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Sigma II User’s Manual

Chapter 6: Servo Adjustment

6-19

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 *

Yes

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

Before making manual servo gain adjustments, refer to
6.4 Servo Gain Adjustments or 6.2 High-Speed Positioning.

Summary of Contents for Sigma II Series

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

Page 2: ...ION PROHIBITED Yaskawa 1999 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 mechanical electronic photocopying...

Page 3: ...ite 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 Handling Oil and Water 2 5 2 1 7 Cable Stress 2 5 2 2 Servo Amplifiers 2 6 2 2 1 Storage Conditions 2 6 2 2 2 In...

Page 4: ...Signals from the Servo Amplifier CN1 3 20 3 5 2 CN2 Encoder Connector Terminal Layout and Types 3 21 3 6 Examples of Standard Connections 3 22 3 6 1 Single Phase Power Supply Specifications 3 23 3 6 2...

Page 5: ...sing Torque Control 5 38 5 2 8 Torque Feed forward Function 5 44 5 2 9 Torque Limiting by Analog Voltage Reference 5 46 5 2 10 Reference Pulse Inhibit Function INHIBIT 5 48 5 3 Setting Up the Servo Am...

Page 6: ...cuit 5 90 5 7 2 Selecting an Absolute Encoder 5 91 5 7 3 Handling Batteries 5 92 5 7 4 Absolute Encoder Setup 5 93 5 7 5 Absolute Encoder Reception Sequence 5 97 5 8 Special Wiring 5 102 5 8 1 Wiring...

Page 7: ...4 Servo Gain Adjustments 6 26 6 4 1 Servo Gain Parameters 6 26 6 4 2 Basic Rules of Gain Adjustment 6 26 6 4 3 Making Manual Adjustments 6 28 6 4 4 Gain Setting Reference Values 6 33 6 5 Analog Monito...

Page 8: ...Amplifiers 8 17 8 2 1 Combined Specifications 8 17 8 2 2 Ratings and Specifications 8 21 8 2 3 Dimensional Drawings 8 24 9 Inspection Maintenance and Troubleshooting 9 1 9 1 Servodrive Inspection and...

Page 9: ...Position Control Unit A 6 A 6 Connecting MITSUBISHI s AD72 Positioning Unit A 7 A 7 Connecting MITSUBISHI s AD75 Positioning Unit A 8 B List of Parameters B 1 B 1 Parameters B 2 B 2 Switches B 5 B 3 I...

Page 10: ...g manuals as required Read this manual carefully to ensure the proper use of Sigma II Series servodrives Also keep this manual in a safe place so that it can be referred to whenever necessary Manual N...

Page 11: ...f Technical Terms In this manual the following terms are defined as follows Servomotor Sigma I Series SGMAH SGMPH SGMGH SGMSH servomotor Servo Amplifier Sigma I Series SGDH servo amplifier Servodrive...

Page 12: ...ses inflammable gases or combustibles Doing so may result in electric shock or fire Connect the ground terminal to a class 3 ground 100 or less Improper grounding may result in electric shock or fire...

Page 13: ...ration without matching the proper settings may cause the machine to run out of control or mal function Before starting operation with a machine connected make sure that an emergency stop can be appli...

Page 14: ...l examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manu...

Page 15: ...Names This chapter describes the procedure for checking products upon delivery as well as names for product parts 1 1 Checking the Sigma II Series Products on Deliver 1 2 1 1 1 Servomotors 1 2 1 1 2...

Page 16: ...ents 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 followi...

Page 17: ...r Standard Standard B 16 bit incremental encoder Optional Optional C 17 bit incremental encoder Standard Standard Code Specification SGMAH SGMPH SGMGH SGMSH 2 Straight without key Optional Optional St...

Page 18: ...SET DATA CHARGE POWER SGDH 200V Sigma II series SGDH servo amplifier Servo amplifier model Serial number Applicable power supply Applicable capacity SGDH 10 A E o Sigma II Series SGDH Servo Amplifier...

Page 19: ...Names This section describes product part names 1 2 1 Servomotors The figure below shows part names for servomotors with or without brakes Maximum Applicable Servomotor Capacity Symbol Capacity kW Sy...

Page 20: ...display panel used to show servo status alarm status and other values when parameters are entered Used to set parameters Lights when the control power supply is ON Lights when the main circuit power s...

Page 21: ...r installation 2 1 Servomotors 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 Handling Oil and Water 2 5...

Page 22: ...installing carefully remove all of the paint using a cloth moistened with paint thinner Avoid getting thinner on other parts of the Servomotor 2 1 1 Storage Temperature Store the servomotor within the...

Page 23: ...damage the bearings will occur if the shafts are not properly aligned Prevent direct impact to the shafts when installing the coupling The encoder mounted on the opposite end of the shaft may be damag...

Page 24: ...A5 15 29 68 12 14 54 01 17 54 78 12 14 54 02 55 1 245 16 63 74 0 98 25 04 55 1 245 16 63 74 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 98 25 04 55 1 245 15...

Page 25: ...e 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 the end of the motor 2 1 7 Cable...

Page 26: ...eat ing Unit Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so the tem perature around the servo amplifier does not exceed 55 C Installation...

Page 27: ...mplifier using the mounting holes The number of holes varies from two to four with the frame size of the servo amplifier 2 2 4 Installation Follow the procedure below to install multiple servo amplifi...

Page 28: ...figure above allow at least 0 39in 10mm between and at least 1 97in 50mm above and below each servo amplifier Install cooling fans above the servo amplifiers to avoid excessive temperature rise and t...

Page 29: ...and Descriptions of Main Circuit Terminals 3 8 3 3 2 Typical Main Circuit Wiring Example 3 9 3 3 3 Cable Specifications and Peripheral Devices 3 9 3 3 4 Servo Amplifier Power Losses 3 10 3 3 5 Wiring...

Page 30: ...Chapter 3 Wiring 3 2 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 31: ...ences and to display opera tion or alarm status Commumication 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 32: ...s and to display opera tion or alarm status Commumication and control is also possible with a personal computer Cable model YS 12 Used to eliminate external Protects the power Used for a servomotor Co...

Page 33: ...uppressor Open during servo alarm DC DC con verter POWER Analog voltage converter Serial port Reference pulse processing Current Sensor PG output Reference pulse inpu Speed torque reference input Sequ...

Page 34: ...input Sequence I O For battery connection Serial port 5V 15V 5V 12V Analog monitor Digital monitor personal computer output for supervision Connection for optional board DB IMC L1 L3 L2 XX1 XX2 XX3 R...

Page 35: ...ference input lines and is 787 40in 20m out of control or malfunction Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the servo amplifie...

Page 36: ...ower supply ground terminals and motor ground terminal B1 B2 or B1 B2 B3 External regen erative resistor terminal 30 to 400W Normally not connected Connect an external regenerative resistor provided b...

Page 37: ...alarm 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...

