rated speed) (0: Disabled)

Bits 18 to 23

Reserved (0: Disabled).

Torque Units

Bit 24

N

m (0: Disabled)

Bit 25

Percentage (%) of rated torque (1: Enabled)

Bit 26

Maximum torque/40000000h

Bits 27 to 31

Reserved (0: Disabled).

Summary of Contents for Sigma-7-Series

Page 1: ...d Alignment Application with Special Motor SGM7D Motor 7 Series AC Servo Drive Product Manual MANUAL NO SIEP S800002 28C Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Triggers a...

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

Page 3: ...ECHATROLIN K III Communi cations References Manual No SIEP S800001 28 SERVOPACKs with MECHATROLIN K III Communi cations References and RJ 45 Connec tors Manual No SIEP S800001 62 Basic Informa tion on...

Page 4: ...Replacement 12 1 Alarm Displays 5 1 List of Alarms 5 2 Troubleshooting Alarms 5 3 Warning Displays 5 4 List of Warnings 5 5 Troubleshooting Warnings 5 6 Troubleshooting Based on the Operation and Con...

Page 5: ...lers 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals Option Module User s Manuals 7 Series 7S 7W SERVOPACK FT EX Product Manuals this manual Option Mo...

Page 6: ...ailed information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and 7 Series...

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

Page 8: ...ATROLINK III Communications References Product Manual SIEP S800001 29 7 Series 7S 7W 7C SERVOPACK with Hardware Option Specifications Product Manuals 7 Series AC Servo Drive 7S 7W SERVOPACK with Hardw...

Page 9: ...CK with FT EX Specification for Three Point Latching for Conveyance Application Product Manual SIEP S800002 17 7 Series AC Servo Drive 7S SERVOPACK with FT EX Specification for Semi Fully Closed Loop...

Page 10: ...tions Command Manuals 7 Series AC Servo Drive MECHATROLINK II Communications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used...

Page 11: ...ies Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a 7 Series Servo System Distri...

Page 12: ...s servo ON Supplying power to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in...

Page 13: ...d Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification T...

Page 14: ...ual Aids The following aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other p...

Page 15: ...tion marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss...

Page 16: ...y the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Br...

Page 17: ...ny of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative...

Page 18: ...damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of t...

Page 19: ...VOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failu...

Page 20: ...PACK s main circuit terminals Turn ON the power supply to the SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit termi...

Page 21: ...such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of s...

Page 22: ...not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock...

Page 23: ...nsert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit p...

Page 24: ...of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without no...

Page 25: ...red product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for whi...

Page 26: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar...

Page 27: ...afety Standards UL File No SERVOPACKs SGD7S UL 61800 5 1 E147823 CSA C22 2 No 274 Product Model European Directive Harmonized Standards SERVOPACKs SGD7S Machinery Directive 2006 42 EC EN ISO13849 1 20...

Page 28: ...EC 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 PFH 4 05 10 9 1 h 4 05 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd Hig...

Page 29: ...of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 4 1 SERVOPACK Functions 1 6 1 4 2 Function Application Restrictions 1 8 1 5 SigmaWin 1 9 1 6 Combining the SERVOPACKs with MP Series Machine Cont...

Page 30: ...3 Forced Stop Setting for Triggers at Preset Positions 3 16 Rotational Coordinate System 4 4 1 Outline 4 2 4 2 Setup Procedure 4 3 4 2 1 Setting the Rotational Coordinate System 4 3 4 2 2 Setting the...

Page 31: ...Parameter Lists 6 2 6 1 1 Interpreting the Servo Parameter List 6 2 6 1 2 Interpreting the MECHATROLINK III Common Parameter List 6 2 6 2 List of Servo Parameters 6 3 6 3 List of MECHATROLINK III Com...

Page 32: ...gnations 1 3 1 2 1 Interpreting SERVOPACK Model Numbers 1 3 1 2 2 Interpreting Direct Drive Servomotor Model Numbers 1 4 1 3 Combinations of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 4 1 SERV...

