YASKAWA Sigma-V Series User Manual Download

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MANUAL NO. SIEP S800000 88D

Outline

Panel Operator

Wiring and Connection

Trial Operation

Operation

Adjustments

Utility Functions (Fn

)

Monitor Displays (Un

)

Fully-closed Loop Control

Troubleshooting

Appendix

SGDV-

H, -

J SERVOPACK

SGDV-COA Converter
SGMVV Servomotor

Rotational Motor

Analog Voltage and Pulse Train Reference

Series

AC Servo Drives

USER’S MANUAL

For Use with Large-Capacity Models

Design and Maintenance

Summary of Contents for Sigma-V Series

Page 1: ...Functions Fn Monitor Displays Un Fully closed Loop Control Troubleshooting Appendix 1 2 3 4 5 6 7 8 9 10 11 SGDV H J SERVOPACK SGDV COA Converter SGMVV Servomotor Rotational Motor Analog Voltage and Pulse Train Reference Σ V Series AC Servo Drives USER S MANUAL For Use with Large Capacity Models Design and Maintenance ...

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 manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any lia...

Page 3: ...ection of a function parameter for selecting functions Term Meaning Cursor Input position indicated by Digital Operator Servomotor Σ V large capacity SGMVV servomotor SERVOPACK Σ V large capacity SGDV H J servo amplifier Converter Σ V large capacity SGDV COA converter Servo Drive A set that includes a servomotor a SERVOPACK and a converter Servo System A servo control system that includes the comb...

Page 4: ... n indicates a parameter for selecting functions Each corresponds to the setting value of that digit The notation shown here means that the third digit is 1 This section explains the selections for the function Parameters for Selecting Functions Rotation 1st digit 2nd digit 3rd digit 4th digit Panel Operator Display Display Example for Pn002 Digit Notation Setting Notation Meaning Notation Meaning...

Page 5: ...User s Manual For Use with Large Capacity Models Setup Rotational Motor No SIEP S800000 89 Σ V Series User s Manual For Use with Large Capacity Models Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference This Manual Σ V Series User s Manual Operation of Digital Operator No SIEP S800000 55 AC Servomotor Safety Precautions No TOBP C230200 00 AC SERVOPACK and Converter Σ V...

Page 6: ...s injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows Indicates compulsory acti...

Page 7: ...ous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine wi...

Page 8: ...y authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in this manual Failure to observe this warning may result in injury or damage to the product WARNING Host controller Se...

Page 9: ...er than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particula...

Page 10: ...ing including the wiring to the main circuit terminals has been completed Remove detachable main circuit terminals from the SERVOPACK and the converter prior to wiring Insert only one power line per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with i e short circuits adjacent wires Install a battery at either the host controller or the battery un...

Page 11: ...t will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using tuning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK and the converter heatsinks regenerative resistor or servomotor while power is ON ...

Page 12: ... are 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 presented in this manual are typical examples and may not match the product you received If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices ...

Page 13: ...ed 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 which Yaskawa is not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer th...

Page 14: ... 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 high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety ...

Page 15: ...odel European Directives Harmonized Standards Remarks SERVOPACK SGDV H J Converter SGDV COA Machinery Directive 2006 42 EC EN ISO13849 1 2008 EN 954 1 Application pending EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 50178 EN 61800 5 1 Servomotor SGMVV EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Vol...

Page 16: ...ndards Performance Level Safety Integrity Level IEC 61508 SIL2 IEC 62061 SILCL2 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 1 7 10 9 1 h 0 17 of SIL2 Category EN 954 1 Category 3 Performance Level EN ISO 13849 1 PL d Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCave Low Stop Category IEC 60204 ...

Page 17: ...ombinations of Servomotors SERVOPACKs and Converters 1 16 1 10 Inspection and Maintenance 1 17 Chapter 2 Panel Operator 2 1 2 1 Overview 2 2 2 1 1 Names and Functions 2 2 2 1 2 Display Selection 2 2 2 1 3 Status Display 2 3 2 2 Utility Functions Fn 2 4 2 3 Parameters Pn 2 5 2 3 1 Parameter Classification 2 5 2 3 2 Notation for Parameters 2 5 2 3 3 Setting Parameters 2 6 2 4 Monitor Displays Un 2 9...