Page 38: ...Main Circuit Power Supply Maximum Applicable Servomot or Capacity kW Servo Amplifier Model Output Current Effective Value A Main Circuit Power Loss W Regenerative Resistor Power Loss W Control Circuit...

Page 39: ...wo 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...

Page 40: ...Sigma II User s Manual Chapter 3 Wiring 3 12 3 4 I O Signals This section describes I O signals for the SGDH servo amplifier...

Page 41: ...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 RDY S RDY...

Page 42: ...input 33 PAO PG divided output A phase 9 T REF Torque refer ence input 34 PAO PG divided output A phase 10 SG GND 35 PBO PG divided output B phase 11 SIGN Reference sign input 36 PBO PG divided outpu...

Page 43: ...lse block Position control with reference pulse stop Stops refer ence pulse input when ON 5 2 10 P OT N OT 42 43 Forward Run prohib ited Reverse Run prohib ited Overtravel prohibited Stops Servomotor...

Page 44: ...ation Detects whether the servomotor is rotating at a speed higher than the motor speed setting Motor speed detection can be set via parame ter 5 5 5 S RDY S RDY 29 30 Servo ready ON if there is no se...

Page 45: ...als is 12V Reference Position Input Circuit An output circuit for the reference pulse and error counter clear signal at the host control ler can be either line driver or open collector outputs These a...

Page 46: ...rvo amplifier output circuits can be used Con nect 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...

Page 47: ...ollector 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 circui...

Page 48: ...PBO PCO PCO Note Incremental encoder PG5V PG0V 2 1 2 2 2 5 2 6 CN2 Servo amplifier A phase C 5 1 33 1 34 1 35 1 36 1 19 1 20 P PG D 6 H 1 G 2 Shell CN1 J P P P Connector shell B phase C phase Note 0...

Page 49: ...and 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 S...

Page 50: ...Sigma II User s Manual Chapter 3 Wiring 3 22 3 6 Examples of Standard Connections The following diagrams show examples of standard servo amplifier connections by speci fications and type of control...

Page 51: ...y Servo ON with 1Ry ON P control with 2Ry ON Reverse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current li...

Page 52: ...by T I or the equivalent Speed coincidence detection ON when speed coincides Positioning completed ON when positioning is completed TGON output ON at levels above the setting Servo ready output ON whe...

Page 53: ...manufactured by T I or the equivalent Positioning completed ON when positioning is completed TGON output ON at levels above the setting Servo ready output ON when ready Servo alarm output OFF with an...

Page 54: ...th 6Ry ON Forward current limit ON with 7Ry ON PG dividing ratio output Applicable line receiver SN75175 or MC3486 manufac tured by T I or the equivalent Amount of S phase rotation Serial data output...

Page 55: ...set with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON PG dividing ratio output Applicable line receiver SN75175 or MC3486 manufac tured by T I or the equivalent Amo...

Page 56: ...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 the Machine 4 9 4 2 Supplementary Information on Trial O...

Page 57: ...n 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 DATA CHARGE POWER SERVOPACK 200V YASKAWA Do not connect to th...

Page 58: ...leted as much as possi ble 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 59: ...r 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 sup ply circuit servomotor wirin...

Page 60: ...r 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 signal...

Page 61: ...rn 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 S...

Page 62: ...t Pn000 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 Mod...

Page 63: ...peed reference is 0 4 Reset the parameters shown 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...

Page 64: ...is OFF 2 Connect the servomotor to the equipment See 2 1 Servomotors for more details on connecting the servomotor 3 Use autotuning to match the servo amplifier to equipment characteristics See 6 3 A...

Page 65: ...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 properly when When assure...

Page 66: ...eed Input a ref erence speed of 60rpm for example to see if the servomotor makes one revolution per sec ond Check the parameter setting at Pn300 to see if the refer ence speed gain is correct Simple P...

Page 67: ...ings through parameters can be used to eliminate the need for external short circuits Pn000 1 Function Selection Basic Switches Control Method Selection See 5 3 5 Pn300 Speed Reference Input Gain See...

Page 68: ...5 5 2 5 Using the Electronic Gear Function 5 28 5 2 6 Contact Input Speed Control 5 32 5 2 7 Using Torque Control 5 38 5 2 8 Torque Feed forward Function 5 44 5 2 9 Torque Limiting by Analog Voltage R...

Page 69: ...nerative Resistor 5 82 5 6 1 External Regenerative Resistor 5 84 5 6 2 Calculating the Required Capacity of Regenerative Resistors 5 86 5 7 Absolute Encoders 5 90 5 7 1 Interface Circuit 5 90 5 7 2 Se...

Page 70: ...Select basic and application functions such as the type of control or the stop mode used when an alarm occurs Servo Gain and Other Con stants Pn100 to Pn123 Set numerical values such as speed and pos...

Page 71: ...direction of shaft motion is reversed n Setting Reverse Rotation Mode Use the parameter Pn000 0 Use the following settings to select the direction of servomotor rotation Standard Setting Reverse Rotat...

Page 72: ...ar 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 4...

Page 73: ...Input 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...

Page 74: ...Setting Description Pn001 1 Overtravel Stop Mode 0 Stops the servomotor the same way as turning the servo OFF according to Pn001 0 1 Decelerates the servomotor to a stop at the preset torque and then...

Page 75: ...ition Control Parameter Signal Setting Description Pn001 0 Servo OFF or Alarm Stop Mode Default Setting 0 Uses the dynamic brake to stop the servomotor and maintains dynamic brake status after stoppin...

Page 76: ...he maximum torque 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 wh...

Page 77: ...que 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 gre...

Page 78: ...meters 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...

Page 79: ...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 80: ...Limiting 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 t...

Page 81: ...motor speed is controlled in proportion to the input voltage between V REF and SG n Setting Examples Pn300 600 This setting means that 6V is equivalent to the rated motor speed Input V REF CN1 5 Spee...

Page 82: ...ng parameter Set the voltage range 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 equ...

Page 83: ...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 inputs are used for the position refer ence Since this signal...

Page 84: ...collector output This circuit uses the 12V power supply built into the servo amplifier The input is Application Examples of V IR R1 1k with VCC 12V 5 R1 180 with VCC 5V 5 Tr1 Output Level Signal Logi...

Page 85: ...the servo amplifier 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 Pos...

Page 86: ...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 87: ...ard reference L Reverse reference CW pulse and CCW pulse Maximum reference fre quency 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 differ...

Page 88: ...l 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...

Page 89: ...means converting an input pulse train from the encoder mounted on the servomotor accord ing to the preset pulse density and outputting the converted pulse The units are pulses per revolution ppr PG S...

Page 90: ...ction 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 Co...

Page 91: ...controller used Input SEN CN1 4 SEN Signal Input Speed Torque Control Input SEN CN1 2 Signal Ground Speed Torque Control Output PSO CN1 48 Encoder Output Phase S Speed Torque Control Position Control...