Page 33: ...ill make the most of machine performance in the short est time possible thus contributing to improving productivity Function Description Triggers at Preset Positions Triggers at preset positions are s...

Page 34: ...ication Specification Code BTO Specification 5 022 SGD7S 120A 030 Single phase 200 VAC power supply input MECHATROLINK III communications references 20 MECHATROLINK III communications references and R...

Page 35: ...n side With cable on bottom 1 Standard mechanical precision Applicable models Specification 2 High mechanical precision L Non load side Direct Drive Servomotors SGM7D 4th digit 6th digit 3rd digit 7th...

Page 36: ...91 W SGM7D 01G 16 W 2R8A and 2R8F SGM7D 05G 63 W SGM7D 08G 101 W 120A SGM7D 18G 226 W SGM7D 24G 302 W SGM7D 34G 320 W SGM7D 45G 565 W SGM7D 03H 38 W 2R8A and 2R8F SGM7D 28I 264 W 120A SGM7D 70I 440 W...

Page 37: ...Main Circuit and Control Circuit Automatic Detection of Connected Motor Motor Direction Setting Setting the Linear Encoder Pitch Writing Linear Servomotor Parameters Selecting the Phase Sequence for a...

Page 38: ...Signal Encoder Divided Pulse Outputs Selecting Torque Limits Initializing the Vibration Detection Level Resetting Alarms Replacing the Battery Setting the Position Deviation Overflow Alarm Level Func...

Page 39: ...tion Monitoring Product Life Displaying the Alarm History Alarm Tracing Function Restriction Setting the Linear Encoder Pitch Cannot be used Writing Linear Servomotor Param eters Cannot be used Select...

Page 40: ...ic Information on SERVOPACKs 1 5 SigmaWin To use the SigmaWin a model information file for the SERVOPACK must be added to Sig maWin version 7 22 or higher Add the FT84 model information file to SigmaW...

Page 41: ...Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP Series Machine Controller or the MPE720 Engi neering Tool it will be recognized as a SERVOPACK with s...

Page 42: ...1 2 Single Phase 200 VAC 2 2 2 1 3 Single Phase 100 VAC 2 3 2 2 SERVOPACK Overload Protection Characteristics 2 4 2 3 Specifications 2 5 2 3 1 SERVOPACK with MECHATROLINK III Communications Reference...

Page 43: ...egenerative Resistor Power Loss W 12 Total Power Loss W 34 5 97 6 Regenerative Resistor Built In Regenerative Resistor Resistance 20 Capacity W 60 Minimum Allowable External Resistance 40 20 Overvolta...

Page 44: ...2 8 Instantaneous Maximum Output Current Arms 9 3 Main Circuit Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 10 Control Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz...

Page 45: ...an output of 100 or higher For a Yaskawa specified combination of SERVOPACK and Servomotor maintain the effective torque within the continuous duty zone of the torque motor speed characteristic of th...

Page 46: ...iron dust Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications 7 Series 7S SERVOPACK with MECHATROLINK III Comm...

Page 47: ...That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A photocoupler output isolated is used Output Signals COIN Positioning Completion signal V CMP Speed Coinciden...

Page 48: ...ROLINK III standard servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output vol...

Page 49: ...t Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications 7 Series 7S SERVOPACK with MECHATROLINK III Communica tio...

Page 50: ...ut Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A photocoupler output isolated is used Output Signals COIN Positioning Completion signal V CMP Speed...

Page 51: ...d servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 10 VDC...

Page 52: ...nnector CN1 Pin Arrangement 3 4 3 2 Settings for Triggers at Preset Positions 3 5 3 2 1 Setting Table Details 3 5 3 2 2 Setting Triggers at Preset Positions 3 7 3 2 3 Setting Trigger Outputs at Preset...

Page 53: ...e of the following steps Absolute Encoder Send the Turn Sensor ON command SENS_ON 23h from the host controller Incremental Encoder Send the Zero Point Return command ZRET 3Ah from the host controller...