Page 18: ...1 Selection 3 48 3 8 2 Selecting the Cable for the Dynamic Brake Unit 3 48 3 8 3 Setting the Dynamic Brake Unit 3 49 3 8 4 Setting the Dynamic Brake Answer Function 3 50 3 8 5 Installation Standards 3 51 3 8 6 Connections 3 51 3 9 Noise Control and Measures for Harmonic Suppression 3 54 3 9 1 Wiring for Noise Control 3 54 3 9 2 Precautions on Connecting Noise Filter 3 56 3 9 3 Connecting a Reactor...

Page 19: ...l 5 45 5 4 8 Reference Pulse Inhibit Function 5 46 5 5 Torque Control 5 47 5 5 1 Basic Settings for Torque Control 5 47 5 5 2 Reference Offset Adjustment 5 48 5 5 3 Torque Reference Filter 5 51 5 5 4 Speed Limit in Torque Control 5 51 5 6 Internal Set Speed Control 5 53 5 6 1 Basic Settings for Speed Control with an Internal Set Speed 5 53 5 6 2 Example of Operating with Internal Set Speeds 5 55 5...

Page 20: ...tuning by Reference Fn202 6 29 6 4 1 Advanced Autotuning by Reference 6 29 6 4 2 Advanced Autotuning by Reference Procedure 6 31 6 4 3 Related Parameters 6 35 6 5 One parameter Tuning Fn203 6 36 6 5 1 One parameter Tuning 6 36 6 5 2 One parameter Tuning Procedure 6 37 6 5 3 One parameter Tuning Example 6 44 6 5 4 Related Parameters 6 45 6 6 Anti Resonance Control Adjustment Function Fn204 6 46 6 6...

Page 21: ...on Level Initialization Fn01B 7 27 7 17 Display of SERVOPACK and Servomotor ID Fn01E 7 29 7 18 Display of Servomotor ID in Feedback Option Module Fn01F 7 31 7 19 Origin Setting Fn020 7 32 7 20 Software Reset Fn030 7 33 7 21 EasyFFT Fn206 7 34 7 22 Online Vibration Monitor Fn207 7 37 Chapter 8 Monitor Displays Un 8 1 8 1 List of Monitor Displays 8 2 8 2 Viewing Monitor Displays 8 3 8 3 Reading 32 b...

Page 22: ... Feedback Method during Fully closed Loop Control 9 22 Chapter 10 Troubleshooting 10 1 10 1 Alarm Displays 10 2 10 1 1 List of Alarms 10 2 10 1 2 Troubleshooting of Alarms 10 7 10 2 Warning Displays 10 22 10 2 1 List of Warnings 10 22 10 2 2 Troubleshooting of Warnings 10 23 10 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 10 26 Chapter 11 Appendix 11 1 11 1 Con...

Page 23: ...c Specifications 1 7 1 4 3 Speed Position Torque Control 1 10 1 5 SERVOPACK and Converter Internal Block Diagrams 1 11 1 5 1 Three phase 200 V 1 11 1 5 2 Three phase 400 V 1 12 1 6 Examples of Servo System Configurations 1 13 1 7 SERVOPACK Model Designation 1 14 1 8 Converter Model Designation 1 15 1 9 Combinations of Servomotors SERVOPACKs and Converters 1 16 1 10 Inspection and Maintenance 1 17 ...

Page 24: ...pose of this description the SERVOPACK is shown with the front cover removed Always keep the front cover attached when using the SERVOPACK No Name Description Reference Panel display Used to display SERVOPACK status alarm num bers and other values when parameters are input 2 1 Overview Panel operator CN5 Analog monitor connector Used to monitor motor speed torque reference and other values through...

Page 25: ...onnec tors Ground terminal Be sure to connect to protect against electric shock 3 1 Main Circuit Wiring Plunger Pull it to open the plastic cover for use of the panel operator and other components CN3 Connector for digital operator Connects a digital operator option JUSP OP05A 1 E or a personal computer RS422 Σ V Series User s Manual Operation of Digital Opera tor No SIEP S800000 55 CN7 Connector ...

Page 26: ...N103 and CN104 are equivalent outputs It is normally not necessary to connect CN104 SERVOPACK converter I O connector CN901 Connect this connector to CN901 on the converter Charge indicator Lights orange when the main circuit power sup ply is ON and stays lit as long as the internal capacitor remains charged Therefore do not touch the SERVOPACK even after the power supply is turned OFF if the indi...