Page 92: ...rol servo amplifier operation Connect these signal terminals as required n Input Signal Connections Connect the sequence input signals as shown below Servomotor Model and Encoder Specifications Resolu...

Page 93: ...ed 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 input terminal is...

Page 94: ...t 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 50...

Page 95: ...otor Servomotor Model and Encoder Specifications Encoder Type Number of Encoder Pulses Per Revolution p rev A Incremental encoder 13 bit 2048 B 16 bit 16384 C 17 bit 32768 1 Absolute encoder 16 bit 16...

Page 96: ...hen the reference unit is 1 m If a reference of 50000 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 Whe...

Page 97: ...that both A and B are inte gers 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...

Page 98: ...0 001mm Electronic gear ratio B A Pn202 Pn203 Travel distance per load shaft revolution 6000 2048 4 1 6000 0 24in 0 0004in 13 bit Incremental encoder Deceleration ratio 3 1 Electronic gear ratio B A...

Page 99: ...Differentiation 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 S...

Page 100: ...nals 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 101: ...rvo amplifier internal speed reference controls speed by applying this acceler Parameter Signal Setting rpm Control Mode Pn301 Speed 1 SPEED 1 Contact Input Speed Control Range 0 to 10000 Default Sett...

Page 102: ...n the servomotor maximum speed until it stops n Operation by Contact Input Speed Control The following describes operation by contact input speed control Start and Stop The following input signals are...

Page 103: ...used the input signal P CON SPD D specifies the direction of Servomotor rotation Note 0 OFF high level 1 ON low level When contact input speed control is not used the P CON signal is used for pro port...

Page 104: ...t pulse reference output from the host controller after a positioning com pleted signal is output from the servo amplifier 1 The above figure illustrates signal generation timing when the soft start f...

Page 105: ...orque limit Level 3 Always control torque rather than speed output Level 4 Switches between speed and torque control The following describes uses for levels 3 and 4 in the torque control function n To...

Page 106: ...eference 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...

Page 107: ...ference and torque control P 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 Comment...

Page 108: ...Torque 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...

Page 109: ...automatically 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 an...

Page 110: ...ing Torque where the CLT signal is described The maximum speed of the sservomotor will be used if Pn407 is set to a value higher than the maximum speed of the servomotor Principle of Speed Limit When...

Page 111: ...oning time Differentiate a speed reference at the host controller to generate a torque feed forward reference Input this reference together with the speed reference to the servo amplifier Too high a t...

Page 112: ...at Pn400 is 30 If for example the torque feed forward value is 3V then torque is limited to 100 of the rated torque Parameter Signal Setting rpm Control Mode Pn002 0 Speed Control Option T REF Termina...

Page 113: ...analog 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 all...

Page 114: ...whichever is smaller CN1 45 is at H level whenOFF Torque is not limited at for ward run side Normal Operation N CL CN1 46 is at L level when ON Torque is limited at reverse run side Limit value either...

Page 115: ...t circuit See 5 3 3 Input Circuit Signal Allocation for more details n Relationship between Inhibit Signal and Reference Pulses Parameter Signal Setting rpm Control Mode Pn000 1 Control Method Selecti...

Page 116: ...meter to set or modify motor speed when operating the servo motor from a panel or digital operator Use this parameter to set the motor speed when operating the servomotor from a panel or digital opera...

Page 117: ...0 is 0 Functions and applications in this manual are gener CN1 Connector Terminal Numbers Input Terminal Name Default Setting Symbol Name 40 SI0 S ON Servo ON 41 SI1 P CON Proportional control refer e...

Page 118: ...eed Torque Control Position Control Pn50D Input Signal Selections 4 Default Setting 8888 Speed Torque Control Position Control Pn50A 1 Setting Description 0 Inputs the S ON signal from the SI0 CN1 40...

Page 119: ...in sys tem configurations that do not require this signal but unnecessary wiring can be eliminated by setting Pn50A 1 to 8 By setting 9 to F the signal polarity can be reversed Note Several signals c...

Page 120: ...ft to always enabled 8 Sets the signal on the left to always disabled 9 Inputs the inverse signal on the left from SI0 CN1 40 A Inputs the inverse signal on the left from SI1 CN1 41 B Inputs the inver...

Page 121: ...bol 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 Rotation detection 28 SG TGON 29 SO3...

Page 122: ...g Positioning Completed COIN Pn50E 0 0 Disabled Not used for the output signal on the left 1 Outputs the signal on the left from the SO1 CN1 25 and 26 output terminal 2 Outputs the signal on the left...

Page 123: ...output signals are to be inverted Output Terminal Parameter Description Number Setting SO1 CN1 25 26 Pn512 0 0 Does not invert the signal 1 Inverts the signal SO2 CN1 27 28 Pn512 1 0 Does not invert...

Page 124: ...ng Parameter Signal Setting ms Description Pn000 1 Control Mode Selection Default Setting 0 Speed Torque Control Position Control Pn000 1 Setting Control Mode 0 Speed Control Analog Reference 1 Positi...

Page 125: ...Control Pulse Train Reference This mode switches between contact reference speed control and pulse train refer ence position control Pulse train reference position control is enabled when both P CL S...

Page 126: ...rol Analog Reference Zero Clamp This speed control mode is used to set the zero clamp function when the servo ampli fier is stopped Zero clamp operates when the P CON ZCLAMP signal is ON low level See...

Page 127: ...just the reference offset to 0V Note Use manual rather than automatic adjustment if a position control loop is formed in the host control ler See the following sections in Chapter 7 Using the Digital...

Page 128: ...the servo ON signal S ON or by repeatedly turning power ON and OFF Parameter Signal Setting ms Description Pn001 0 Servo OFF or Alarm Stop Mode Default Setting 0 Speed Torque Control Position Control...

Page 129: ...turned ON Even if the servomotor is forcibly rotated by external force it will still return to the zero clamp position n Parameter Setting Set the following parameter so that the input signal P CON Z...

Page 130: ...to A P CON ZCLAMP CN1 41 is ON 0V Pn000 1 Setting Control Mode A Zero Clamp Control Mode This mode allows the zero clamp function to be set when the servomo tor stops The speed reference is input fro...

Page 131: ...goes OFF Note The brake built into the servomotor SGMoH with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped mo...

Page 132: ...rol State Status Result ON Closed or low level Releases the brake OFF Open or high level Applies the brake Parameter Description Pn506 Time Delay from Brake Reference until Servo OFF Pn507 Speed Level...

Page 133: ...ocated to the same output circuit Set other output signals to a value other than that allocated to the BK signal in order to output the BK signal alone See 5 3 4 Output Circuit Signal Allocation Param...

Page 134: ...ending on equipment configuration and brake characteristics If this happens use this parame ter to delay servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507...

Page 135: ...circuit 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 th...

Page 136: ...e servo amplifier OFF Alarm codes ALO1 ALO2 and ALO3 are output to indicate each alarm type Output ALM CN1 31 Servo Alarm Output Speed Torque Control Position Control Output ALM CN1 32 Signal Ground f...