Page 54: ...nd HSO2 on CN1 Output Time Setting Range 0 to 32 767 000 s Output Distance Setting Range 0 to 4 294 967 295 reference units Output Position Compensation Range 2 147 483 648 to 2 147 483 647 reference...

Page 55: ...ence Output 1 15 BAT Battery for Absolute Encoder 3 ALM Servo Alarm Output 16 SG Signal Ground 4 ALM Servo Alarm Output 17 HSO1 High Speed Preset Position Output 1 5 TH Linear Servomotor Overheat Prot...

Page 56: ...gnal for the trigger at the preset position Output Function Select the axis number output terminals signal logic and passing direction to use for the trigger at the preset position Name Output Positio...

Page 57: ...not output 1 Output the signal from the CN1 1 and CN1 2 output terminals 2 Output the signal from the CN1 23 and CN1 24 output terminals 3 Output the signal from the CN1 25 and CN1 26 output terminal...

Page 58: ...in reference units for the output function make sure the output distance is within the following distances If you use triggers at preset positions in combination with a rotational coordinate system se...

Page 59: ...location and passing direction with the output function selec tion 4 If Pn660 is set to n 0 set the signal output width as a time in ms If Pn660 is set to n 1 set the signal output width as a distance...

Page 60: ...at preset positions through writing data to the SERVOPACK is described Refer to the following manual for details on editing tables on the SigmaWin AC Servo Drive Engineering Tool SigmaWin Operation Ma...

Page 61: ...rs Button The edited data will be written to the volatile memory in the SERVOPACK 6 Click the Save to Flash Memory Button The edited data will be written to the non volatile memory in the SERVOPACK No...

Page 62: ...Setting 14 0xF00501A0 0xF00501A4 0xF00501A8 0xF00501AC 0xF00501B0 0xF00501B4 0xF00501B8 0xF00501BC Output Setting 15 0xF00501C0 0xF00501C4 0xF00501C8 0xF00501CC 0xF00501D0 0xF00501D4 0xF00501D8 0xF005...

Page 63: ...8 0xF00505AC 0xF00505B0 0xF00505B4 0xF00505B8 0xF00505BC Output Setting 15 0xF00505C0 0xF00505C4 0xF00505C8 0xF00505CC 0xF00505D0 0xF00505D4 0xF00505D8 0xF00505DC Output Setting 16 0xF00505E0 0xF00505...

Page 64: ...e completion of the command execution by checking that RCMD MEM_WR 1Eh and CMD_STAT CMDRDY 1 and also checking the setting for ADDRESS SIZE MODE DATA_TYPE and DATA In the following cases an alarm will...

Page 65: ...ollowing procedure to save the settings in RAM to non volatile memory Send the commands in the following order bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MODE DATA_TYPE CMD_ALM Displayed Code Error Detai...

Page 66: ...x12 SIZE 0x0001 DATA 0x0001 6 End the write to non volatile memory ADDRESS 0x80004000 MODE DATA_TYPE 0x12 SIZE 0x0001 DATA 0x0000 Step Description Setting Example 1 Set the request code for initializi...

Page 67: ...1 Bit 0 N_CL P_CL P_PPI V_PPI Reserved 0 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Reserved 0 G SEL Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 Reserved 0 SO3 SO2 SO1 BANK_SEL...

Page 68: ...ional Coordinate System 4 3 4 2 2 Setting the Multiturn Limit 4 4 4 2 3 Absolute Encoder Origin Offset 4 4 4 2 4 Setting the Moving Method of the Rotational Coordinate System 4 5 4 2 5 Servo Commands...

Page 69: ...controller Incremental Encoder Send the Zero Point Return command ZRET 3Ah from the host controller Use the Set Coordinates command POS_SET 20h from the host controller to set a refer ence point REFE...

Page 70: ...p is necessary only for an absolute encoder 5 Set the movement method for the rotational coordinates Pn87E n X 6 Perform the following operation for your encoder Absolute Encoder Send the Turn Sensor...

