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YASKAWA UAK series User Manual Download Page 159

8 Operation

8-2

8.8 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . 8-37

8.8.1  Precautions for the Hard Wire Base Block (HWBB) State  . . . . . . . . . . . . . . . . . . . . .8-37
8.8.2  Operation Example for the Hard Wire Base Block . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.3  HWBB Status Monitor   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.4  Restoring Operation from a HWBB State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.5  Error Detection in HWBB Signal   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.6  Connection Example and Specifications of Input Signals (HWBB Signals) . . . . . . . .8-39
8.8.7  Operation with SigmaWin for

Σ

-V-SD (MT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40

8.8.8  Brake Signal (/BK1, /BK2)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40
8.8.9  Dynamic Brake   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40
8.8.10  External Device Monitor (EDM

) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41

8.8.11 Application Example of HWBB Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-43
8.8.12 Confirming HWBB Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-44

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Summary of Contents for UAK series

Page 1: ...Servo Drives USER S MANUAL Design and Maintenance MANUAL NO SIEP S800000 94A 1 2 3 4 5 6 7 8 9 10 11 12 Outline Compatible Devices Specifications and External Dimensions for Motors Installation Wiring...

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

Page 3: ...ne Axis A SERVOPACK that can control one motor SERVOPACK for Two Axes A SERVOPACK that can control two motors V SD Driver A power regeneration converter and a SERVOPACK Servo Drive A set including a s...

Page 4: ...number for axis 1 2040h Add 400 hex to calculate the index number for axis 2 Index number for axis 2 2440h Pn406 20A2h Emergency Stop Torque Setting Range 0 to 800 1 800 After change Setting Unit Fact...

Page 5: ...Rotational Motor EtherCAT CoE Communications Reference SIEP S800000 95 9 9 9 V SD Series Safety Precautions TOBP C710829 04 9 9 9 AC SERVOMOTOR Safety Precautions TOBP C2300200 00 9 9 V SD Series Saf...

Page 6: ...or the trial operation as noted in the applicable manual for that product Malfunctions that occur after the motor is connected to the equipment not only damage the equipment but may also cause an acci...

Page 7: ...perature condi tions Locations subject to humidity outside the range specified in the storage installation humidity conditions Locations subject to condensation as the result of extreme changes in tem...

Page 8: ...ting bed base stand or other structure The weight of the motor and the dynamic load during operation are placed on the installation structure and may cause vibration if the structure is not sturdy eno...

Page 9: ...insu lation against primary Make sure that the output holding time is 100 ms or more Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the batter...

Page 10: ...ontroller while running SigmaWin for V SD MT because an alarm or warning might be issued If an alarm or warning is issued any process currently being executed might be aborted and the system might als...

Page 11: ...re sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presente...

Page 12: ...product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for w...

Page 13: ...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 14: ...tic Contactor for Winding Selection 2 22 2 3 6 Noise Filter 2 23 3 Specifications and External Dimensions for Motors 3 1 3 1 Spindle Motor 3 2 3 1 1 Configuration 3 2 3 1 2 Ratings and Specifications...

Page 15: ...mensions 5 13 5 5 Base Mounting Units 5 16 5 5 1 Specifications 5 16 5 5 2 Power Regeneration Converter and SERVOPACK Combinations 5 16 5 5 3 External Dimensions 5 18 5 5 4 Wiring 5 22 5 5 5 Mounting...

Page 16: ...29 8 7 5 Multiturn Limit Setting 8 32 8 7 6 Multiturn Limit Disagreement Alarm A CC0 8 33 8 7 7 Absolute Encoder Home Offset 8 36 8 8 Hard Wire Base Block HWBB Function 8 37 8 8 1 Precautions for the...

Page 17: ...aintenance and Troubleshooting 11 1 11 1 Inspection and Maintenance 11 2 11 1 1 Motor 11 2 11 1 2 V SD Driver 11 3 11 2 Alarm Displays 11 4 11 2 1 List of Servo Drive Alarms 11 5 11 2 2 List of Alarms...

Page 18: ...1 1 Outline 1 1 Outline 1 1 System Configurations 1 2 1 2 Model Designation 1 3 1 2 1 Spindle Motor 1 3 1 2 2 Servomotor 1 4 1 2 3 V SD Series Driver 1 5...

Page 19: ...case circuit breaker or Ground fault detector Noise filter Magnetic contactor Host controller AC reactor Sensors 1 and 2 Sensors 1 and 2 Magnetic contactor for emergency stop SVM Control power supply...

Page 20: ...Specifications Specifications Code Specifications Code Specifications Code Specifications Code Specifications Code Specifications 4th digit Winding System Single winding Winding selection AC Spindle...

Page 21: ...eal 1st 2nd 3rd 4th 5th digits Series Specifications Specifications V Series Servomotor SGMGV medium inertia 7th 8th digits Rated Output Code Code Specifications kW 9th digit Power Supply Voltage Thre...

Page 22: ...ing Specifications kW 10th digit Input Voltage Three phase 200 VAC Three phase 400 VAC 11th digit Regeneration Method 120 degree conduction 13th digit Mounting Blank Blank Duct ventilated 14th 15th 16...

Page 23: ...7th digits Series Code Specifications Code Code Code Specifications V SD Series SERVOPACK 8th 9th digits Number of Axes Two axes 10th digit Output Current Input Voltage 270 VDC Specifications Arms Sp...

Page 24: ...RVOPACK and Motor 2 3 2 2 Selecting Cables 2 4 2 2 1 Spindle Motor 2 4 2 2 2 Servomotor 2 7 2 2 3 V SD Driver 2 17 2 3 Peripheral Devices 2 20 2 3 1 Molded case Circuit Breakers Ground Fault Detectors...

Page 25: ...7 5 5 5 5 0 CACR JU065ACA 11 15 11 15 55A 44A 15 11 11 7 5 6 0 CACR JU084ACA 19 19 75A 18 5 15 7 5 CACR JU102ACA 22 22 55A 75A 22 18 5 CACR JU125ACA 30 30 30 22 CACR JU196ACA 37 45 45 37 CACR JU014DC...

Page 26: ...llowable charge constant for individual models of power regeneration converters are shown in this table 2 The continuous rated capacity and charge constant for individual models of SERVOPACKs is shown...

Page 27: ...1 Wire Sizes and Tightening Torques Cables A 600 V heat resistant vinyl cable is recommended Select an appropriate size of cable for the motor and the SERVOPACK used For details refer to 7 1 2 1 Main...

Page 28: ...JZSP CJP00 02 E 3 m JZSP CJP00 03 E 5 m JZSP CJP00 05 E 10 m JZSP CJP00 10 E 15 m JZSP CJP00 15 E 20 m JZSP CJP00 20 E To SERVOPACK To spindle motor Name Model Manufacturer Connector Plug 54331 0201...

Page 29: ...Serial Encoder Cable for Spindle Motor 3 m JZSP CJP01 03 E 5 m JZSP CJP01 05 E 10 m JZSP CJP01 10 E 15 m JZSP CJP01 15 E 20 m JZSP CJP01 20 E Heat shrinkable tube Shield wire To SERVOPACK To spindle...

Page 30: ...60 3 TMH5B crimping tool is required Contact Japan Aviation Electronics Industry Ltd for more infor mation Encoder Cable Servomotor Main Circuit Cable SERVOPACK for One Axis or Two Axes Servomotor Ite...

Page 31: ...Standard connectors Protective structure IP67 and European safety standards compliant connector Standard connectors Connector configuration Two kinds of cable end connectors to the servomotor are requ...

Page 32: ...Servomotor s Receptacle for Main Circuit Cable end Connectors to Servomotors Not included Straight Plug L shaped Plug Cable Clamp 0 85 1 3 1 8 CE05 2A18 10PD D MS3102A18 10P MS3106B18 10S MS3108B18 10...

Page 33: ...1 3 16 18UNEF 9 53 32 2 18UNS 18 26 95 25 56 33 32 8 44 4 1 3 4 18UNS 11 13 Unit mm Cable Clamp Type Applicable Connector Shell Size Overall Length A 0 7 Effective Screw Length C E Diameter G 0 7 H J...

Page 34: ...6 mm dia L shaped Plug Straight Plug Items Specifications Connector Model CM10 P2S D Cables are not included Protective Structure IP67 Manufacturer DDK Ltd Instruction Manuals L shaped plug CM10 AP2S...

Page 35: ...onnectors cables and devices 1 When using servomotors without holding brakes the cable end connector for the brake power supply is not required 2 For information on cable end connectors to encoders re...

Page 36: ...5 2A22 22PD D CE05 6A22 22SD D BSS CE05 8A22 22SD D BAS CE3057 12A 1 D 12 5 to 16 0 CE3057 12A 2 D 9 5 to 13 0 CE3057 12A 3 D 6 8 to 10 0 CE3057 12A 7 D 14 5 to 17 0 5 5 7 5 CE05 2A32 17PD D CE05 6A32...

Page 37: ...2 1 1 Wire Sizes and Tightening Torques SERVOPACK Model Connector Housing Model Electrical Contact Model Wire Size Manufacturer CACR JU028ACA 1 917807 2 1318697 6 AWG10 Tyco Electronics Japan G K CAC...

Page 38: ...cable end connectors to encoder DDK Ltd L shaped Plugs IP67 rated Used as cable end connectors to encoder DDK Ltd Cables 3 m JZSP CMP09 03 E JZSP CSP39 03 E 5 m JZSP CMP09 05 E JZSP CSP39 05 E 10 m JZ...

Page 39: ...er diameter of insulating sheath 1 15 mm dia AWG24 0 20 mm2 Outer diameter of insulating sheath 1 09 mm dia UL20276 Rated temperature 80 C AWG22 2C AWG24 2P AWG22 0 33 mm2 Outer diameter of insulating...