Page 137: ...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 alarms cannot always be reset by input...

Page 138: ...te Status Result ON Closed or low level Turns ON the servomotor operates according to signal input This is the default state OFF Open or high level Servomotor cannot operate Do not turn OFF the servom...

Page 139: ...ontroller uses the signal as an interlock to confirm that position Pn50A 1 Setting Status Result 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 a...

Page 140: ...ference units Too large a value set at this parameter may output only a small error during low speed operation that will cause the COIN signal to be output continuously The positioning completed width...

Page 141: ...s the V CMP signal The parameter is default set so the V CMP signal is output between CN1 25 and 26 Output V CMP CN1 25 Speed Coincidence Output Speed Control V CMP State Status Result ON Circuit betw...

Page 142: ...r the running TGON output signal photo coupler output signal are described below The signal can be activated to indicate that the servomotor is currently operating It is used as an external interlock...

Page 143: ...de Monitor Mode Un006 5 5 6 Using the Servo Ready Output Signal The basic use and wiring procedures for the Servo Ready S RDY output signal photocoupler output signal are described below Servo Ready m...

Page 144: ...signal consists of the following two output signals WARN signals Overload and regenerative overload Note CN1 o terminals are allocated using parameter Pn50F 3 This output signal indicates an overload...

Page 145: ...ription Pn50F Output Signal Selections 2 Default Setting 0000 Speed Torque Control Position Control Pn50F 3 State Output Terminal CN1 1 2 0 1 25 26 2 27 28 3 29 30 Parameter Signal Setting Description...

Page 146: ...ed with the parameter below Pn510 0 is used to allocate the NEAR output signals above Note Multiple signals allocated to the same output circuit are output using OR logic Set other output sig nals to...

Page 147: ...ply The default setting 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 los...

Page 148: ...main circuit power supply is detected but the OFF status is ignored So servomotor operation will continuous if the servomo tor turns ON again within the time limit set at parameter Pn509 Power supply...

Page 149: ...ve power exceeds the processing capacity of the servo amplifier install an external regenerative resistor The following table shows the specifications of the servo amplifier s built in resistor and th...

Page 150: ...values Check with the manufacturer for the resistor s load characteristics Use resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 50 of the rated lo...

Page 151: ...erative resistors The energy that can be absorbed by capacitors is shown in the following table If the rotational energy in the servo system exceeds these values then connect a regenerative resistor e...

Page 152: ...requency Calculation Use the following equation to calculate the allowable frequency for regeneration mode operation Where n JL JM JM Servomotor rotary inertia oz in s2 kg m2 JL Motor axis conversion...

Page 153: ...NM rpm 2 Find the energy 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 resis tance tD s...

Page 154: ...calculation procedure in order to find the required capacity W for the regenerative resistor Energy for continuous regeneration mode operation period EG joules Energy consumed by regenerative resisto...

Page 155: ...PH Servomotor 100V SGMGH Servomotor 1500rpm 200 250 150 100 50 0 0 100 200 300 300 Torque Loss W SGMPH 15A 08A 04A 01A 02A 160 140 120 100 80 60 40 20 0 0 100 200 300 Torque Loss W SGMPH 02B 01B 1600...

Page 156: ...Servo Amplifier for 200V motor Servo Amplifier for 100V motor 1200 1000 800 600 400 200 0 0 100 200 300 SGMSH 30A 20A 15A 10A Torque Loss W Absorbable energy J AC input power supply voltage Vrms 120...

Page 157: ...am shows the standard connections for an absolute encoder mounted to a servomotor Applicable line drivers SN75175 or MC3486 by TI Terminating resistance R 220 to 470 Always detects absolute position O...

Page 158: ...plication with the following parameter Either 0 or 1 in the following table must be set in order to enable the absolute encoder The following parameter is used to periodically clear the encoder s coun...

Page 159: ...ng operation Fn 013 This operation can be executed using the hand held digital operator or the servo amplifier panel operator Note The multi turn limit setting is enabled only during the multi turn li...

Page 160: ...gital operator the servo amplifier s panel operator or with personal computer monitor software The setup operation procedure shown here uses the digital operator For more details refer to Chapter 7 Us...

Page 161: ...at case go back to step 3 above and perform the operation again 5 When PGCL5 is displayed press the DSPL SET key The display will change as follows and the absolute encoder s multi turn data will be c...

Page 162: ...nge as follows and the absolute encoder s multi turn data will be cleared 6 Press the DATA SHIFT key to return to the auxiliary function mode This completes the absolute encoder s setup operation Cycl...

Page 163: ...play will appear 4 Press the DSPL SET key The display will change as follows and the absolute encoder s multi turn data will be cleared 5 Press the DATA ENTER key to return to the auxiliary function m...

Page 164: ...solute Signals The absolute encoder s outputs are PAO PBO PCO and PSO signals as shown below The multi turn limit value should be changed only for special applications Cahanging it inappropriately or...

Page 165: ...lses PS The number of initial incremental pulses read at setup This is saved and controlled by the host controller PM The current value required for the user s system R The number of pulses per encode...

Page 166: ...32767 to 32768 When this range is exceeded the data changes from 32767 to 32768 or from 32768 to 32767 Data Transfer Method Start stop Synchronization ASYNC Baud rate 9600bps Start bits 1 bit Stop bi...

Page 167: ...es initial incremental pulses which provide absolute data are first divided by the frequency divider inside the Servo Amplifier and then output Setting the Pulse Dividing Ratio Use the following param...

Page 168: ...ries according to the encoder used n Transferring Alarm Contents When an absolute encoder is used SEN signals can be utilized to transfer the alarm contents through PAO outputs to the host device as s...

Page 169: ...class 3 ground 100 maximum is recommended Ground to one point only 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 sign...

Page 170: ...hen the servo amplifier is placed near a high frequency oscillator install a noise filter on the input side of the power supply line Note 1 Since the servo amplifier uses high speed switching elements...

Page 171: ...ircuit Power Supply Servo Amplifier Model Applicable Motor Power Capacity per Servo Amplifier kVA Current Capacity per MCCB or Fuse Arms Capacity kW SGDH Single phase 100V 0 03 A3BE SGMAH A3B 0 15 4 0...

Page 172: ...tly This servo amplifier has a built in microprocessor CPU To protect it from exter nal noise install a noise filter in the appropriate place The following is an example of wiring for noise control No...

Page 173: ...ce input line If the main circuit wiring for the motor is accommodated in a metal conduit ground the conduit and its junction box All grounds must be made to only one point in the system n Using Noise...

Page 174: ...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 175: ...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 176: ...ers in series to enable alarm detection relay 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 filte...

Page 177: ...tension cable as described below The maximum allowable cable length is 50m Preparing 50m 164 0ft Encoder Cables Cable Model Number UL2076 SB Cables are ordered in units of meters Specify the length wh...