Page 71: ...e machine coordinate system 0 the following relationship must exist in the parameter settings Pn87C Pn808 Pn87A Pn808 is set as follows If the offset is smaller than the setting of Pn87C First Rotatio...

Page 72: ...thod for Rotational Coordinates to specify movement in the rotational coordinate system Note This parameter is enabled when Pn87A or Pn87C is not set to 0 Pn808 Absolute Encoder Origin Offset Setting...

Page 73: ...s forward from the current position to the target position The following figure gives an example of a positioning operation in which the axis is moved for ward from the current position to target posi...

Page 74: ...ning is performed within the range of the rotational coordinate system Set the target position TPOS so that Pn87C TPOS Pn87A If you set a value that exceeds this range an A 94B alarm Data Setting Warn...

Page 75: ...in the Command Changing to Position Control in a Different Direction Pn87E n 0 from the Direction of Speed Control Command Reference Direction Note If the Movement Method for Rotational Coordinates Pn...

Page 76: ...al input constant speed feed ing EX_FEED or external input positioning EX_POSING positioning is performed within the range of the rotational coordinate system to external input positioning position P3...

Page 77: ...g signal P2 1 000 External positioning final travel distance common parameter 83 3 000 External input positioning position P3 1 000 3 000 3 600 Pn87A Pn87C 1 400 Note The movement direction after latc...

Page 78: ...tional coordinate system to the ori gin after latching the position The final travel distance after latching the position is set in PnB0C External Positioning Final Travel Distance The calculation met...

Page 79: ...h Fixed Monitor 2 PnB10 0003h LPOS2 SEL_MON1 to SEL_MON6 Selected code 4 Latched position 2 1 refer ence unit Fixed Monitor 1 PnB0E 0004h Fixed Monitor 2 PnB10 0004h MPOS SEL_MON1 to SEL_MON6 Selected...

Page 80: ...itor data which is output within the range of the rotational coordinate system Pn87A to Pn87C are listed below Refer to the following manual for information on monitor data that is not listed above 7...

Page 81: ...r alarms and warnings 5 1 Alarm Displays 5 2 5 2 List of Alarms 5 3 5 3 Troubleshooting Alarms 5 8 5 4 Warning Displays 5 33 5 5 List of Warnings 5 34 5 6 Troubleshooting Warnings 5 36 5 7 Troubleshoo...

Page 82: ...be displayed on the panel display However if no alarm number appears on the panel display this indicates a SERVOPACK sys tem error Replace the SERVOPACK If there is an alarm the display will change in...

Page 83: ...VOPACK Gr 1 No A 024 System Alarm An internal program error occurred in the SER VOPACK Gr 1 No A 025 System Alarm An internal program error occurred in the SER VOPACK Gr 1 No A 030 Main Circuit Detect...

Page 84: ...y under a torque that exceeded the rating Gr 1 Yes A 730 Dynamic Brake Overload When the dynamic brake was applied the rota tional or linear kinetic energy exceeded the capacity of the dynamic brake r...

Page 85: ...2 Internal program error 2 occurred in the SERVO PACK Gr 1 No A bF3 System Alarm 3 Internal program error 3 occurred in the SERVO PACK Gr 1 No A bF4 System Alarm 4 Internal program error 4 occurred in...

Page 86: ...Yes A d30 Position Data Overflow The position feedback data exceeded 1 879 048 192 Gr 1 No A E02 MECHATROLINK Internal Synchronization Error 1 A synchronization error occurred during MECHATROLINK comm...

Page 87: ...timing of the safety function signal Gr 1 No A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No A...

Page 88: ...d caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOP...

Page 89: ...o The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Output Pulse Setting Error The se...

Page 90: ...firm that the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Repl...

Page 91: ...regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated o...

Page 92: ...nd cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W...

Page 93: ...ls B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect a jumper 1 The External Re...

Page 94: ...ion Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor...

Page 95: ...SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power supply voltage Set the AC DC po...

Page 96: ...m of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the...