Page 40: ...E 2 2 3 2 2 m JZSP CNG00 02 E 3 m JZSP CNG00 03 E Cable for 24 volt control power supply With connectors on both ends Connects two V SD drivers 0 2 m JZSP CNG01 A2 E 2 2 3 3 0 3 m JZSP CNG01 A3 E Cab...

Page 41: ...the order number Example JZSP CJI01 01 E 1 m Items Specifications Order No JZSP CNG00 E Cable Length 1 m 2 m 3 m Cable and Connector Cable UL1015 AWG14 Cable end connector to driver 175362 1 PIN 3537...

Page 42: ...JZSP CSI01 3 E Cable and connector Cable SSRFPVV SB AWG 28 25P UL20276 VW 1SC Shell 10350 52A0 008 Sumitomo 3M Ltd Connector 10150 6000EL Crimping type Sumitomo 3M Ltd Remarks Used for input signals...

Page 43: ...L1 S L2 and T L3 Recommended ground fault detector A ground fault detector with harmonic countermeasures and a rated sensed current of 30 mA or higher for each power regeneration con verter A ground...

Page 44: ...nuous Ratings Arms Inrush Current Main Circuit A0 P 200 V 15 11 CACP JU15A3 73 54 83 18 5 15 CACP JU19A3 90 73 83 22 18 5 CACP JU22A3 107 90 83 30 22 CACP JU30A3 145 107 178 45 37 CACP JU45A3B 218 179...

Page 45: ...ative 2 3 5 Magnetic Contactor for Winding Selection A magnetic contactor for winding selection is needed only if a winding selection motor is used as the spindle motor Select a magnetic contactor for...

Page 46: ...o use the following compact AC power supply block type capacitor X capacitor Compact AC power supply block type capacitor X capacitor model LDA106M AA from Soshin Electric Co Ltd Power Regeneration Co...

Page 47: ...ibration Resistance 3 12 3 1 8 External Dimensions 3 13 3 2 Servomotors 3 17 3 2 1 Ratings and Specifications 3 17 3 2 2 Torque Motor Speed Characteristics 3 20 3 2 3 Overload Characteristics 3 21 3 2...

Page 48: ...Number Name c Output shaft h Stator winding d Bearings i Terminal box e Rotor j Cable socket f Rotor short circuit ring k Cooling fan g Stator l Encoder Number Terminal Number Terminal 1 DC 5 V 7 PC 2...

Page 49: ...otor Equipped with thermostat automatic reset 200 V class Three phase 200 V 50 60 Hz 220 V 50 60 Hz 230 V 60 Hz 400 V class Three phase 400 V 50 60 Hz 440 V 50 60 Hz 460 V 60 Hz Encoder Magnetic Pulse...

Page 50: ...g Fan Motor Equipped with thermostat automatic reset 200 V class Three phase 200 V 50 60 Hz 220 V 50 60 Hz 230 V 60 Hz 400 V class Three phase 400 V 50 60 Hz 440 V 50 60 Hz 460 V 60 Hz Encoder Magneti...

Page 51: ...ntinuous rating Motor speed min 1 1500 6000 10000 47 1 35 0 23 6 10 second rating Continuous rating 5000 50 ED rating Torque N m Motor speed min 1 10 10 second rating 7 5 50 ED rating 5 5 Continuous r...

Page 52: ...00 236 140 118 4000 Continuous rating 10 second rating 50 ED rating Torque N m Motor speed min 1 44 10 second rating 30 1150 3700 6000 27 1 22 5 16 5 4500 50 ED rating Output kW 22 Continuous rating M...

Page 53: ...35 0 23 6 47 1 10 second rating Continuous rating 50 ED rating Motor speed min 1 Output kW 3 7 Continuous rating 1500 500 6 6 10 second rating 5 5 50 ED rating Motor speed min 1 Torque N m 500 1500 1...

Page 54: ...000 70 0 47 8 95 5 10 second rating Continuous rating 50 ED rating Motor speed min 1 Output kW 7 5 Continuous rating 1500 500 13 2 10 second rating 11 50 ED rating Motor speed min 1 Torque N m 500 150...

Page 55: ...191 10 second rating 50 ED rating Continuous rating Motor speed min 1 Output kW 15 Continuous rating 1500 575 22 2 10 second rating 18 5 50 ED rating Motor speed min 1 Torque N m 575 1500 307 369 10 s...

Page 56: ...teristics Motor speed min 1 Output kW 40 10 second rating 5000 1500 4000 19 2 28 8 32 0 4800 30 50 ED rating 20 Continuous rating Motor speed min 1 Torque N m 1500 4000 4800 5000 191 255 10 second rat...

Page 57: ...180 2940 08 7 5 5 5 1470 2940 11 11 7 5 1470 3530 15 15 11 2940 4410 19 18 5 15 2940 4410 22 22 18 5 3530 4900 30 1 30 22 2 4410 5200 37 1 37 30 4900 45 1 45 37 5200 Item Model Accuracy Single winding...

Page 58: ...ions Vertical side to side and front to back Counterclockwise Spindle Motor Vibration Acceleration at Flange Vibration Frequency Winding System Model Constant Amplitude Constant Acceleration Single wi...

Page 59: ...16 250 416 80 15 204 270 42 5 158 207 11 556 215 180 204 16 250 446 110 15 204 270 42 5 158 207 15 568 265 230 250 20 300 458 110 15 260 343 42 5 181 250 19 568 265 230 250 20 300 458 110 15 260 343...

Page 60: ...127 105 16 341 55 42 5 630 290 255 323 30 381 246 180 320 139 5 127 16 407 55 61 769 320 298 388 37 421 246 180 320 139 5 127 16 407 55 61 809 320 298 388 45 377 273 225 380 178 127 21 540 75 61 793...

Page 61: ...265 230 250 20 300 522 110 15 260 343 42 5 181 250 15 769 350 300 320 20 385 629 140 19 320 440 61 227 320 19 769 350 300 320 20 385 629 140 19 320 440 61 227 320 22 809 350 300 320 20 385 669 140 19...

Page 62: ...81 246 180 320 139 5 127 16 407 55 61 769 320 298 388 19 381 246 180 320 139 5 127 16 407 55 61 769 320 298 388 22 421 246 180 320 139 5 127 16 407 55 61 809 320 298 388 30 376 5 273 225 380 178 127 2...

Page 63: ...lass 1800 VAC for one minute Three phase 400 V class Enclosure Totally enclosed self cooled IP67 except for shaft opening Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Rotation D...

Page 64: ...86 5 39 8 34 11 5 18 6 28 4 35 0 48 0 Instantaneous Peak Torque Nxm 9 20 30 46 60 92 107 130 Rated Current Arms 5 2 6 9 10 7 16 7 23 8 32 8 42 1 54 7 Instantaneous Max Current Arms 17 28 40 75 81 110...

Page 65: ...mm iron Servomotor Model SGMGV D8M 05 09 13 20 30 44 55 75 Rated Output kW 0 45 0 85 1 3 1 8 2 9 4 4 5 5 7 5 Rated Torque Nxm 2 86 5 39 8 34 11 5 18 6 28 4 35 0 48 0 Instantaneous Peak Torque Nxm 9 20...

Page 66: ...3000 2500 2000 1500 1000 500 0 3500 3000 2500 2000 1500 1000 500 0 3500 3000 Motor speed 2500 2000 1500 1000 500 0 3500 3000 2500 2000 1500 1000 500 0 3500 3000 2500 2000 1500 1000 500 0 A B A B A B...

Page 67: ...For information on the holding brake power supply and connecting methods refer to 8 4 3 1 Wiring Example 2 The holding brake open time and holding brake operation time vary depending on which dischar...

Page 68: ...load moment of inertia exceeds the allowable load moment of inertia Take one of the following steps if an overvoltage alarm occurs Reduce the torque limit Reduce the deceleration rate Reduce the maxi...

Page 69: ...ce The servomotor will withstand the following vibration acceleration in three directions Vertical side to side and front to back 3 2 11 Vibration Class The vibration class for the servomotors at rate...

Page 70: ...12 3 Shaft End Specifications Unit mm Note Models with oil seals are of the same configuration R 1 S dia Q 18 dia 5 LR Shaft Extension Unit mm 35 dia 90 50 17 38 L LL LM 36 LR 5 10 KB1 KB2 70 A 0 04...

Page 71: ...LR KB1 KB2 IE KL1 Flange Face Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S Q 09 8 21 195 137 101 58 83 125 104 145 110 130 6 12 165 9 19 40 5 5 13 8 21 211 153 117 58 99 141...

Page 72: ...d Specifications Unit mm Note Models with oil seals are of the same configuration R 1 S dia Q 18 dia 5 LR 90 KB1 KB2 10 5 LM LL L LR 36 70 50 17 38 A 0 04 A A 0 02 4 6 6 dia mounting holes 100 dia 120...

Page 73: ...1 KL3 Flange Face Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S Q 09 8 2 231 173 137 58 83 161 115 104 80 145 110 130 6 12 165 9 19 40 7 5 13 8 2 247 189 153 58 99 177 131 104...

Page 74: ...09 13 20 A 20 M 30 44 55 75 Code 2 Straight without key LR 40 58 58 58 58 79 113 Q 30 40 40 40 40 76 110 S 16 19 22 24 24 35 42 Code 6 Straight with key and tap LR 40 58 58 58 58 79 113 Q 30 40 40 40...

Page 75: ...for V SD Drivers 4 4 Specifications and External Dimensions for V SD Drivers 4 1 Power Regeneration Converter 4 2 4 1 1 Specifications 4 2 4 1 2 External Dimensions 4 4 4 2 SERVOPACK 4 6 4 2 1 Specifi...