Page 27: ... output terminals P and N is abnormal Converter LED indicator FANSTOP Lights red when an error occurs while the con verter fan is running Converter LED indicator MC FAULT Lights red when an error occurs when the inrush current limit relay is used Main circuit DC voltage output terminals P and N Connect these terminals to P and N on the SER VOPACK Regenerative resistor connecting terminals B1 and B...

Page 28: ...er Model SGDV COA 2BAA 3GAA 3GAA Continuous Output Current Arms 116 160 200 Instantaneous Max Output Current Arms 240 340 460 Regenerative Resistor Unit External Main Circuit Power Supply Three phase 200 to 230 VAC 10 to 15 50 60 Hz Control Power Supply Single phase 200 to 230 VAC 10 to 15 50 60 Hz Overvoltage Category III SERVOPACK Model SGDV 750J 101J 131J Converter Model SGDV COA 3ZDA 5EDA 5EDA...

Page 29: ...t salts or iron dust Pollution Degree 2 Altitude 1000 m or less Others Free of static electricity strong electromagnetic fields magnetic fields or exposure to radioactivity Harmonized Standards Application pending UL508C EN 50178 EN 55011 group 1 class A EN 61000 6 2 EN 1800 3 EN 61800 5 1 EN 954 1 IEC 61508 1 to 4 Mounting Standard Base mounted Optional Duct ventilated Perfor mance Speed Control ...

Page 30: ...Number of Channels 3 ch Functions Positioning completion COIN Speed coincidence detection V CMP Rotation detection TGON Servo ready S RDY Torque limit detection CLT Speed limit detection VLT Brake BK Warning WARN Near NEAR Reference pulse input multiplication switching output PSELA Signal allocations can be performed and positive and negative logic can be changed Communi cations Function RS422A Co...

Page 31: ...ed 3 Regenerative Processing Included An external regenerative resistor unit is required 4 Overtravel Prevention OT Dynamic brake stop deceleration to a stop or free run to a stop at P OT or N OT Protective Function Overcurrent overvoltage insufficient voltage overload regeneration error and so on Utility Function Gain adjustment alarm history JOG operation origin search and so on Safety Function ...

Page 32: ...method is used when both are OFF Position Control Performance Feedforward Compensation 0 to 100 Positioning Completed Width Setting 0 to 1073741824 reference units Input Signals Reference Pulse Type Select one of them Sign pulse train CW CCW pulse train or two phase pulse train with 90 phase differential Form For line driver open collector Max Input Pulse Fre quency Line driver Sign pulse train CW...

Page 33: ...Fan 1 Fan 2 Regenerative resistor unit Servomotor Main circuit power supply Control power supply Voltage sensor Control power supply MC drive Voltage sensor Temperature sensor Voltage sensor gate drive Converter I O SERVOPACK control power supply Panel operator Safety option Feedback option Fan 3 for 55 kW models only Fan 1 Fan 2 Fan 4 Temperature sensor Voltage sensor Gate drive Current sensor Co...

Page 34: ...control power supply Servomotor ENC M CN103 CN104 P24 V 0 V CN901 Control power supply 24 V 6 24 V 5 V 15 V ASIC PWM control etc CPU Position and speed calculation etc CN2 P24 V P24 V P24 V 24 V DU DV B1 Panel operator DW CN115 Dynamic brake unit PC I O signals CN5 CN3 Digital operator CN7 CN8 Safety function signals CN1 Analog voltage converter Analog monitor output Encoder pulse output I O Refer...

Page 35: ...it Analog DV R S T DU DW DBON DB24 3 3 Motor fan cable Regenerative resistor 4 SGMVV Servomotor Motor main circuit cable Battery case when an absolute encoder is used Encoder cable Thermostat cable When not using the safety function use the SERVOPACK with the safety function jumper connector inserted When using the safety function insert a connection cable specifically for the safety function Safe...

Page 36: ... Code Interface 01 Analog voltage and pulse train reference rotational servomotor 11 MECHATROLINK II communications ref erence rotational servomotor 21 MECHATROLINK III communications reference rotational servomotor under development E1 Command option for rotational servomotor 11th 12th digits Software Specification Code Specification 00 Standard 7th digit Design Revision Order 1st 2nd 3rd digits ...