Page 178: ...ameter Settings and Functions 5 111 Preparing Encoder Cables Encoder Connector at Servo Amplifier Cable Line Encoder Connector at Servomotor For SGMAH and SGMPH servomotors For SGMGH and SGMSH servomo...

Page 179: ...wer supply ON and OFF at the primary side of the voltage conversion transformer Note Transformer inductance will cause a surge voltage if the power is turned ON and OFF at the second ary damaging the...

Page 180: ...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 time of shipping the servo amplifier s 1 and 2 are...

Page 181: ...ance mH Rated current A 100 V SGDH A3BE SGDH A5BE SGDH 01BE 10 0 1 8 X5063 SGDH 02BE 4 7 3 5 X5062 200 V SGDH A3AE SGDH A5AE SGDH 01AE 22 0 1 0 X5064 SGDH 02AE 10 0 1 8 X5063 SGDH 04AE 4 7 3 5 X5063 S...

Page 182: ...2 High speed Positioning 6 7 6 2 1 Setting Servo Gain 6 7 6 2 2 Using Feed Forward Control 6 9 6 2 3 Using Proportional Control 6 9 6 2 4 Setting Speed Bias 6 10 6 2 5 Using Mode Switch 6 11 6 2 6 Sp...

Page 183: ...on enables smooth speed control when progressive speed refer ences 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...

Page 184: ...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 185: ...tem including the machine to be controlled the system will tend to vibrate or become too sensitive Smooth operation is not possible under such conditions Reduce each loop gain value to an appropriate...

Page 186: ...nce 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 m...

Page 187: ...Use the following parameter to set the frequency at which the filter is effective Parameter Signal Setting Description Pn408 0 Notch Filter Selection Default Setting 0 Speed Torque Control Position C...

Page 188: ...ine 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 shaft is defa...

Page 189: ...ter 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 may arise du...

Page 190: ...ompensation to position control inside the servo amplifier Use it to shorten positioning time Too high a value may cause machine vibration For most applications set Pn109 to 80 or less 6 2 3 Using Pro...

Page 191: ...y assigning bias to the speed refer ence block in the servo amplifier To assign bias use the following constants Set the parameters to shorten the time required for positioning according to the applic...

Page 192: ...switch with the following parameter Pn10B 0 The mode switch is used to fully utilize performance of a servodrive to achieve very high speed positioning The speed response waveform must be observed to...

Page 193: ...ion The mode switch function suppresses torque sat uration and eliminates motor speed overshoot or undershoot Speed Reference Used as Detection Point With this setting if a speed reference exceeds the...

Page 194: ...switch function the speed of the motor may overshoot or undershoot due to torque saturation at the time of the acceleration or deceleration of the motor The mode switch function sup presses torque sa...

Page 195: ...peed Feedback Compensation Use this function to shorten the system s setting time in positioning operation Motor speed Reference Speed Pn10F Deviation Pulse Time P control PI control PI control Motor...

Page 196: ...position loop gain in Pn102 The relationship between the speed loop gain and integral time constant is as fol lows Take the value obtained from the following formula as a reference value for setting t...

Page 197: ...the analog monitor is not vibrating or unstable 7 The servo gain adjustment is completed when no further shortening of the posi tioning time is possible Speed feedback compensation usually makes it p...

Page 198: ...1 Online Auto Tuning Online auto tuning is a control function which enables the servo amplifier to check changes in the load inertia during operation in order to maintain the target value for speed lo...

Page 199: ...ne auto tuning function if tuning is not possible See 6 4 3 Do not use online auto tuning in the following cases When using Torque Control Mode When using IP control for the speed loop When using the...

Page 200: ...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...

Page 201: ...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 n Cha...

Page 202: ...ng Using the Built in Panel Operator 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...

Page 203: ...ain it is necessary to use constant 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 i...

Page 204: ...then the inertia ratio will be saved 4 Press the 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 ampli...

Page 205: ...arameter to 1 if the load inertia always fluctuates due to the load condi tions Then the response characteristics can be kept stable by continuously refresh ing the inertia calculation data is refresh...

Page 206: ...rtia 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 calcu lation Note 1 Do not...

Page 207: ...eed 6 4 2 Basic Rules of Gain Adjustment The servo system consists of three feedback loops i e position loop speed loop and current loop The innermost loop must have the highest response speed and the...

Page 208: ...es and the motor will not be able to follow The speed reference will oscillate as shown in the following graph If this happens reduce the position loop gain or increase the speed loop gain The positio...

Page 209: ...0 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 valu...

Page 210: ...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 i...

Page 211: ...ute inputs This integral element delays the operation of the servo system resulting in longer positioning settling time As the value of the time constant increases the response becomes slower If the l...

Page 212: ...of the mechanical system If the constant is too large the positioning settling time will be too long 4 Set the torque reference filter to a small value in Pn401 if the mechanical system has shaft tor...

Page 213: ...e feed for ward function The primary delay filter may prevent the positioning completion signal from bouncing and the system speed from overshooting Bias Function This function adds the bias set in Pn...

Page 214: ...aveform and make the optimum gain adjustments If the rigidity of the machinery is high gain increments exceeding the described ranges are possible n Machines with High Rigidity These machines are dire...

Page 215: ...e from the following 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 Posi...

Page 216: ...s exceeded Cable 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...

Page 217: ...e 7 5 7 1 6 Operation in Parameter Setting Mode 7 8 7 1 7 Operation in Monitor Mode 7 16 7 2 Applied Operation 7 21 7 2 1 Operation in Alarm Traceback Mode 7 22 7 2 2 Operation Using the Digital Opera...

Page 218: ...eld operator i e the JUSP OP02A 1 digital operator which 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 connec...

Page 219: ...tion in parameter setting mode DATA ENTER Key Press this key to set each param eter or display the set value of each parameter Value Change JOG Key Up Arrow Key Press this key to increase the set val...

Page 220: ...m 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 par...

Page 221: ...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 222: ...nput 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 i...

Page 223: ...Preset 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 mai...

Page 224: ...ange 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 Using the...

Page 225: ...ect 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 the th...

Page 226: ...gital Operator 7 10 Repeat steps 2 to 6 to change the setting again Note Parameter numbers that are not defined are skipped during Operator operations Press the DATA SHIFT Key for a maximum of one sec...

Page 227: ...Gain related Application Switches 0000 See 2 Pn110 Online Autotuning Switches 0010 See 2 Position Control related Parameter Pn200 Position Control Reference Selection Switches 0000 See 1 Sequence rel...

Page 228: ...00 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 Distribution of para...

Page 229: ...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 230: ...0 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 5 P...

Page 231: ...s Manual Chapter 7 Using the Digital Operator 7 15 7 Press the DATA SHIFT key once more for a minimum of one second to return to the parameter number display This has changed the 1st digit of paramet...

Page 232: ...Hand Held Digital Operator 1 Press the DSPL SET key to select the monitor mode 2 Press the Up Arrow or Down Arrow key to select the monitor number to be displayed 3 Press the DATA ENTER key to displa...