Page 76: ...C 10 to 15 CACP JU D3 520 to 650 VDC 10 to 15 Control Power Output 24 VDC 15 connector pass current 10 A I O Signals Sequence I O Signals Input signal Emergency stop input signal Output signal Main ci...

Page 77: ...ter works normally Not lit when CPU of power regeneration converter not working Power Regeneration Converter Panel Display Voltage Capacity 50 ED kW Capacity Continuous Ratings kW Model Input Current...

Page 78: ...ia Ground Terminal 2 M5 Screws 145 300 200 Cooling Fan 4 M5 Screw Holes Power Regeneration Converter Rear View Through Hole 338 365 0 5 80 Mounting Pitch 380 10 5 90 100 Mounting Hole Diagram Mounting...

Page 79: ...le only for three phase 200 VAC models 145 296 200 10 96 23 334 23 1 1 5 213 18 5 18 5 380 7 5 25 200 250 25 7 5 365 338 365 0 5 200 0 5 25 10 230 250 15 5 7 5 Cooling Fan Heat Sink Air Flow Air Flow...

Page 80: ...oder error CPU error PG disconnection detected parameter error etc Compensation Functions Quadrant projection compensation and predictive control Control Position Loop Proportional control Speed loop...

Page 81: ...able Voltage 30 V Delay Depends on brake or relay circuit HWBB Signal External Input Power Input Power Voltage 24 VDC 5 Current Required per Channel 3 mA Input Signals Number of Channels 2 for each ax...

Page 82: ...JU028A 036A 014D 018D If you use any other model do not use the external output signal Functions cont d Dynamic Brake DB External Output 3 Number of Channels 1ch Output Voltage 24 V Allowable Output...

Page 83: ...Commands are not supported Process Data Configurations can be changed with PDO mapping Mailbox CoE Emergency Message SDO Request SDO Response SDO information Note TxPDO RxPDO and Remote TxPDO RxPDO ar...

Page 84: ...us of EtherCAT CoE communications errors For details refer to ERR Link Activity1 Green Indicates whether a communications cable is connected to the CN9A connector and whether communications are active...

Page 85: ...is impossible due to register or object set tings Single flash Synchronization Error the EtherCAT CoE communication enters Safe Operational state automatically Double flash An application Sync Manage...

Page 86: ...065ACA 69 51 82 65 18 5 15 CACR JU084ACA 85 69 100 84 22 18 5 CACR JU102ACA 102 85 116 102 30 22 CACR JU125ACA 138 102 160 125 45 37 CACR JU196ACA 207 170 240 196 540 VDC 5 5 3 7 CACR JU014DCA 13 9 17...

Page 87: ...200 5 100 23 334 23 10 5 40 5 1 1 5 1 3 5 4 M5 Screw Holes SERVOPACK Rear View Through Hole 365 0 5 Mounting Pitch Mounting Hole Diagram Mounting Pitch Model Number Input Voltage Nameplate 4 6 Dia Gr...

Page 88: ...300 200 5 100 23 334 5 63 7 4 M5 Screw Holes Through Hole SERVOPACK Rear View 365 0 5 Mounting Pitch Mounting Hole Diagram Mounting Pitch 4 6 Dia Ground Terminal M4 Screws Model Number Input Voltage...

Page 89: ...1 3 5 200V 4 M5 Screw Holes SERVOPACK Rear View Through Hole Mounting Hole Diagram Mounting Pitch Model Number Input Voltage Nameplate 4 6 Dia Ground Terminal 2 M5 Screws Cooling Fan Heat Sink Air Flo...

Page 90: ...e Diagram Mounting Pitch Model Number Input Voltage 4 6 Dia Ground Terminal M4 Screws Nameplate Cooling Fan Air Flow Air Flow Heat Sink Unit mm 338 B 0 5 380 10 C D A 15 5 7 5 380 7 5 10 B A 10 7 5 36...

Page 91: ...for Winding Selection 5 9 5 3 1 Specifications 5 9 5 3 2 External Dimensions 5 9 5 3 3 Terminal Descriptions 5 10 5 3 4 Installation Orientation 5 11 5 4 Noise Filter 5 12 5 4 1 Specifications 5 12 5...

Page 92: ...odel ER6V Connector Model Housing DF3 2S 2C2C Hirose Electric Co Ltd Contact DF3 2428SCFC Hirose Electric Co Ltd or DF3 2428SCC Hirose Electric Co Ltd CAUTION Purchase a battery for the absolute encod...

Page 93: ...vices 5 5 1 2 Setup Procedure 1 Make sure that the power supply to the V SD driver is OFF 2 Connect a battery to CN8 of the power regeneration converter For the battery replacement refer to 8 7 3 Batt...

Page 94: ...r ature Storage Temper ature Ap prox Mass kg CACP JU15A3 X008017 230 50 60 56 0 21 H 55 10 to 55 C 20 to 85 C 8 CACP JU19A3 X008018 230 50 60 73 0 17 H 70 10 to 55 C 20 to 85 C 8 CACP JU22A3 X008019 2...

Page 95: ...el X008017 2 Model X008018 180 180 max 6 terminals for M6 screws Nameplate 75 2 3 150 5 40 80 100 25 80 max 50 4 mounting holes for M6 bolts Unit mm 180 180 max 75 2 3 150 5 45 80 100 25 80 max 50 6 t...

Page 96: ...019 4 Model X008020 205 210 max Nameplate 75 3 2 170 5 45 80 102 25 90 max 51 6 terminals for M6 screws 4 mounting holes for M6 bolts Unit mm 205 210 max 75 3 2 170 5 47 80 102 25 95 max 51 6 terminal...

Page 97: ...Yaskawa representative The dimensional diagrams for AC reactors that comply with UL standards are different from the above diagrams 135 max 3 2 240 150 63 126 110 25 6 terminals for M10 screws 4 moun...

Page 98: ...8 Model X008012 U X V Y W Z 125 5 75 160 160 max 7 75 13 5 85 85 25 105 90 max 52 2 3 Nameplate 6 terminals for M6 screws 4 mounting holes for M6 bolts Unit mm 6 terminals for M6 bolts 4 mounting hole...

Page 99: ...NO 3NC auxiliary contact 1NC Rated Insulation Voltage 600 V Rated Applying Current Continuous 75 A 150 A 30 minutes 2 87 A 175 A Breaking Current Capacity 220 V 200 A 400 A 440 V 150 A 300 A Open Clos...

Page 100: ...terminals M5 Control circuit terminals M4 4 M6 mounting holes Unit mm 34 34 1 7 2 8 3 9 4 5 11 6 12 22 170 22 22 168 148 192 34 34 34 34 34 34 34 64 64 108 10 Control circuit terminals M4 4 M6 mountin...

Page 101: ...magnetic contactor for winding selection Mounting Model HV 75AP4 HV 75AP4 UL Model HV 150AP4 HV 150AP4 UL Possible Not possible Terminal Cover T e r m i n a l C o v e r Terminal Cover Terminal Cover T...

Page 102: ...se Filter Input Voltage Model Model Rated Current A Classification Rated Voltage Leakage Current mA Manufacturer Three phase 200 VAC CACP JU15A3 HF3060C SZC 47EDD 60 Three phase three wire 480 VAC 7 f...

Page 103: ...5 6 LOAD Lot No Rated frequency Rated voltage and current Model name Example of Nameplate HF3030C SZC SOSHIN EL CO PBT B 2 A 4 D 2 C 4 E 4 K L L F G 1 2 3 4 5 5 Unit mm 1 Input terminal Case Output t...

Page 104: ...20 5 20 5 6 5 172 5 196 210 5 1 5 2 3 5 4 1 2 4 5 3 Example of Nameplate HF3080C SZC Unit mm Input terminal M6 Case Output terminal M6 Earth terminal M6 Nameplate EMI FILTER 4 LOAD SOSHIN ELECTRIC CO...

Page 105: ...Nameplate 1 4 5 2 3 5 EMI FILTER 4 LOAD SOSHIN ELECTRIC CO LTD SOSHIN 5 6 3 2 LINE 1 LOT No TYPE RATING HF3200C SZC 500 VAC 200 A 50 60 Hz TUV 25 85 21 50 C US 1 Input terminal M10 2 Case 4 Output te...

Page 106: ...Nxm JUSP JUBM050AA 50 24 0 42 M3 5 24 to 12 0 8 to 1 2 Nxm 7 1 to 10 6 lbfxin JUSP JUBM075AA 75 0 94 JUSP JUBM100AA 100 0 94 JUSP JUBM150AA 150 1 88 Power Regeneration Converter Base Mounting Unit In...

Page 107: ...ral Devices 5 SERVOPACK for Two Axes SERVOPACK Base Mounting Unit Input Voltage Model Model 270 VDC CACR JUM23ACA JUSP JUBM050AA CACR JUM24ACA CACR JUM25ACA JUSP JUBM075AA 540 VDC CACR JUM23DCA JUSP J...

Page 108: ...P JUBM050AA 2 6 Dia 12 20 460 440 425 8 15 6 4 6 105 23 15 10 10 30 50 Cooling Fan Air Flow Nameplate Air Flow Approx Mass 2 7 kg Unit mm 4 M5 Screw Holes Base Mounting Unit Rear View Mounting Hole Di...

Page 109: ...2 460 440 8 6 10 10 55 75 20 425 15 4 105 23 15 2 6 Dia Cooling Fan Air Flow Nameplate Air Flow Approx Mass 2 7 kg Unit mm 305 12 460 10 75 55 0 5 4 M5 Screw Holes Base Mounting Unit Rear View 440 0 5...