Page 37: ...esistive regenerative converter 4th 5th 6th digits Power Supply Capacity and Voltage Specifications Code Power Supply Capacity Voltage 2BA 22 kW 200 V 3GA 37 kW 3ZD 30 kW 400 V 5ED 55 kW 7th digit Design Revision Order 1st 2nd 3rd digits 4th 5th 6th digits 7th digit COA 3ZD A 8th 9th 10th 11th 12th 13th digits 000000 8th 9th 10th 11th 12th 13th digits Hardware Specifications Code Specifications 00...

Page 38: ...r Motor speed Model SGMVV Capacity Model SGDV Model SGDV COA Three phase 200 VAC 1500 min 1 2BA B 22 kW 121H 2BAA 3ZA B 30 kW 161H 3GAA 3GA B 37 kW 201H 800 min 1 2BA D 22 kW 121H 2BAA 3ZA D 30 kW 161H 3GAA 3GA D 37 kW 201H Three phase 400 VAC 1500 min 1 2BD B 22 kW 750J 3ZDA 3ZD B 30 kW 3GD B 37 kW 101J 5EDA 4ED B 45 kW 131J 5ED B 55 kW 800 min 1 2BD D 22 kW 750J 3ZDA 3ZD D 30 kW 3GD D 37 kW 101J...

Page 39: ...following table and contact your Yaskawa representative After an examination of the part in question we will determine whether the parts should be replaced or not Item Frequency Procedure Comments Exterior At least once a year Check for dust dirt and oil on the surfaces Clean with compressed air Loose Screws Check for loose terminal block and connector screws Tighten any loose screws The parameter...

Page 40: ... 1 1 Names and Functions 2 2 2 1 2 Display Selection 2 2 2 1 3 Status Display 2 3 2 2 Utility Functions Fn 2 4 2 3 Parameters Pn 2 5 2 3 1 Parameter Classification 2 5 2 3 2 Notation for Parameters 2 5 2 3 3 Setting Parameters 2 6 2 4 Monitor Displays Un 2 9 ...

Page 41: ...d the DOWN Key simultaneously Be sure to remove the cause and then reset the alarm Key No Key Name Function MODE SET Key To select a display To set the set value UP Key To increase the set value DOWN Key To decrease the set value DATA SHIFT Key To display the set value by pressing this key for one second To move to the next digit on the left when flashing Status Display Refer to 2 3 Fn Utility Fun...

Page 42: ...otor speed and reference speed is the same as or less than the value set in Pn503 Factory setting 10 min 1 Always lights in torque control Note If there is noise in the reference voltage during speed control the horizontal line at the far left edge of the panel operator display may flash Refer to 3 9 1 Wiring for Noise Control and take a preventive measures In position control Positioning Completi...

Page 43: ...play shown on the left appears 5 Pressing the UP Key will rotate the servomotor in the for ward direction Pressing the DOWN Key will rotate the servomotor in the reverse direction The rotation direction of the servomotor changes according to the setting of Pn000 0 as shown in the following table Note Direction when viewed from the load of the servo motor 6 Display flashes When the servomotor origi...

Page 44: ...meter individu ally Tuning Parameters Parameters for tuning con trol gain and other parame ters Set Pn00B 0 to 1 There is no need to set each parameter individually Pn406 Emergency Stop Torque Setting Range 0 to 800 1 800 After change Setting Unit Factory Setting When Enabled Classification Setup Parameter number Position Torque The control methods for which the parameters applies Speed Speed cont...

Page 45: ...lue for the 1st digit of parameter Pn002 is x Indicates that the value for the 2nd digit of parameter Pn002 is x Pn002 2 x or n x Pn002 3 x or n x Indicates that the value for the 3rd digit of parameter Pn002 is x Indicates that the value for the 4th digit of parameter Pn002 is x Notation Analog Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the parameter setting If...

Page 46: ... Key In this case 6789 is set 3 Press the DATA SHIFT Key The middle four digits will be displayed In this case 0000 is displayed Press the DATA SHIFT Key to move to other digits and change the value by pressing the UP DOWN Key In this case 2345 is set 4 Press the DATA SHIFT Key The top two digits will be displayed In this case 00 is displayed Press the DATA SHIFT Key to move to other digit and cha...

Page 47: ...op two digits flash After the saving is completed press the DATA SHIFT Key for approximately one second Pn522 is displayed again cont d Step Display after Operation Keys Operation MODE SET DATA Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the parameter setting If Pn000 is not displayed press the UP or the DOWN Key to select Pn000 2 Press the DATA SHIFT Key for app...