Page 233: ...l torque reference Value for rated torque Un003 Rotation angle 1 pulses Number of pulses from the origin Un004 Rotation angle 2 deg Angle electrical angle from the origin Un005 Input signal monitor Se...

Page 234: ...Sigma II User s Manual Chapter 7 Using the Digital Operator 7 18 4 Displayed only in position control mode...

Page 235: ...top and bottom rows The hori zontal 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 236: ...s of seven segment displays located in top and bottom rows The hori zontal segments are not used here These turn ON or OFF relative to the state of the corresponding output signals ON for L level and...

Page 237: ...p 4 Press the Up Arrow or Down Arrow key to alternately display the left most and the rightmost 16 bit data 5 Press both the Up Arrow or Down Arrow keys simultaneously to clear the 32 bit counter data...

Page 238: ...aceback data display Fn001 Rigidity setting during online autotuning See note Fn002 JOG mode operation Fn003 Zero point search mode Fn004 Reserved parameter Fn005 Parameter settings initialization See...

Page 239: ...ress the DSPL SET key to select the Displaying alarm traceback data Fn000 in the auxiliary function mode 2 Press the DATA ENTER key and the alarm traceback data will be displayed 3 Press the Up Arrow...

Page 240: ...ck data Note Alarm traceback data is not updated when the same alarm occurs repeatedly 7 2 2 Operation Using the Digital Operator Operation from the digital operator allows the servo amplifier to run...

Page 241: ...possible using the digital operator 3 Press the 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...

Page 242: ...or 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 revert...

Page 243: ...ference offset manual adjustment mode Refer to Section 7 2 4 Manual Adjustment of the Speed and Torque Reference Offset for details The automatic reference offset adjustment mode cannot be used for se...

Page 244: ...e 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 DSPL SET key and the following display will flash for one...

Page 245: ...imum of one second and the display will be as shown below 5 Press the MODE SET key and the following display will flash for one second The reference offset will be automatically adjusted 6 Press the D...

Page 246: ...hat the amount of offset is directly input during the adjust ment The offset amount can be set in the speed reference or torque reference The offset setting range and setting units are as follows Manu...

Page 247: ...set 7 Press the Right Cursor Key to return to the display shown in the above step 4 8 Press the DATA ENTER key to return to the auxiliary function mode display This completes the speed reference offse...

Page 248: ...amount 6 Press the Up Arrow or Down Arrow key to adjust the amount of offset adjustment of the speed reference offset 7 Press the DATA SHIFT key for less than one second to return to the display shown...

Page 249: ...Press the DATA ENTER key and the display will be as shown below The man ual adjustment mode for the torque reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as s...

Page 250: ...l 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 refer ence offset amount 6 Press the Up Arr...

Page 251: ...perator 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...

Page 252: ...the display will be as shown below 4 Press the MODE SET key to clear the alarm traceback data The following dis play will flash for one second and after the alarm traceback data is cleared the displa...

Page 253: ...select the auxiliary function mode 2 Select the parameter Fn011 Press the Left Arrow or Right Arrow key to select the digit Press the Up Arrow or Down Arrow key to change the value 3 PresstheDATA ENTE...

Page 254: ...This ends checking motor type procedure Using the Panel Operator 1 Press the MODE SET key to select the auxiliary function mode 2 Press the Up Arrow or Down Arrow key to select the parameter Fn011 3 P...

Page 255: ...steps 3 to 5 will also return to the auxiliary function mode display This completes the motor type checking procedure Voltage Servomotor Model Code Voltage Code Servomotor Model 00 100VAC or 140VDC 0...

Page 256: ...rsion 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 Panel Op...

Page 257: ...is ON turn it OFF Release the Servo ON signal mask if the parameter Pn50A 1 is set to 7 and the servo has been set to be always ON Follow the procedure below to execute the origin search Using the Ha...

Page 258: ...ction mode display This completes the origin search operation Using the Panel Operator 1 Press the MODE SET key to select the auxiliary function mode 2 Press the Up Arrow or Down Arrow key to select t...

Page 259: ...the default settings standard factory settings Follow the procedure below to initialize parameter settings Using the Hand Held Digital Operator 1 Press the DSPL SET key to select the auxiliary functi...

Page 260: ...nd and the display will be as shown below 4 Press the MODE SET key and the display will be as shown below The param eters will be initialized 5 Press the DATA SHIFT key for a minimum of one second to...

Page 261: ...ift or the zero point drift caused by noise entering the monitor system The gain adjust ment function can be changed to match the sensitivity of the measuring system Note The output voltage of the ana...

Page 262: ...n the displays for the two channels shown below 5 Press the Left Arrow or Right Arrow key to display the analog monitor output data Pressing the Left Arrow or Right Arrow key again will return to the...

Page 263: ...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 display shown in the above steps 3 or 4...

Page 264: ...ey 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 ga...

Page 265: ...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 3 or...

Page 266: ...rent Detection Offset Follow the procedure below to perform automatic adjustment of the current detec tion offset Note Automatic adjustment is possible only with power supplied to the main circuits an...

Page 267: ...to return to the auxil iary function mode display This completes the automatic adjustment of the motor current detection offset Manually Adjusting the Motor Current Detection Offset Follow the procedu...

Page 268: ...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 6 Press the Up Arro...

Page 269: ...y the current detection data Press the DATA SHIFT key again for less than one second and the display will return to one shown above in step 3 or 4 6 Press the Up Arrow or Down Arrow key to adjust the...

Page 270: ...password 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 digit Pr...

Page 271: ...display will be as shown below 4 Input the value 0001 and press the MODE SET key The display will change to one shown below and the write protect will be established 5 Press the DATA SHIFT key for a...

Page 272: ...he ratings torque speed characteristics diagrams and dimensional drawings of the Sigma II series servo drives 8 1 Servomotors 8 2 8 1 1 Ratings Specifications and Dimensional Drawings 8 2 8 2 Servo Am...

Page 273: ...Permanent magnet Drive Method Direct drive Mounting Flange method Voltage 200V 100V Servomotor Model SGMAH A3A A5A 01A 02A 04A 08A A3B A5B 01B 02B Rated Output kW 0 03 0 05 0 1 0 2 0 4 0 75 0 03 0 05...

Page 274: ...ll values are typical Rated torques are continuous allowable torque values at 40 C with a 10 10 0 25in 250 250 6mm heat sink attached Rated Angular Acceleration rad s2 57500 72300 87400 60100 73600 35...

Page 275: ...4 0 200 400 600 TORQUE N m TORQUE oz in 0 2 4 6 8 0 400 800 1200 TORQUE N m TORQUE oz in SGMAH 02 o o 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 SGMAH...