Page 110: ...2 460 440 8 6 10 10 80 100 20 15 425 15 4 105 23 2 6 Dia Cooling Fan Air Flow Nameplate Air Flow Unit mm Approx Mass 2 8 kg 305 12 460 10 100 80 0 5 4 M5 Screw Holes Base Mounting Unit Rear View 440 0...

Page 111: ...460 440 8 6 10 10 130 150 20 15 425 15 4 105 23 2 6 Dia Cooling Fan Air Flow Nameplate Air Flow Unit mm Approx Mass 3 5 kg 305 12 460 10 150 130 0 5 4 M5 Screw Holes Base Mounting Unit Rear View 440 0...

Page 112: ...er supply for the power regeneration converter and SERVOPACK and separate from the power supply for the sequence signals 2 The output current that is required from the power supply when one power supp...

Page 113: ...nk on the power regeneration converter or SERVOPACK into the base mounting unit and secure it with the enclosed screws four The side of the base mounting unit with the terminal block is the bottom of...

Page 114: ...6 3 6 1 3 Installation Orientation 6 3 6 1 4 Coupling Motor and Machinery 6 4 6 2 V SD Driver 6 6 6 2 1 Installation Requirements 6 6 6 2 2 Thermal Design of Control Panel 6 7 6 2 3 Control Panel Dust...

Page 115: ...nd the ventilation outlet of the motor If ventilation is not proper the motor temperature fault protective function will work regardless of whether or not the load is at the rated value or not Install...

Page 116: ...up excessive force will be imposed on the motor shaft As a result the service life of the motor will be adversely affected Use the motor UAKAJ 45 or UAKBJ 30 outer diameter 380 with the terminal box f...

Page 117: ...g range Vibration that will damage the bearings and encoders if the shafts are not properly aligned Do not allow any direct impact to the shafts when installing the couplings Do not hit the area near...

Page 118: ...slip Belt Installation 3 Gear Coupling Check that the motor shaft is parallel to the machinery shaft and that the centers of the gears are engaged prop erly Refer to 3 1 5 Motor Total Indicator Readi...

Page 119: ...ty 90 RH or less with no freezing or condensation Vibration Resistance 4 9 m s2 Shock Resistance 19 6 m s2 Protection Class IP10 An environment that satisfies the following conditions Free of corrosiv...

Page 120: ...19D3 90 5 13 1 77 4 7 7 69 7 CACP JU22D3 104 8 13 1 91 7 9 1 82 6 Model Calorific Value at Continuous Rated Operation Total W Loss of Control Block W Loss of Power Block W Total Inside Duct CACR JU028...

Page 121: ...value in the control panel W qe Heat flow through ratio of the control panel W C k Heat pass through ratio of a metal plate W m2 C With a stirring fan 6 W m2 C Without a stirring fan 4 W m2 C A Effec...

Page 122: ...ugh ratio of a metal plate W m2 C With a stirring fan 6 W m2 C Without a stirring fan 4 W m2 C A Effective radiation area of the control panel m2 B Installation area of the cooling system m2 Radiation...

Page 123: ...use a sealed structure for the control panel Block cable openings with packing Refer to the figure labeled Cable Openings given below Install packing on the door and external cover to seal them Refer...

Page 124: ...alfunction due to noise Separate the primary and secondary sides of transformer and noise filters 2 Installation Precautions Precautions for installing the V SD driver are given below Always secure th...

Page 125: ...ernal Dimensions Make sure that the ambient air temperature of the V SD driver is 0 to 55 C near the heat sink and inside the control panel at a 70 load and 0 to 40 C inside the control panel at a 100...

Page 126: ...7 2 7 1 2 Spindle Motors 7 4 7 1 3 Servomotors 7 12 7 2 V SD Driver 7 19 7 2 1 Main Circuit 7 19 7 2 2 Control Circuit Power Supply 7 25 7 2 3 DC bus 7 26 7 2 4 Local Bus 7 27 7 2 5 I O Signals 7 28 7...

Page 127: ...cable length is too short excessive ten sion on the fixed points will cause the early disconnection Use a flexible cable with the optimum length Interference between cables Avoid interference between...

Page 128: ...before connecting Do not apply shock to resin connectors Otherwise they may be damaged Make sure of the pin arrangement When handling a motor with its cables connected hold the motor or the connectors...

Page 129: ...4 22 U V W FG M8 6 0 to 9 0 AWG1 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 30 U V W FG M10 10 0 to 15 0 AWG2 0 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 37 U V W FG M10 10 0 to 15 0 AWG4 0 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 45 U V W...

Page 130: ...1 2 to 1 8 AWG14 19 U V W FG M8 6 0 to 9 0 AWG6 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 22 U V W FG M8 6 0 to 9 0 AWG6 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 UAKBJ CZ Winding Selection 06 U1 V1 W1 U2 V2 W2 FG M6 2 5 to 3...

Page 131: ...ACA JU084ACA JU102ACA JU125ACA JU196ACA JU033DCA JU042DCA JU051DCA SERVOPACK End CN8 Motor End Pin No Signal Name Terminal Name A1 U U B1 V V B2 W W A2 SERVOPACK End CN8 Motor End Pin No Signal Name T...

Page 132: ...ection 2 PG0V Power supply for encoder 0 V 12 CA1 I Winding selection status signal 3 PG0V Power supply for encoder 0 V 13 CA2 I 4 PG5V O Power supply for encoder 5 V 14 PC I Encoder phase C signal in...

Page 133: ...or One Axis Spindle Motor R S T M U V W E THM1 THM1 FG E CN3 8 CN3 9 TS PG5 V PG0 V PG5 V CN3 4 CN3 1 CN3 5 CN3 2 CN3 6 CN3 3 PG0 V PG5 V PG0 V PA PA PB CN3 16 CN3 17 CN3 18 CN3 19 CN3 14 CN3 15 PB PC...

Page 134: ...Battery for encoder 5 PS I O Encoder serial signal 6 PS I O Encoder serial signal 7 NC 8 NC 9 NC 10 NC SERVOPACK End CN2 Motor End Pin No Signal Name Pin No Signal Name 6 PS 6 PS 5 PS 2 PS 4 PGBAT PG...

Page 135: ...so that the they do not come into contact with the serial converter unit or analog signal input section shield plate The encoder may operate incorrectly if the connections are not appropriate The foll...

Page 136: ...lied to the connection areas of the cables and plug housings when cables are secured using Insulock binders 3 Make sure that the signal lines and shield wires do not become stuck in the protective cov...

Page 137: ...le them together Placing these cables too close to each other may result in malfunction When the encoder cable length exceeds 20 m be sure to use a relay encoder cable When the main circuit cable leng...

Page 138: ...GV 05 4 M3 pan head screws Tightening torque 0 44 N m Encoder cable All models U V W G Lead on Non load Side Lead on Load Side O ring molex First connect the servomotor to the servomotor main circuit...

Page 139: ...ics Industry Ltd Wiring Specifications CACR JUM23ACA JUM23DCA Note No polarity for connection to the brake terminals PE FG Frame ground 5 4 3 Phase U 2 Phase V 1 Phase W 1 2 3 4 5 PE SERVOPACK End CN1...

Page 140: ...ACA JU084ACA JU102ACA JU033DCA JU042DCA JU051DCA CACR JU028ACA JUM23 CA JUM24 CA JUM25 CA JU014DCA A Phase U B Phase V C Phase W D FG Frame ground A B C D SERVOPACK End CN8 Motor End Pin No Signal Nam...

Page 141: ...e brake terminals Wiring Specifications CACR JU036ACA JU018DCA Note No polarity for connection to the brake terminals CACR JU065ACA JU084ACA JU102ACA JU033DCA JU042DCA JU051DCA Note No polarity for co...

Page 142: ...JUM24 CA JUM25 CA JU014DCA Note No polarity for connection to the brake terminals SERVOPACK End CN8 CN18 CN28 Motor End Pin No Signal Name Pin No Signal Name A1 U A U B1 V B V B2 W C W A2 D Motor End...

Page 143: ...axis name 1 or 2 will be displayed in Pin No Signal Name I O Function Pin No Signal Name I O Function 1 PG5V O Power supply for encoder 5 V 2 GND 0 V 3 PGBAT O Encoder for battery 4 PGBAT O Encoder fo...

Page 144: ...re the charge indicator is turned OFF and that the DC bus symbol P and N voltage value is correct by using a tester or other device before wiring or starting an inspection Input Voltage SERVOPACK Mode...

Page 145: ...2 M5 2 0 to 2 4 AWG14 M5 2 0 to 2 4 AWG4 22A3 L1 L2 L3 M6 2 5 to 3 0 AWG3 B1 B2 M5 2 0 to 2 4 AWG14 M5 2 0 to 2 4 AWG4 30A3 L1 L2 L3 M6 2 5 to 3 0 AWG2 B1 B2 M5 2 0 to 2 4 AWG14 M6 2 5 to 3 0 AWG4 45A...

Page 146: ...W M6 2 5 to 3 0 AWG2 AWG4 motor M6 2 5 to 3 0 AWG2 AWG4 M5 2 0 to 2 4 AWG4 AWG4 102ACA U V W M6 2 5 to 3 0 AWG1 AWG4 motor M6 2 5 to 3 0 AWG1 AWG4 M5 2 0 to 2 4 AWG4 AWG4 125ACA U V W M8 2 5 to 3 0 AW...

Page 147: ...lling a Surge Absorber Always install surge absorbers or diodes on all inductive loads that are connected near the V SD servo driver Inductive loads include magnetic contactors magnetic relays magneti...

Page 148: ...shown below A host controller is not provided by Yaskawa WARNING Do not touch the power terminals before the main circuit capacitor has had time to discharge because high voltage may still remain in...

Page 149: ...e ground wire Leakage current flows through the V SD driver Therefore if the distance between the ground terminal and the ground terminal is too long the potential on the ground terminal of the V SD d...