Page 97: ...the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed Correct the mechanical...

Page 98: ...Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment mo...

Page 99: ...failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace th...

Page 100: ...aulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 86...

Page 101: ...e overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by turning OFF the power s...

Page 102: ...If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATROLINK communications sec tion due to nois...

Page 103: ...ed in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SE...

Page 104: ...nt Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the wiring around the encoder by separating the...

Page 105: ...faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A...

Page 106: ...er vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in...

Page 107: ...t A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded by the position devia tion w...

Page 108: ...xternal Encoder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mecha...

Page 109: ...the SERVOPACK may be faulty Replace the SERVOPACK A E51 MECHATROLINK Synchronization Failed The WDT data at the host controller was not updated correctly at the start of syn chronous communi cations...

Page 110: ...1 Safety Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Safety Option Module Check the connection between the SERVO PACK and the Safety Option Module Corr...

Page 111: ...e drive circuit A Ed1 Command Exe cution Timeout A timeout error occurred for a MECHATROLINK command Check the motor status when the command is executed Execute the SV_ON or SENS_ON command only when...

Page 112: ...L 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector...

Page 113: ...rning Displays 5 33 5 Maintenance 5 4 Warning Displays If a warning occurs in the SERVOPACK a warning number will be displayed on the panel dis play Warnings are displayed to warn you before an alarm...

Page 114: ...alarm may occur Required A 921 Dynamic Brake Over load This warning occurs before an A 731 alarm Dynamic Brake Overload occurs If the warning is ignored and operation is continued an alarm may occur R...

Page 115: ...ndervoltage This warning occurs before an A 410 alarm Undervolt age occurs If the warning is ignored and operation is continued an alarm may occur Required A 97A Command Warning 7 Phase Error A comman...

Page 116: ...ence acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference acceleration by selecting the posit...

Page 117: ...t the over load warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abno...

Page 118: ...CK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature usi...

Page 119: ...rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con su...

Page 120: ...pensation Informa tion Disagreement The speed ripple compensation information stored in the encoder does not agree with the speed ripple compensa tion information stored in the SER VOPACK Reset the sp...

Page 121: ...conditions are satisfied A 95E Command Warning 5 Subcommand Not Possible The command sending condi tions for subcom mands was not satisfied Check the command that caused the warn ing Send the command...

Page 122: ...OPACK and connect a reactor A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 97A Command Warning 7 Phase Error A command that cannot be exe cuted in the cur re...

Page 123: ...em Wire the cable correctly There is an overload on the Servomotor Operate the Servomotor with no load and check the load status Turn OFF the power supply to the servo system Reduce the load or replac...

Page 124: ...tions for the power line U V and W phases and the encoder or Serial Converter Unit may be unstable Check the wir ing Tighten any loose termi nals or connectors and correct the wiring Servomotor Moves...

Page 125: ...em Check for any foreign mat ter damage or deformation in the machine s moving parts Consult with the machine manufacturer Noise interference occurred because of incorrect I O signal cable specificati...

Page 126: ...nst noise for the encoder wiring The encoder was sub jected to excessive vibration or shock Turn OFF the power supply to the servo system Check to see if vibration from the machine occurred Check the...

Page 127: ...m Check the Encoder Cable to see if it satisfies specifica tions Use a shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy th...

Page 128: ...ERVOPACK and the host controller Implement countermea sures against noise and then perform parity checks again for the multiturn data or absolute encoder posi tion data Overtravel Occurred The P OT N...

Page 129: ...hielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because the Encoder Cable i...

Page 130: ...ons Noise interference occurred because an I O signal cable is too long Turn OFF the power supply to the servo system Check the lengths of the I O signal cables The I O signal cables must be no longer...

Page 131: ...Interpreting the Parameter Lists 6 2 6 1 1 Interpreting the Servo Parameter List 6 2 6 1 2 Interpreting the MECHATROLINK III Common Parameter List 6 2 6 2 List of Servo Parameters 6 3 6 3 List of MEC...