Page 48: ... Speed The following table outlines the procedures necessary to view the motor rotating speed Un000 Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the monitor display 2 If Un000 is not displayed press the UP or the DOWN Key to select Un000 3 Press the DATA SHIFT Key for approximately one second to display the data of Un000 4 Press the DATA SHIFT Key for approximatel...

Page 49: ...nnections in Speed Control 3 26 3 3 4 Example of I O Signal Connections in Position Control 3 27 3 3 5 Example of I O Signal Connections in Torque Control 3 28 3 4 I O Signal Allocations 3 29 3 4 1 Input Signal Allocations 3 29 3 4 2 Output Signal Allocations 3 33 3 5 Examples of Connection to Host Controller 3 37 3 5 1 Reference Input Circuit 3 37 3 5 2 Sequence Input Circuit 3 38 3 5 3 Sequence ...

Page 50: ... 48 3 8 3 Setting the Dynamic Brake Unit 3 49 3 8 4 Setting the Dynamic Brake Answer Function 3 50 3 8 5 Installation Standards 3 51 3 8 6 Connections 3 51 3 9 Noise Control and Measures for Harmonic Suppression 3 54 3 9 1 Wiring for Noise Control 3 54 3 9 2 Precautions on Connecting Noise Filter 3 56 3 9 3 Connecting a Reactor for Harmonic Suppression 3 58 ...

Page 51: ...DU DV DW Analog SERVOPACK Terminals Name Specifications P N Main circuit DC voltage input termi nals Connect these terminals to the P and N terminals on the converter U V W Servomotor terminals Connect these terminals to the Servomotor terminals CN103 CN104 Control power input connectors CN103 is the 24 VDC 15 input CN104 takes the same input but it is normally not necessary to connect it DU DV DW...

Page 52: ... connector model 231 202 026 000 Manufactured by Wago Company of Japan Ltd P N Main circuit DC voltage output ter minals Connect these terminals to the P and N terminals on the SERVO PACK Ground terminal Connect this terminal to the power supply ground terminal and then ground it B1 B2 Regenerative resistor connection terminals Connect these terminals to the regenerative resistor unit 1 2 DC react...

Page 53: ...PVC or metal ducts take into account the reduction of the allowable current Use a heat resistant wire under high surrounding air or panel temperatures where polyvinyl chloride insulated wires will rapidly deteriorate Cable Type Allowable Conductor Temperature C Symbol Name IV 600 V polyvinyl chloride insulated wire 60 HIV 600 V grade heat resistant polyvinyl chloride insulated wire 75 Nominal Cros...

Page 54: ... N M8 3 0 Bus bar attached to the converter L1 L2 L3 M8 3 0 38 1 R38 8 1 2 M8 3 0 38 1 R38 8 CN101 L1C L2C Connector 1 25 16 B1 B2 M8 3 0 8 8 R8 8 M8 9 0 to 11 0 38 1 R38 8 SGDV 161H SGDV COA3GAA SERVO PACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 100 4 0 CB100 S8 DU DV DW M6 3 0 5 5 10 R5 5 6 M8 9 0 to 11 0 100 4 0 100 8 Converter P N M10 12 to 20 Bus bar attached to the convert...

Page 55: ...22 8 CN101 24 V 0 V Connector 1 25 16 B1 B2 M8 3 0 8 8 R8 8 M8 9 0 to 11 0 22 4 R22 8 SGDV 101J SGDV COA5EDA SERVO PACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 38 1 R38 8 DU DV DW M6 3 0 3 5 12 3 5 6 M8 9 0 to 11 0 38 1 R38 8 Converter P N M10 12 to 20 Bus bar attached to the converter L1 L2 L3 M10 12 to 20 38 1 R38 10 1 2 M10 12 to 20 38 1 R38 10 CN101 24 V 0 V Connector 1 25 1...

Page 56: ... Tools by J S T Mfg Co Ltd Body Head Dies 3 5 6 YHT 2210 R5 5 6 R8 8 R8 10 YHT 8S YPT 150 1 TD 221 TD 211 R14 10 Body only YPT 150 1 or Body YF 1 Head YET 150 1 TD 222 TD 211 R22 8 TD 223 TD 212 R38 8 R38 10 TD 224 TD 212 R60 8 R60 10 TD 225 TD 213 100 8 R100 10 CB100 S8 TD 228 TD 214 ...