Page 150: ...r the control power supply is 10 A Perform wiring so that the total current when combined with the V SD driver is 10 A or less Refer to 2 1 3 Power Regeneration Converter SERVOPACK and Motor for the m...

Page 151: ...and a SERVOPACK or two SERVOPACKs The bus bar connection procedure is given below 1 Remove the barriers between the devices to connect 2 Rotate the bus bar of the device on the right 180 clockwise an...

Page 152: ...resistor on the SERVOPACK on the right If you connect two or more SERVOPACKs to one power regeneration converter do not set the same value for the rightmost digit of the SERVOPACK address in Pn010 5C0...

Page 153: ...12 ESP I Emergency stop input 6 NC 13 NC 7 NC 14 NC Pin No Signal Name I O Function Pin No Signal Name I O Function 1 COM24V I 24V external power supply input 14 1 NC 2 Probe1 I Probe 1 latch signal...

Page 154: ...overtravel for 1st axis 34 HWBB21 I Baseblock input 1 for 2nd axis 10 P OT2 I Forward overtravel for 2nd axis 35 HWBB22 I Baseblock input 2 for 2nd axis 11 N OT2 I Reverse overtravel for 2nd axis 36...

Page 155: ...K1 BK1 1 2 3 GND 5 V CN1 COM24V Probe1 Probe2 Home1 Home2 4 5 P OT1 P OT2 8 10 9 11 29 33 HWBB11 HWBB21 30 34 31 35 32 36 42 44 41 43 23 24 17 19 18 20 24 V 0 V 0 V 24 V 3Ry 24 V 26 25 DBON DB24V 23 2...

Page 156: ...0 m Connector Specifications Connector Pin Arrangement Pins denoted as N C do not connect to any signal Power regeneration converter EtherCAT controller Host controller EtherCAT CoE signal input conne...

Page 157: ...ection Winding selection for an AC spindle motor is an effective way to extend the constant output control range of a servo spindle drive Contact your Yaskawa representative for details on changing th...

Page 158: ...stantaneous Power Interruption Settings 8 19 8 4 6 Setting Motor Overload Detection Level 8 20 8 4 7 Spindle Motor Settings 8 22 8 4 8 Setting Local Bus Addresses 8 23 8 5 Trial Operation 8 24 8 5 1 I...

Page 159: ...8 38 8 8 4 Restoring Operation from a HWBB State 8 38 8 8 5 Error Detection in HWBB Signal 8 38 8 8 6 Connection Example and Specifications of Input Signals HWBB Signals 8 39 8 8 7 Operation with Sig...

Page 160: ...y the EtherCAT configuration tool before So the order of the slaves in the network has to be the same as in the master s configuration To allow a different network topology a Station Alias is defined...

Page 161: ...r requests Pre Operational state Master sets AL Control register Slave checks whether the mailbox was initialized correctly PREOP Mailbox communication is possible No process data communication is pos...

Page 162: ...ly transits to the Switch on Disabled state at the following cases The main power supply was turned off HWBB signal was inputted Note 1 shows state 2 STW means the Statusword of Object 6041h 3 ______...

Page 163: ...s Manual For Command Profile EtherCAT CoE Communications Reference manual no SIEP S800000 95 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 R...

Page 164: ...2 3 Unit Settings Position V SD series User s Manual For Command Profile EtherCAT CoE Communications Reference manual no SIEP S800000 95 PnB02 2301h 1 PnB04 2301h 2 Velocity PnB06 2302h 1 PnB08 2302h...

Page 165: ...the above table Parameter Index Number Forward Reverse Reference Direction of Motor Rotation Applicable Overtravel OT Pn000 2000h n 0 The encoder counts up by a forward reference Factory setting Forwa...

Page 166: ...avel may cause a workpiece to fall because the BK signal is on that is when the brake is released Set the parameter Pn001 1 1 to bring the servomotor to zero clamp state after stopping to prevent a wo...

Page 167: ...f Pn001 0 After the servomotor stops the servomotor will enter a coast state For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs refer to 8 4 4 Stopping...

Page 168: ...ning will not be detected again until the overtravel status has been cleared The overtravel warning will be detected when the software limit is in effect Related Parameter Overtravel input signal P OT...

Page 169: ...lding brake release time and holding brake operating time depend on the discharge circuit that is used Always confirm the operation delay time on the actual equipment before actual operation The brake...

Page 170: ...onverter CACP JU 3 P N SERVOPACK CACR JU CA P N CN7B CN7A 24 V 0 V AC reactor X U Y V Z W Control power supply 24 VDC U V W CN2 BK RY 24 V BK1 BK2 BK1 BK2 CN1 1D 0 V Surge absorber BK RY Brake control...

Page 171: ...circuit to apply the holding brake by the emergency stop The holding break stops operating if the signal line is disconnected when positive logic is the reverse of the polarity of the break signals BK...

Page 172: ...s slight shift set parameter so that the power to the servomotor turns OFF after the brake is applied This parameter changes the brake ON timing while the servomotor is stopped Pn506 2112h 1 Brake Ref...

Page 173: ...ollowing condi tions is satisfied When the motor speed falls below the level set in Pn507 after the power to the servomotor is turned OFF When the time set in Pn508 is exceeded after the power to the...

Page 174: ...ng OFF the servo The alarm stopping method is used For details refer to 11 2 1 List of Servo Drive Alarms Turning OFF the control power supply without turning OFF the servo Refer to the following tabl...

Page 175: ...otor by setting the speed reference to 0 The motor under torque control will always use the Gr 1 method to stop By setting Pn00B 1 to 1 the motor stops using the same method as Gr 1 When coordinating...

Page 176: ...holding time of the control power supply 24 VDC depends on the capability of the power supply provision of power supply user s responsibility Check the power supply before using the application If the...

Page 177: ...ad warning can be changed by changing the setting of the overload warning level Pn52B This protective function enables the warning out put signal WARN to serve as a protective function and to be outpu...

Page 178: ...tors starts at 50 of the motor base current and then an overload alarm will be detected earlier Changing the setting of Pn52C will change the detection timing of the overload alarm so the time require...

Page 179: ...supply OFF and then ON again check to be sure that the system mon itor in SigmaWin for V SD MT shows Power OFF BB and then confirm operation by jogging When doing so pay careful attention to safety if...

Page 180: ...to 007F hex Set the rightmost digit to a unique value for each SERVOPACK If the same value is set for more than one SERVOPACK an alarm will occur The settings are valid after the power supply is turne...

Page 181: ...DO for objects that are PDO mapped The values will not be changed even if SDO is changed Step Operation 1 Make sure that the wires are connected correctly and then connect the I O connector CN1 and th...

Page 182: ...f the servomotor 2 The maximum torque of the servomotor is used whenever the value exceeds the maximum torque Limiting Method Parameters Index Numbers Torque limited by parameter setting only Pn402 20...

Page 183: ...ow the torque may be insufficient for acceleration or deceleration of the motor 2 The maximum torque of the motor is used whenever the value exceeds the maximum torque Pn430 20AAh 1 Torque Limit Power...

Page 184: ...n incremental encoder by setting the Pn002 A battery is not required when using the absolute encoder as an incremental encoder 8 7 2 Backup of the Settings A battery is required to save position data...

Page 185: ...power is turned ON No battery related alarm will be displayed even if the battery voltage drops below the specified value after these 4 seconds If Pn008 0 is set to 1 alarm detection will be always e...

Page 186: ...ata of the absolute encoder Set up the absolute encoder using SigmaWin for V SD MT Setup Initialization can be performed using EtherCAT CoE command Object 2310h 1 For EtherCAT CoE command refer to V S...

Page 187: ...appears confirming if you want to continue the processing Click Cancel to return to the main window without resetting the absolute encoder 3 Click Continue and the Absolute encoder Setup box appears...

Page 188: ...t conditions error occurs and the processing is aborted Click OK to return to the main window If Setup Completes Normally If the encoder is set up successfully a warning message will appear reminding...

Page 189: ...which the relationship between the turntable revolutions and motor revolutions is m 100 and n 3 is shown in the following graph Pn205 is set to 99 Pn205 100 1 99 Note This parameter is valid when the...

Page 190: ...unications Reference manual no SIEP S800000 95 Follow the steps below to set the multiturn limit to the V SD driver and the servomotor 1 In the SigmaWin for V SD MT component main window click Setup p...

Page 191: ...ettings click Writing into the Servopack and a warning message appears 5 Click OK and the settings are changed to the new ones 6 After turning off the power restart the V SD driver Because only the se...

Page 192: ...and then click Multi Turn Limit Setting again A verification message appears confirming if you want to continue although the position data will change 8 Click Continue and the Multi Turn Limit Setting...

Page 193: ...on Actual Value index 6064h is set in reference units When the power supply is turned OFF and ON again or when parameters are enabled with index 2300h the offset is added to the Position Actual Value...

Page 194: ...signal line OFF The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line 8 8 1 Precautions for the Hard Wire Base Block HWBB State Observe the...

Page 195: ...d must be OFF If the SigmaWin for V SD MT is connected the Servo ON command from the SigmaWin for V SD MT must not be active 2 Procedure to Return to Normal Operation 1 Specify a Shutdown command in t...

Page 196: ...HWBB1 CN1 18 CN1 17 ON Does not use the HWBB function normal operation OFF Uses the HWBB function motor current shut off request HWBB2 CN1 20 CN1 19 ON Does not use the HWBB function normal operation...

Page 197: ...the actual brake becomes effective after the brake signal BK1 BK2 turns OFF 8 8 9 Dynamic Brake If the dynamic brake is enabled in Pn001 0 stopping method after SV_OFF command the motor will come to a...