Page 276: ...1 1 5 2 0 100 200 300 TORQUE N m TORQUE oz in 0 50 100 150 TORQUE oz in TORQUE N m SGMAH 01 o o SPEED rpm 4000 3000 2000 1000 5000 0 B A SGMAH A3 o o B A 0 0 1 0 2 0 3 0 4 0 20 40 60 TORQUE N m TORQUE...

Page 277: ...4 SGMAH 01A B 3 72 94 5 0 32 8 1 10 0 5 SGMAH 02A B 3 80 96 5 2 36 60 2 76 70 0 22 5 5 0 24 6 1 98 50 0 12 3 0 56 14 1 18 30 2 43 1 1 SGMAH 04A 4 90 124 5 3 75 1 7 SGMAH 08A 5 71 145 3 15 80 3 54 90...

Page 278: ...0 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 Rat...

Page 279: ...2 3 4 TORQUE N m 0 200 400 600 TORQUE oz in B A SGMPH 15o o 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 08o o SPEED rpm 4000 3000 2000 1000 5000...

Page 280: ...racteristics 8 9 100V Servomotors B A TORQUE oz in 0 50 100 150 0 0 25 0 5 0 75 1 0 TORQUE N m SGMPH 01o o SPEED rpm SGMPH 02o o B A 0 100 200 300 TORQUE oz in 0 0 5 1 1 5 2 TORQUE N m SPEED rpm 4000...

Page 281: ...3 54 90 0 28 7 0 31 8 2 76 70 0 56 14 3 09 1 4 SGMPH 04A B 3 43 87 4 63 2 1 SGMPH 08A B 3 410 86 5 4 72 120 5 71 145 0 39 10 0 39 10 4 37 110 0 14 3 5 0 64 16 1 18 30 9 26 4 2 SGMPH 15A 4 51 114 5 0 7...

Page 282: ...IP67 except for through sections of the shaft Ambient Temperature 0 to 40 C Ambient Humidity 20 to 80 with no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method...

Page 283: ...2000 1000 0 SGMGH 05Ao oA TORQUE N m TORQUE lb in 0 20 40 60 80 0 50 100 150 TORQUE N m TORQUE lb in SGMGH 09Ao oA SPEED rpm 3000 2000 1000 0 0 5 10 15 20 B A TORQUE N m TORQUE lb in 0 20 40 60 80 SP...

Page 284: ...24 6 1 57 40 0 75 19 2 28 58 12 1 5 5 SGMGH 09AoA 6 34 161 16 8 7 6 SGMGH 13AoA 7 28 185 0 87 22 21 2 9 6 SGMGH 20AoA 6 54 166 7 09 180 7 87 200 0 53 13 5 0 71 18 4 50 114 3 0 13 3 2 2 99 76 1 38 35 3...

Page 285: ...y 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 Excitation Permanent magnet Drive Method Direct drive...

Page 286: ...100 200 SPEED rpm 4000 3000 2000 1000 5000 0 SGMSH 15Ao oA B A 0 5 10 15 SPEED rpm 4000 3000 2000 1000 5000 0 TORQUE N m TORQUE lb in 0 50 100 150 B A SGMSH 10Ao oA SPEED rpm 4000 3000 2000 1000 5000...

Page 287: ...149 3 94 100 4 53 115 0 28 7 0 39 10 3 74 95 0 12 3 1 57 40 0 94 24 1 77 45 10 1 4 6 SGMSH 15AoA 6 89 175 12 8 5 8 SGMSH 20AoA 7 80 198 15 4 7 0 SGMSH 30AoA 7 83 199 5 12 130 5 71 145 0 35 9 0 47 12...

Page 288: ...ecifications at 200V Voltage Single phase 200V Three phase 200V Servo Amplifier Model SGDH A3AE A5AE 01AE 02AE 04AE 05AE 08AE 10AE 15AE 20AE 30AE SGMAH Series Appli cable Ser vomo tor Model SGMAH A3A...

Page 289: ...emental encoder Continuous Output Current Arms 0 89 2 0 2 6 4 1 7 5 Maximum Output Current Arms 2 8 6 0 8 0 13 9 23 0 Allowable Regener ative Energy Joules 37 1 Allowable Regener ative Frequency times...

Page 290: ...lerateand deceler ate through a 0rpm maximum motor speed 0rpm cycle in a minute Voltage Single phase 200V Three phase 100V Servo Amplifier Model SGDH A3AE A5AE 01AE 02AE 04AE 05AE 08AE 10AE 15AE 20AE...

Page 291: ...rvo Amplifier Model SGDH A3BE A5BE 01BE 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 Sta...

Page 292: ...4 0 5 0 75 1 0 1 5 2 0 3 0 200V Continuous Output Current Arms 0 44 0 64 0 91 2 1 2 8 3 8 5 7 7 6 11 6 18 5 24 8 Maximum Output Current Arms 1 3 2 0 2 8 6 5 8 5 11 0 13 9 17 28 42 56 100V Continuous...

Page 293: ...10s Can be set individually for acceleration and deceleration Input Signals Speed Reference Input Reference Voltage 6VDC Variable setting range 2 to 10VDC at rated torque positive torque reference wit...

Page 294: ...istor 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 voltage overload rege...

Page 295: ...k 3 types CN3 CN1 CN2 6 30 160 0 24 6 5 12 130 2 95 75 0 67 17 2 x M4 screw holes 2 17 55 2 x M4 screws 0 24 6 Ground terminal 0 39 10 Mounting Hole Diagram 6 30 160 0 22 5 5 5 89 149 5 0 020 0 5 Moun...

Page 296: ...DE SET CHARGE DATA POWER YASKAWA SERVOPACK SGDH 5 12 130 2 95 75 2 95 75 2 48 63 0 24 6 0 24 6 0 39 10 0 47 12 0 20 5 Ground terminal 2 x M4 screws 0 20 5 CN3 CN1 CN2 6 30 160 2 0 20 5 holes 0 22 5 5...

Page 297: ...AWA SERVO SGDH 3 54 90 7 09 180 1 06 27 0 39 10 1 38 35 2 95 75 Ground 2 x M4 0 24 6 CN3 CN1 CN2 6 30 160 3 72 94 4 Terminal block 3 types L3 B3 Air flow 0 59 15 Air flow terminal screws 2 17 55 Cooli...

Page 298: ...WA SGDH 7 09 180 2 95 75 0 20 5 4 33 110 Ground terminal 2 x M4 screws Terminal block 3 types CN2 CN1 CN3 6 30 160 Air flow Air flow Heat sink 2 0 20 5 holes Mounting Hole Diagram 0 22 5 5 2 x M4 scre...

Page 299: ...24 6 4 x M5 taps 9 84 250 9 39 238 5 0 020 0 5 Mounting pitch 4 33 110 0 20 5 0 20 5 0 20 5 Mounting pitch 3 94 100 Cooling fan Approximate mass 8 38lb 3 8kg 0 16 4 100 1 57 40 Heat sink CN3 CN1 CN2 A...