Page 132: ...for Lin ear Servomotor Tuning Setup There are the following two classifications Refer to the following manual for details 7 Series 7S SERVOPACK with MECHATROLINK III Communications References Product...

Page 133: ...n an encoder is not connected start as SERVOPACK for Linear Servomo tor n X Motor Stopping Method for Servo OFF and Group 1 Alarms 0 Stop the motor by applying the dynamic brake 1 Stop the motor by th...

Page 134: ...1 The external encoder moves in the forward direction for CCW motor rotation 2 Reserved setting Do not use 3 The external encoder moves in the reverse direction for CCW motor rotation 4 Reserved setti...

Page 135: ...letion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion o...

Page 136: ...orque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let th...

Page 137: ...dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK 0 Use a three phase po...

Page 138: ...to 51 200 0 01 ms 2000 Rotary Immedi ately Tuning 1 Pn106 2 Second Position Loop Gain 10 to 20 000 0 1 s 400 Rotary Immedi ately Tuning 1 Pn109 2 Feedforward 0 to 100 1 0 Rotary Immedi ately Tuning 1...

Page 139: ...di ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 Rotary Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 Rotary Immedi ately Tuning 1 Pn132 2 Gain...

Page 140: ...utomatically from the second gain to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning C...

Page 141: ...Resonance Con trol Related Selections 0000h to 0011h 0010h Rotary Immedi ately Tuning 1 Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 Rotary Immedi ately Tuning 1 Pn162 2 Anti Resonance...

Page 142: ...revious page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less fu...

Page 143: ...0 000 1 ms 0 Rotary Immedi ately Setup 1 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 Rotary Immedi ately Setup 1 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10...

Page 144: ...up 1 Pn403 2 Reverse Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 2 100 Rotary Immedi ately Setup 1 Pn405 2 Reverse External Torque Limit...

Page 145: ...ond Stage Second Notch Filter Q Value 50 to 100 0 01 50 Rotary Immedi ately Tuning 1 Pn412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 Rotary Immedi ately Tuning...

Page 146: ...11h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 Rotary Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1...

Page 147: ...Hold Time 20 to 50 000 1 ms 20 Rotary Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When...

Page 148: ...e when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5 Enable forward drive when CN1 11 input...

Page 149: ...input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signal is OFF o...

Page 150: ...ion signal allocations n X TGON Rotation Detection Output Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X S RDY Servo Ready Signal Alloc...

Page 151: ...e Motors When Enabled Classi fication Refer ence n X NEAR Near Output Signal Allocation 0 Disabled the above signal output is not used 1 Output the signal from the CN1 1 or CN1 2 output terminal 2 Out...

Page 152: ...OFF open D Active when CN1 10 input signal is OFF open E Active when CN1 11 input signal is OFF open F Active when CN1 12 input signal is OFF open n X EXT1 External Latch Input 1 Signal Allocation 0 t...

Page 153: ...2 Output the signal from the CN1 23 or CN1 24 output terminal 3 Output the signal from the CN1 25 or CN1 26 output terminal 4 to 6 Reserved setting Do not use n X Reserved parameter Do not change n X...

Page 154: ...Accel eration Deceleration Time 2 to 10 000 1 ms 100 Rotary Immedi ately Setup 1 Pn535 2 Program Jogging Wait ing Time 0 to 10 000 1 ms 100 Rotary Immedi ately Setup 1 Pn536 2 Program Jogging Num ber...

Page 155: ...ary Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 Rotary After restart Setup 7 Pn603 2 Regenerative Resis tance 0 to 65 535 10 m 0 Rotary Immedi...

Page 156: ...nings A 96 5 Ignore both A 94 and A 96 warnings 6 Ignore both A 95 and A 96 warnings 7 Ignore A 94 A 95 and A 96 warnings 8 Ignore data setting warnings A 97A and A 97b 9 Ignore A 94 A 97A and A 97b w...

Page 157: ...units s 0 Rotary Immedi ately 9 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 Rotary Immedi ately 10 Setup 2 Pn811 2 Exponential Accelera tion Decele...