Page 198: ...l is shown below Signal Name Logic HWBB1 ON ON OFF OFF HWBB2 ON OFF ON OFF EDM OFF OFF OFF ON For HWBB function signal connections the input signal is the 0 V common and the output signal is the sourc...

Page 199: ...CN1 41 ON Both the HWBB1 and the HWBB2 signals are working normally EDM1 OFF The HWBB1 signal the HWBB2 signal or both are not working normally 2nd axis EDM2 CN1 44 CN1 43 ON Both the HWBB1 and the HW...

Page 200: ...rrent flows from EDM1 to EDM1 or EDM2 to EDM2 2 Failure Detection Method In case of a failure such as the HWBB1 or the HWBB2 signal remains ON the device is not reset when the guard closes because the...

Page 201: ...st on the HWBB function after wiring 1 2 3 4 6 The host controller sends servo ON command SV_ON Request to open the guard Open the guard and enter The HWBB1 and HWBB2 signals are OFF and HWBB function...

Page 202: ...utotuning 9 9 9 2 1 Advanced Autotuning 9 9 9 2 2 Related Parameters 9 19 9 3 Advanced Autotuning by Reference 9 20 9 3 1 Advanced Autotuning by Reference 9 20 9 3 2 Related Parameters 9 26 9 4 One pa...

Page 203: ...ameters related to adjustment above will be adjusted automatically and the need to adjust them indi vidually will be eliminated This section describes the following utility adjustment functions These...

Page 204: ...with internal references in the SERVOPACK Adjust using Advanced Autotuning by Reference Adjust automatically gains and filters with user reference inputs Adjust using One parameter Tuning Adjust manu...

Page 205: ...Setting White Analog monitor 1 Torque reference 1 V 100 rated torque Applicable motor servomotor Red Analog monitor 2 Motor speed 1 V 1000 min 1 Black 2 lines GND Analog monitor GND 0 V JZSP CA01 E CN...

Page 206: ...ion error 0 05 V 1 reference unit 0 V at speed torque control n 04 Position amplifier error 0 05 V 1 encoder pulse unit n 05 Position reference speed 1 V 1000 min 1 n 06 Reserved n 07 Motor external e...

Page 207: ...ge V When multiplier is set to 1 When multiplier is set to 10 Motor speed min 1 Motor speed min 1 Note Linear effective range within 8 V Output resolution 16 bit Pn550 2116h 1 Analog Monitor 1 Offset...

Page 208: ...th the follow ing equation Excessive Position Error Alarm Level Pn520 1 reference unit 1 The 10th digit of the model number of the servomotor provides information about the encoder resolution 2 To che...

Page 209: ...60 1048576 40 Pn520 2102h 2 Excessive Position Error Alarm Level Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741823 1 reference unit 5242880 Immediately Setup Alarm...

Page 210: ...tuning starts adjustments based on the set speed loop gain Pn100 Therefore precise adjustments cannot be made if there is vibration when starting adjustments In this case make adjustments after loweri...

Page 211: ...and vibration occurs when positioning is performed The position integration function is used P control operation proportional control is used Note If a setting is made for calculating the moment of i...

Page 212: ...OFF the power supply during implementation The motor will move in both directions within the movement range Check the movement range and direction and provide overtravel prevention means and other saf...

Page 213: ...his setting does not have to be changed If this speed loop gain is too high and is causing excitation in the machine lower the setting dIdentification Start Level Set the moment of inertia mass identi...

Page 214: ...anging the conditions If the moment of inertia mass ratio cannot be measured accurately If the torque force is limited the moment of inertia mass ratio identification cannot be made correctly Adjust t...

Page 215: ...if the data is transferred successfully If an error occurs or if the transmis sion is interrupted it is unavailable and cannot be selected Click Next to view the Operation Measurement box gCancel Clic...

Page 216: ...sfully completed click Servo ON to turn to the servo OFF status 12 Click Next The following window appears cIdentified Moment of Inertia Mass Ratio Displays the moment of inertia mass ratio calculated...

Page 217: ...the value displayed in the Pn103 Moment of Inertia Ratio are the same click Finish The following window appears 15 Click OK The following window appears 16 Click Execute to save the change of Pn103 Mo...

Page 218: ...e from the Mode selection box the mechanism from the Mechanism selection box and enter the moving distance Then click Next When the Start tuning using the default settings check box is selected in the...

Page 219: ...ibration generated during tuning is automatically detected and the optimum setting for the detected vibration will be made When the setting is complete the LED indicator lamps bottom left of the box o...

Page 220: ...No Yes Pn103 Moment of Inertia Ratio No No Pn104 2nd Speed Loop Gain No Yes Pn105 2nd Speed Loop Integral Time Constant No Yes Pn106 2nd Position Loop Gain No Yes Pn12B 3rd Speed Loop Gain No Yes Pn12...

Page 221: ...lter Anti resonance control Refer to 9 3 2 Related Parameters for parameters used for adjustments Advanced autotuning by reference starts adjustments based on the set speed loop gain Pn100 Therefore p...

Page 222: ...e set positioning com pleted width Pn522 The motor speed in response to references from the host controller is smaller than the set rotation detection level Pn502 The stopped time is 10 ms or less The...

Page 223: ...m the SigmaWin for V SD MT The operating procedure from the SigmaWin for V SD MT is described here 1 Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning 2...

Page 224: ...9 4 After confirming that there is no problem click OK The following window appears 5 Select the Position reference input option under Reference input from host controller in the Tuning main window a...

Page 225: ...ion combo box and then click Next When the Start tuning using the default settings check box is selected in the Autotuning Setting Conditions box tuning will be executed using tuning parameters set to...

Page 226: ...he motor will start rotating and tuning will start Vibration generated during tuning is automatically detected and the optimum setting for the detected vibration will be made When the setting is compl...

Page 227: ...tic Changes Pn100 Speed Loop Gain No Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn104 2nd Speed Loop Gain No Yes Pn105 2nd S...

Page 228: ...O OP indicating that the settings are not appropriate will be displayed if the following con dition is not met The write prohibited setting must not be set to write protect parameters 2 Tuning Mode Th...

Page 229: ...MT Operation Manual before executing this function Special care must be taken for the following Before executing this function make sure that the emergency stop power off can be activated when needed...

Page 230: ...he following window appears 5 Click Advanced adjustment The following box appears 6 Click Custom tuning The following box appears 7 Select the tuning mode and the mechanism The tuning modes that can b...

Page 231: ...9 Adjustments 9 4 1 One parameter Tuning 9 30 8 Click Next The following box appears 9 Enter the correct moment of inertia ratio and then click Next The following window appears...

Page 232: ...itioning completion signal is output after bit 10 target reached of the Statusword 6041h is changed to 1 The notch filter anti resonance control auto setting function the anti resonance control adjust...

Page 233: ...cally Set c Cancel If the automatically set notch filter frequency or anti resonance control frequency does not effectively suppress vibration click Cancel to reset to the preceding frequency When the...

Page 234: ...r does not detect Usually set this function to Auto Setting The anti resonance control is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected...

Page 235: ...tic Changes Pn100 Speed Loop Gain No Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn104 2nd Speed Loop Gain No Yes Pn105 2nd S...

Page 236: ...operation reference is sent and the function is executed while vibration is occurring Anti resonance control adjustment function is performed from the SigmaWin for V SD MT The following methods can b...

Page 237: ...function make sure that the emergency stop power off can be activated when needed The moment of inertia mass must be correctly set to execute this function If it is not correctly set satisfactory ant...

Page 238: ...9 With Undetermined Vibration Frequency 1 In the SigmaWin V SD MT component main window click Tuning and then click Tuning Click Cancel to return to the SigmaWin V SD MT component main window without...

Page 239: ...nance Control Adjustment Function 9 38 3 Click Advanced adjustment The following box appears 4 Click Custom tuning The following box appears 5 Select the tuning mode and the mechanism and then click N...

Page 240: ...i Resonance Control Adjustment Function 9 39 Adjustments 9 6 Enter the correct moment of inertia ratio and then click Next The following window appears 7 Click Anti res Ctrl Adj The following window a...

Page 241: ...click Start adjustment The following window appears 9 Adjust the damping gain by clicking the setting arrows Click Reset to reset the settings to their original values during adjustment 10 When the a...

Page 242: ...s 9 With Determined Vibration Frequency 1 In the SigmaWin V SD MT component main window click Tuning and then click Tuning Click Cancel to return to the SigmaWin V SD MT component main window without...

Page 243: ...nance Control Adjustment Function 9 42 3 Click Advanced adjustment The following box appears 4 Click Custom tuning The following box appears 5 Select the tuning mode and the mechanism and then click N...

Page 244: ...i Resonance Control Adjustment Function 9 43 Adjustments 9 6 Enter the correct moment of inertia ratio and then click Next The following window appears 7 Click Anti res Ctrl Adj The following window a...

Page 245: ...the frequency by clicking the setting arrows Click Reset to reset the settings to their original values during adjustment 10 Adjust the damping gain by clicking the setting arrows Click Reset to reset...

Page 246: ...ction is being exe cuted No Parameters cannot be changed using SigmaWin for V SD MT while this function is being exe cuted Automatic changes after execution of this function Yes Parameter set values a...

Page 247: ...bration sup pression Internal speed feedforward control and model following control Spindle axis operation Changing the gain Gain selection Operation Mode Machine Tool Function Control Function Remark...

Page 248: ...meters for Gain Bank 0 to 3 Parameter Gain Bank 0 1 2 3 Speed Loop Gain Pn100 Pn104 Pn12B Pn12E Speed Loop Integral Time Constant Pn101 Pn105 Pn12C Pn12F Position Loop Gain Pn102 Pn106 Pn12D Pn130 Tor...