Page 300: ...cribed for problems which generate an alarm display and for problems which result in no alarm display 9 1 Servodrive Inspection and Maintenance 9 2 9 1 1 Servomotor Inspection 9 2 9 1 2 Servo Amplifie...

Page 301: ...spections 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 require...

Page 302: ...rting operation Periodical 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 Proce...

Page 303: ...7 3 Handling Batteries 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...

Page 304: ...the cause of an alarm and the action to be taken Note A is not an alarm Contact Yaskawa if the problem has not been solved after following the described procedures n A 02 A 02 Parameter Breakdown Disp...

Page 305: ...te 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 Circuit board 1PWB or 2PWB defec tive Replace servo amplifier A...

Page 306: ...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 The range of servomotor capacities that can be...

Page 307: ...rvomotor 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 feedback...

Page 308: ...LO3 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 regenera tive resistor C Dis...

Page 309: ...edy 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 ma...

Page 310: ...ALM 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 regenera tive...

Page 311: ...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 312: ...3 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...

Page 313: ...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 Incorrect or disconnected servomotor wiring Check wiring and connect...

Page 314: ...erload detection 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...

Page 315: ...ut 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 cap...

Page 316: ...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 c...

Page 317: ...puts 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 that the ambient temperatu...

Page 318: ...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 319: ...r 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 pro cedure Replace ser...

Page 320: ...Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A Disconnected battery Defective battery connection Check and correct battery connec tion B Batt...

Page 321: ...m 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 cau...

Page 322: ...utput 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...

Page 323: ...Code Output ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause of the Problem Solution A The ambient temperature of the ser vomotor is high Alter conditions so that the ambient temperature goes below 40...

Page 324: ...or 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 reference read in unit A D Converte...

Page 325: ...ause 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 e...

Page 326: ...utputs 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 327: ...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 disconnected encoder wiring...

Page 328: ...medy for Alarm n A Cb A Cb Encoder Echoback Error Display and Outputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3...

Page 329: ...oder Replace servomotor C Defective servo amplifier Replace servo amplifier Alarm Outputs Alarm Code Output ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause of the Problem Solution A Incorrectly set Mult...

Page 330: ...Servo 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 prob lem persists replace with a lar...

Page 331: ...or 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 disconnected Check power su...

Page 332: ...ALO2 ALO3 Not Applicable Cause of the Problem Solution A Cable defective or poor contact between digital operator and servo amplifier Check connector connections Replace cable B Malfunction due to ex...

Page 333: ...tput transistor is ON 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 and servo amplif...

Page 334: ...orrectly input speed position references S ON is turned OFF Check settings of parameters Pn50A 0 and Pn50A 1 Turn S ON input ON P CON input function set ting incorrect Check parameter Pn000 1 Refer to...

Page 335: ...e the value of parameter Pn100 speed loop gain Reduce the integration time constant Pn101 Servomotor over heated Ambient temperature too high Measure servomotor ambient temperature Reduce ambient temp...

Page 336: ...s over heated A 30 ON ON OFF OFF Regeneration Error Detected Regenerative circuit is faulty Regenerative resistor is faulty A 32 Regenerative Overload Regenerative energy exceeds regen erative resisto...

Page 337: ...ference 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 OFF ON OFF Servo Overrun Detected The se...

Page 338: ...Code Outputs Warning Name Meaning of Warning ALO1 ALO2 ALO3 A 91 ON OFF OFF Overload This warning occurs before either of the overload alarms A 71 or A 72 occurs If the warning is ignored and operati...

Page 339: ...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 340: ...ol Mode M PG Yaskawa 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...

Page 341: ...ir wires CN1 24V 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...

Page 342: ...Ry 1 33 35 20 47 46 45 2 3 49 48 12 11 10 50 19 18 17 16 3 2 1 15 14 36 20 12 V 19 36 35 20 1 34 33 43 42 40 47 32 31 P P P P P P CN1 CN2 PULSE 0V CLR SIGN PULSE SG CLR SIGN 24 6 5 38 21 22 23 2 14 15...

Page 343: ...3 8 24 9 25 3 19 5 9 6 10 31 32 47 40 43 42 C500NC221 Made by OMRON 1 ON when positioning is canceled ON when proximity is detected 1Ry L1C L3 L2 L1 L2C SON 24VIN 2 Connec tor shell CN1 Servomotor 3 1...

Page 344: ...12V 1 6 LRX01 A2 3 012 V 24VIN POT NOT SON 10 9 31 32 20 19 15 12 11 8 7 14 47 43 42 40 3Ry 24 V 4Ry 1Ry CN1 0V EXTERNAL INTERRUPT Servopack SGDM L1C L3 L2 L1 L2C PC O PCO ALM ALM PULSE CLR SIGN PULS...

Page 345: ...positioning is canceled ON when proximity is detected 1 24VIN POT NOT ALM ALM VREF TREF SG PAO SG PCO PCO PBO PBO PAO 47 32 31 40 1 20 19 34 33 36 35 5 9 6 10 43 42 SON 3 Connector shell 1Ry CN2 4 02...

Page 346: ...NOT 25 24 11 14 7 26 23 5 22 4 21 3 24 V ON when proximity is detected ON when positioning is canceled CN2 I O Power Supply X axis Y axis L1C L3 L2 L1 L2C Servomotor M P G Servopack W V A 1 B 2 C 3 D...

Page 347: ...is appendix lists the parameters switches input signal selections out put signal selections auxiliary functions and monitor modes for SGDH servo amplifiers B 1 Parameters B 2 B 2 Switches B 5 B 3 Inpu...

Page 348: ...nd 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 0 6 2 4 Pn108 Bias Width Addition ref units 0 to 250 7 6 2 4 Pn109 Fe...

Page 349: ...nput 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 300 5 2 6 Pn304 Jog Speed rpm 0 to 10000 50...

Page 350: ...idence 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 Overflow Level 256 ref units 1 to 32767 1024 6 2 1 Pn506 Brake Reference Servo OFF Delay Time...

Page 351: ...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 352: ...ce 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 error 0 05V 100 reference units 5 Reference pulse fre...

Page 353: ...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 error counter at the rising edge of the signal 2 Clears error counter...

Page 354: ...e 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 th...

Page 355: ...Speed Selec tion 0 to F Same as above 8 OFF 2 SPD B Signal Mapping Internal Set Speed Selec tion 0 toF Same as above 8 OFF 3 C SEL Signal Mapping Con trol Mode Switching 0 to F Same as above 8 OFF Pn5...

Page 356: ...t 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 Map ping 0 to 3 Same as above 2 SO2 3 S RDY Signal Map ping 0 to 3 Same as a...

Page 357: ...Absolute encoder multi turn reset and encoder alarm reset Fn009 Automatic tuning of analog speed torque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of to...

Page 358: ...gnal monitor Un006 Output signal monitor Un007 Input reference pulse speed rpm Un008 Error counter value reference units Amount of position error Un009 Accumulated load rate Value for the rated torque...

Page 359: ...2 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 151 Lorong...

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