Page 158: ...efer ence M2 13 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 7 input terminal 3 Monitor CN1 8 input terminal 4 Monitor CN1 9 input terminal 5 Monitor CN1 10 input...

Page 159: ...ngle 2 deg Electrical angle from polarity origin 0015h Un005 Input Signal Monitor 0016h Un006 Output Signal Monitor 0017h Un007 Input Reference Speed min 1 0018h Un008 Position Deviation reference uni...

Page 160: ...Option Monitor 1 Selection M2 13 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to ACCFIL 4...

Page 161: ...I 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI...

Page 162: ...to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BANK_SEL1 9 All...

Page 163: ...Refer ence M2 13 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2...

Page 164: ...50 1 0 Rotary Immedi ately 10 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 Rotary Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 Rotary Immedi ately Setup 2 Pn852 2 Latch...

Page 165: ...the same as those for the Latch Sequence 5 Signal Selec tion M3 8 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal monitor 1 Allocate bit 25 IO...

Page 166: ...13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input signal monitor M3 8 n X Input Signal Mon...

Page 167: ...nal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29 IO_STS6 to CN1 1 CN1 2 output signal monitor 6 Allocate bit 30 IO_STS7 to CN1 1 CN1 2 output signal monitor...

Page 168: ...ata Monitor during Alarm Warning for maintenance read only 0h to FFFFFFFFh 0 Rotary Setup 2 Pn900 2 Number of Parameter Banks 0 to 16 0 Rotary After restart Setup 2 Pn901 2 Number of Parameter Bank Me...

Page 169: ...h Dynamic Brake Hardware Option Specifications Prod uct Manual Manual No SIEP S800001 73 8 This parameter is valid only when the MECHATROLINK III standard servo profile is used 9 The parameter setting...

Page 170: ...ection read only 0h to 1h Rotary 03 PnA06 4 Semi closed Fully closed Type read only 0h to 1h Rotary 04 PnA08 4 Rated Motor Speed read only 0h to FFFFFFFFh 1 min 1 Rotary 05 PnA0A 4 Maximum Output Spee...

Page 171: ...Immedi ately 27 PnA4E 4 Reserved parameter Do not change 0 Rotary Immedi ately 28 PnA50 4 Reverse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 Rotary Immedi ately 29 PnA5...

Page 172: ...fter restart 46 PnA8C 4 Acceleration Base Unit Selection Set the value of n from the following formula Acceleration unit selection 45 PnA8A 10n 4 to 6 4 Rotary After restart 47 PnA8E 4 Torque Unit Sel...

Page 173: ...vement Average Time 0 to 510 000 1 s 0 1 ms 0 Rotary Immedi ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 Rotary Immedi ately 84 PnB...

Page 174: ...c tion 2 0h to Fh 0h Rotary Immedi ately Command related parameters Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting App...

Page 175: ...mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT_PGPOS Low Lower 32 bits of initial encoder posit...

Page 176: ...20 4 Servo Command Control Field Enable Disable Selections read only 0FFF3F3F h Rotary Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution...

Page 177: ...0 Disabled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_...

Page 178: ...ou change the setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFEh Rotary Command related parameters Continued from previo...

Page 179: ...e 4 3 list of alarms 5 3 list of MECHATROLINK III common parameters 6 40 list of servo parameters 6 3 list of warnings 5 34 M Main Circuit Cable xii multiturn limit 4 4 O output distance setting 3 6 o...

Page 180: ...nications references and RJ 45 connectors 2 8 surrounding air temperature SERVOPACK with MECHATROLINK III communications references 2 5 SERVOPACK with MECHATROLINK III communications references and RJ...

Page 181: ...cover Refer to the following example Date of Publication Rev No Section Revised Content October 2019 2 Preface Chapters 5 6 Partly revised Back cover Revision Address October 2018 1 All chapters Partl...

Page 182: ...TRIC CHINA CO LTD 22F Link Square 1 No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tow...

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