Page 249: ...s in Compliance with Standards 10 2 10 2 Precautions for Complying with European Standards 10 3 10 2 1 EMC Installation Conditions 10 3 10 2 2 Precautions 10 4 10 2 3 Compliance with Low Voltage Direc...

Page 250: ...3A CACP JU30A3A CACP JU15D3A CACP JU19D3A CACP JU22D3A CACP JU15A3B Certified Certified CACP JU19A3B CACP JU22A3B CACP JU30A3B CACP JU45A3B Pending Pending CACP JU15D3B Certified CACP JU19D3B CACP JU2...

Page 251: ...pecification c Main circuit cable Shield cable d Control power cable Non shield cable e 1 e 2 EtherCAT CoE communication cable Shield cable f 1 f 2 Input output signal cable Shield cable g Spindle mot...

Page 252: ...cable shield using a piece of conductive metal Example of Cable Clamp 4 Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic inter...

Page 253: ...1 Installation Location Install the servo drive in a location with an overvoltage category of 3 and a pollution degree of 2 or lower according to IEC 664 specifications Install at an altitude of 1000...

Page 254: ...This servo drive has undergone UL short circuit testing using a power supply with a current of 31 000 A max imum and a voltage of 480 V maximum 4 24 VDC Control Power Supply Use a 24 VDC control power...

Page 255: ...5 11 2 2 List of Alarms for EtherCAT CoE Communications 11 10 11 2 3 Troubleshooting of the Servo Drive Alarms 11 11 11 2 4 Troubleshooting of the EtherCAT CoE Communications 11 33 11 3 Warning Displ...

Page 256: ...nts Vibration and Noise Daily Touch and listen There is no problem as long as vibration and the sound level do not increase over normal levels Exterior According to degree of contamination Clean with...

Page 257: ...y be required sooner than the standard replacement period To extend the life of the parts reduce the ambient temperature Contact your Yaskawa representative if you require more detailed information It...

Page 258: ...to stop By setting Pn00B 1 to 1 the motor stops using the same method as Gr 1 When coordinating a number of motors use this alarm stop method to prevent machine damage that may result due to differenc...

Page 259: ...match The motor type Application selection setting Pn01E 0 does not match the motor parameter written inside the SERVO PACK Gr 1 N A A 053 Winding Selection Setting Mismatch The Winding Change Setting...

Page 260: ...p signal input Gr 1 Available A 710 Overload High Load The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings Gr 2 Available A 720 Overload Low...

Page 261: ...rror occurred in the gate drive signal of power transistor of the power regeneration converter Gr 1 N A A BDA Converter CPU AD Conversion Circuit Error An error occurred in the A D conversion circuit...

Page 262: ...ications Error Reception error Reception from the serial converter unit Gr 1 N A A CF2 2 Serial Converter Unit Communications Error Timer stop Timer for communications with the serial converter unit i...

Page 263: ...was turned ON Gr 1 Available A F2A Converter AC Power Supply Frequency Error The power supply frequency is faulty Gr 1 Available A F2B Converter AC Power Supply Frequency Detection Time Exceeded The d...

Page 264: ...urred in the SERVOPACK Gr 1 N A 0A10h EtherCAT DC Synchronization Error The Sync0 event and the SERVOPACK cannot be synchro nized Gr 1 Available 0A11h EtherCAT State Error The EtherCAT AL state became...

Page 265: ...larm still occurs there may be noise interfer ence Take countermeasures against noise Gas water drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the insta...

Page 266: ...the SERVOPACK A 02C Converter Parameter Checksum Error The parameter data in the power regeneration converter is incorrect Power regeneration converter failure The power regeneration converter may be...

Page 267: ...e occurred in writing the motor parameter file Check the model of the combined servomotor from the product infor mation monitor in SigmaWin for the V SD MT Write the motor parameter file in the SERVOP...

Page 268: ...s across the motor terminal phase U V and W or between the grounding and motor terminal U V or W The motor may be faulty Replace the motor Short circuit or ground fault inside the SERVOPACK Check for...

Page 269: ...e faulty Replace the AC reactor Power regeneration converter failure Turn the power supply OFF and then ON again If the alarm still occurs the power regeneration con verter may be faulty Replace the p...

Page 270: ...alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Acceleration deceleration was executed under the following conditions The AC power supply voltage of 200 VAC SERVOPACK was in the r...

Page 271: ...speed and torque during opera tion Set the AC power supply voltage within the specified range The moment of inertia exceeded the allowable value in the SER VOPACK connected to the power regeneration c...

Page 272: ...wer supply voltage within the specified range The power supply voltage dropped during operation Measure the power supply voltage Increase the power supply capacity Occurrence of instantaneous power in...

Page 273: ...onverter may be faulty Replace the power regeneration converter A 42C Converter Initial Charging Error Charging of the main circuit capacitor did not finish within the speci fied period of time The ma...

Page 274: ...ed winding The sequence of phase U V and W motor lines is incorrect Check the wiring of the motor and of the electromagnetic contactor for winding selection Correct the motor wiring The reference inpu...

Page 275: ...ad Continuous power regeneration exceeded the ratings of the power regeneration converter A mistake occurred when select ing the power regeneration con verter capacity Check the power regeneration con...

Page 276: ...the installation conditions of the SERVOPACK and reduce the operating ambient temperature The overload alarm has been reset by turning OFF the power too many times Check the alarm history to see if th...

Page 277: ...te encoder is connected Alarm occurred when the power to the absolute encoder was ini tially turned ON Check to see if the power was turned ON initially Set up the encoder The encoder cable disconnect...

Page 278: ...an the rated load Check the accumulated load ratio monitor in SigmaWin for the V SD MT to see the load Set the servomotor load within the specified range Encoder failure Turn the power supply OFF and...

Page 279: ...r may be faulty Replace the power regeneration converter A BDC Converter Reference Voltage Error 2 An error occurred in the reference voltage output inside the power regeneration converter Power regen...

Page 280: ...Check the signal wiring of the pulse encoder Correct the wiring of the pulse encoder A C3C Pulse Encoder Phase C Disconnection The signal line for phase C of the pulse encoder is disconnected Check t...

Page 281: ...ing Error Encoder failure Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor SERVOPACK failure Turn the power supply OFF and then...

Page 282: ...ACK may be faulty Replace the SERVOPACK A CA0 Encoder Parameter Error Encoder failure Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the ser...

Page 283: ...r grounding Serial converter unit failure Replace the serial converter unit SERVOPACK failure Replace the SERVOPACK A D00 Position Error Pulse Overflow Position error exceeded the value set in the exc...

Page 284: ...hanged Check the DIP switch settings Turn OFF all pins on the DIP switch S3 A E02 System Alarm 6 SERVOPACK failure The SERVOPACK may be faulty Replace the SERVOPACK A E03 System Alarm 7 A E61 System A...

Page 285: ...ck to see if the alarm occurs again Install the local bus cable away from the peripheral equipment or replace it with a cable that has a fer rite core The local bus terminator is not installed Make su...

Page 286: ...power supply wiring is faulty Check the power supply wiring Make sure the power supply wiring is correct The three phase power supply is unbalanced Measure the voltage for each phase of the three pha...

Page 287: ...g Reset the alarm and then reestablish communica tion 0A12h EtherCAT Outputs Data Synchronization Error An EtherCAT communi cation error occurred due to noise Correct the EtherCAT wiring and apply cou...

Page 288: ...the parameter Reset the parameter and then turn ON the power supply again Fault occurred in the SERVOPACK Repair or replace the SERVOPACK 0A48h EEPROM Parameter Data Error The power supply was interr...

Page 289: ...ur Required A 91B Converter Power Supply Regenerative Overload This warning occurs before the converter power supply regenerative overload alarm A 72B occurs If the warning is ignored and operation co...

Page 290: ...ng occurs before the motor over heated alarm A 790 occurs If the warning is ignored and operation continues a motor overheated alarm may occur Required A 9A0 Overtravel Overtravel is detected while th...

Page 291: ...SERVOPACK A 901 Position Error Overflow Alarm at Servo ON When the servomotor power turns ON the position error exceeded the parameter setting Pn526 Pn528 100 Correct the excessive position error war...

Page 292: ...ltage within the specified range Power regeneration converter failure Turn the power supply OFF and then ON again If the warning still occurs the power regeneration converter may be faulty Replace the...

Page 293: ...easure the power supply voltage Improve the power supply conditions SERVOPACK failure The SERVOPACK may be faulty Replace the SERVOPACK A 97D Converter Heat Sink Overheated The operating ambient tempe...

Page 294: ...A0 Overtravel Overtravel status is detected When the servomotor power is ON over travel status is detected Check the status of the overtravel sig nals using the host controller Refer to 11 5 Troublesh...

Page 295: ...n the SERVOPACK by using emergency messages The Emergency Telegram consists of eight bytes with the data as shown in table below 1 Manufacturer specific error code FF00h is always used 2 For details o...

Page 296: ...able opera tion is not sent Check the command sent from the host controller Send the SV_ON command Enable operation The forward run prohibited P OT and reverse run prohibited N OT input signals are tu...

Page 297: ...e the encoder cable and mod ify the encoder cable layout Excessive noise to the encoder cable Check if the encoder cable is bun dled with a high current line or near a high current line Correct the en...

Page 298: ...maged encoder cable Check if the encoder cable is bent or if its sheath is damaged Replace the encoder cable and cor rect the encoder cable layout Excessive noise interference at the encoder cable Che...

Page 299: ...d cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal P OT N OT allocation parameters Pn50A 3 Pn50B 0 Check if the P OT signal is allo...

Page 300: ...sive vibration and shock to the encoder Check if vibration from the machine occurred or motor installation is incorrect mounting surface accu racy fixing alignment etc Reduce the machine vibration or...

Page 301: ...12 1 Appendix 2 1 12 Appendix 12 1 SERVOPACK Parameters 12 2 12 2 Parameter Recording Table 12 26 12 3 Index Numbers and Corresponding Parameter Numbers 12 32...

Page 302: ...0 Index number for axis 1 2040h Add 400 hex to calculate the index number for axis 2 Index number for axis 2 2440h Parameter No Index No Size Name Setting Range Units Factory Setting When Enabled Clas...

Page 303: ...otor coast to a stop state without using the DB Overtravel OT Stop Mode Reference Section 0 Same setting as Pn001 0 Stops the motor by applying DB or by coasting 8 4 2 1 Sets the torque of Pn406 to th...

Page 304: ...on error 0 05 V 1 reference unit 04 Position amplifier error 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min 1 06 Reserved Do not change 07 Motor external encoder position error 0...

Page 305: ...nge 07 Motor external encoder position error 0 01 V 1 reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min 1 0A Torque fee...

Page 306: ...n Reserved Do not change Alarm Gr 2 Stop Method Selection Reference Section 0 Stops the motor by setting the speed reference to 0 8 4 4 1 Same setting as Pn001 0 Stops the motor by applying DB or by c...

Page 307: ...gency stop signal 1 Enables the emergency stop signal Contactor Control Function Selection 0 Disables MCON signal 1 Enables MCON signal Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st di...

Page 308: ...ce Section Motor Type 0 Servomotor 1 SPM type spindle motor under development 2 Induction type servomotor under development 3 Spindle motor 4 IPM type servomotor under development 5 IPM type spindle m...

Page 309: ...g 0 Disables predictive function 1 Enables predictive function Quadrant Projection Compensation at Cutting 0 Disables quadrant projection compensation function 1 Enables quadrant projection compensati...

Page 310: ...2000 Immedi ately Tuning spindle motor servo motor Pn106 2041h 3 2 2nd Position Loop Gain 10 to 20000 0 1 s 400 Immedi ately Tuning spindle motor servo motor Pn109 2061h 2 Feedforward Gain 0 to 100 1...

Page 311: ...10 to 20000 0 1 s 400 Immedi ately Tuning spindle motor servo motor Pn12E 2043h 1 2 4rd Speed Loop Gain 10 to 20000 0 1 Hz 400 Immedi ately Tuning spindle motor servo motor Pn12F 2043h 2 2 4rd Speed...

Page 312: ...on Select Switch 0000 to 0014 0012 After restart Setup spindle motor servo motor Pn151 208Ah 2 2 Predictive Control Acceleration Decelera tion Gain 0 to 300 1 100 Immedi ately Tuning spindle motor ser...

Page 313: ...rol Equivalent Kp Fine Adjustment Amount 10000 to 32767 0 1 s 0 Immedi ately Tuning spindle motor servo motor Pn160 206Bh 1 2 Anti Resonance Control Related Switch 0000 to 0011 0010 Immedi ately Tunin...

Page 314: ...e motor servo motor Pn210 4 Reserved Do not change spindle motor servo motor Pn22A 2083h 2 Fully closed Control Selection Switch 0000 to 1003 0000 After restart Setup spindle motor servo motor Pn230 2...

Page 315: ...00 Immedi ately Tuning spindle motor servo motor Pn402 20A0h 1 2 Forward Torque Limit 0 to 800 1 800 Immedi ately Setup servo motor Pn403 20A0h 2 2 Reverse Torque Limit 0 to 800 1 800 Immedi ately Set...

Page 316: ...Pn412 2041h 4 2 1st Step 2nd Torque Reference Filter Time Constant 0 to 65535 0 01 ms 100 Immedi ately Tuning spindle motor servo motor Pn413 2042h 4 2 1st Step 3rd Torque Reference Filter Time Const...

Page 317: ...Filter Q Value 50 to 1000 0 01 70 Immedi ately Tuning spindle motor servo motor Pn41C 20A9h 13 2 4rd Notch Filter Depth 0 to 1000 0 001 0 Immedi ately Tuning spindle motor servo motor Pn430 20AAh 1 2...

Page 318: ...ntegral Time 15 to 51200 0 01 ms 3000 Immedi ately Tuning spindle motor servo motor Pn486 20C8h 4 2 Magnetic Pole Detection Command Acceleration Deceleration Time 0 to 100 1 ms 25 Immedi ately Tuning...

Page 319: ...st Positive Projection Compensation Gain 0 to 65535 100000 s3 10000 Immedi ately Setup spindle motor servo motor Pn4F1 20ADh 2 2 1st Positive Projection Compensation Limit Offset 0 to 30000 0 01 0 Imm...

Page 320: ...tion Compensa tion Timing Constant 350 to 32767 0 1 s 0 Immedi ately Setup spindle motor servo motor Pn501 2100h 1 2 Zero Clamp Level 0 to 10000 1 min 1 10 Immedi ately Setup spindle motor servo motor...

Page 321: ...d digit 2nd digit 1st digit n 0 to 7 8 9 to F Forward run allowed when P OT input signal is ON L level Forward run allowed Forward run allowed when P OT input signal is OFF H level P OT Signal Mapping...

Page 322: ...Pn522 2102h 3 4 Positioning Completed Width 0 to 1073741824 1 refer ence unit 7 Immedi ately Setup spindle motor servo motor cont d Parameter No Index No Size Name Setting Range Units Factory Setting...

Page 323: ...2142h 1 2 Program JOG Operation Related Switch 0000 to 0005 0000 Immedi ately Setup spindle motor servo motor Pn531 2142h 2 4 Program JOG Movement Distance 1 to 1073741824 1 refer ence unit 32768 Imme...

Page 324: ...d Coincidence Detection Width 10 to 50 1 15 Immedi ately Setup spindle motor Pn543 2098h 3 2 Speed Detection Level 0 to 10000 0 01 1000 Immedi ately Setup spindle motor Pn544 2098h 4 2 Speed Detection...

Page 325: ...0000 to 10000 0 01 100 Immedi ately Setup spindle motor servo motor Pn561 2148h 2 Overshoot Detection Level 0 to 100 1 50 Immedi ately Setup spindle motor servo motor 9 2 1 9 3 1 Pn601 2114h 2 DB Resi...

Page 326: ...t Pn01E 2030h 3 0000 Application Function Select Switch 1E After restart Pn01F 2030h 4 0000 Application Function Select Switch 1F After restart Pn030 0000 Reserved Do not change Pn070 2030h 5 0000 Fun...

Page 327: ...everse Direction Immediately Pn147 206Ah 8 1000 Model Following Control Speed Feedforward Compen sation Immediately Pn150 208Ah 1 0012 Predictive Control Function Select Switch After restart Pn151 208...

Page 328: ...300 Moment of Inertia Calculating Start Level Immediately Pn401 2040h 4 100 1st Step 1st Torque Reference Filter Time Constant Immediately Pn402 20A0h 1 800 Forward Torque Limit Immediately Pn403 20A...

Page 329: ...atio Meter Filter Time Constant Immediately Pn456 2146h 4 15 Sweep Torque Reference Amplitude Immediately Pn460 20A9h 7 0101 Notch Filter Adjustment Switch Immediately Pn481 20C8h 1 40 Magnetic Pole D...

Page 330: ...g Constant Immediately Pn501 2100h 1 10 Zero Clamp Level Immediately Pn502 2100h 2 20 Rotation Detection Level Immediately Pn503 2100h 3 10 Speed Coincidence Signal Output Width Immediately Pn506 2112...

Page 331: ...536 2142h 6 1 Number of Times of Program JOG Movement Immediately Pn541 2098h 1 65535 Rated Speed Setting After restart Pn542 2098h 2 15 Speed Coincidence Detection Width Immediately Pn543 2098h 3 100...

Page 332: ...Application Function Select Switch D 2030h 1 Pn01B Application Function Select Switch 1B 2030h 2 Pn01C Application Function Select Switch 1C 2030h 3 Pn01E Application Function Select Switch 1E 2030h 4...

Page 333: ...Function Select Switch 208Ah 2 Pn151 Predictive Control Acceleration Deceleration Gain 208Ah 3 Pn152 Predictive Control Ratio of Weight 208Ah 4 Pn153 Predictive Control Equivalent Kp Ratio 208Ah 5 Pn...

Page 334: ...jection Compensation Gain 20ADh 4 Pn4F3 2nd Positive Projection Compensation Limit Offset 20ADh 5 Pn4F4 Positive Projection Compensation Limit Change Value 20ADh 6 Pn4F5 Positive Projection Compensati...

Page 335: ...ad Warning Level 2104h 2 Pn52C Derating of Base Current at Detecting Overload of Motor 2110h 1 Pn50A Input Signal Selection 1 2110h 2 Pn50B Input Signal Selection 2 2110h 3 Pn511 Probe1 Probe2 HOME In...

Page 336: ...12 Appendix 12 36 5C00h Pn010 SERVOPACK Address for USB Local bus communication cont d Index Number Parameter Name...

Page 337: ...D DC bus 7 26 DC bus voltage iii decelerate to a stop 8 10 device control 8 5 discharge time of main circuit capacitor 7 19 Distributed Clocks 4 9 drive profile 8 5 dynamic brake 8 10 E emergency stop...

Page 338: ...23 vibration resistance 3 23 SERVOPACK iii 4 6 external dimensions 4 13 specifications 4 6 single winding motors 3 3 3 5 3 13 Slave Information IF 4 9 spindle motor 3 2 application selection 8 22 conf...

Page 339: ...the revised manuals are given on the bottom of the back cover Date of Publication Rev No Section Revised Content March 2013 First edition MANUAL NO SIEP S800000 94A Published in Japan March 2013 13 3...

Page 340: ...ai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China...

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