Page 57: ...us bar attached to the converter L1 L2 L3 M8 3 0 1 0 1 2 M8 3 0 1 0 CN101 L1C L2C Connector 14 B1 B2 M8 3 0 6 M8 9 0 to 11 0 1 0 SGDV 161H SGDV COA3GAA SERVOPACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 3 0 DU DV DW M6 3 0 10 M8 9 0 to 11 0 3 0 Converter P N M10 12 to 20 Bus bar attached to the converter L1 L2 L3 M10 12 to 20 3 0 1 2 M10 12 to 20 3 0 CN101 L1C L2C Connector 14 B1...

Page 58: ...1 24 V 0 V Connector 14 B1 B2 M8 3 0 8 M8 9 0 to 11 0 3 SGDV 101J SGDV COA5EDA SERVOPACK P N M8 15 0 Bus bar attached to the converter U V W M8 3 0 1 DU DV DW M6 3 0 10 M8 9 0 to 11 0 1 Converter P N M10 12 to 20 Bus bar attached to the converter L1 L2 L3 M10 12 to 20 2 1 2 M10 12 to 20 2 CN101 24 V 0 V Connector 14 B1 B2 M10 12 to 20 8 M8 9 0 to 11 0 2 SGDV 131J SGDV COA5EDA SERVOPACK P N M10 12 ...

Page 59: ... Kit Model 3 SGDV 121H SGDV COA2BAA SERVOPACK U V W R60 8 TP 060 black JZSP CVT9 121H E DU DV DW R5 5 6 TP 006 black R60 8 Converter L1 L2 L3 R60 8 TP 060 black JZSP CVT9 2BA E 1 2 R60 8 TP 060 white B1 B2 R14 8 TP 022 white R60 8 SGDV 161H SGDV COA3GAA SERVOPACK U V W CB80 S8 TP 100 black JZSP CVT9 161H E DU DV DW R5 5 6 TP 006 black 80 8 Converter L1 L2 L3 80 10 TP 100 black JZSP CVT9 3GA1 E 1 2...

Page 60: ... SGDV 750J SGDV COA3ZDA SERVOPACK U V W R38 8 TP 038 black JZSP CVT9 750J E DU DV DW R5 5 6 TP 006 black R38 8 Converter L1 L2 L3 R38 8 TP 038 black JZSP CVT9 3ZD E 1 2 R38 8 TP 038 white B1 B2 R8 8 TP 014 white R38 8 SGDV 101J SGDV COA5EDA SERVOPACK U V W R60 8 TP 060 black JZSP CVT9 101J E DU DV DW R5 5 6 TP 006 black R60 8 Converter L1 L2 L3 R38 10 TP 038 black JZSP CVT9 5ED1 E 1 2 R38 10 TP 03...

Page 61: ...y Head Dies R5 5 6 YHT 2210 R8 8 YHT 8S YPT 150 1 TD 221 TD 211 R14 8 Body only YPT 150 1 or Body YF 1 Head YET 150 1 TD 222 TD 211 R22 10 TD 223 TD 212 R38 8 R38 10 TD 224 TD 212 R60 8 TD 225 TD 213 70 8 70 10 TD 226 TD 213 80 8 80 10 CB80 S8 TD 227 TD 214 100 8 R100 10 TD 228 TD 214 150 8 CB150 S10 TD 229 TD 215 ...

Page 62: ...er Select the power supply specifications for the parts in accordance with the input power supply The typical main circuit wiring examples are shown below When turning ON the control power supply and the main circuit power supply turn them ON at the same time or turn the main circuit power supply after the control power supply When turning OFF the power supplies first turn the power for the main c...

Page 63: ...CN901 CN103 CN103 CN101 CN2 DU DV DW CN115 N N 2QF Three phase 200 VAC Regenerative resistor unit Servo power supply ON Servo power supply OFF Converter SERVOPACK Dynamic brake unit Fan Thermostat 1QF Molded case circuit breaker 2QF Molded case circuit breaker 1FIL Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay 1PL Indicator lamp...

Page 64: ...r lamp 1SA Surge absorber 2SA Surge absorber 3SA Surge absorber 1D Flywheel diode Thermostat Dynamic brake unit Three phase 400 VAC Regenerative resistor unit DC power supply 24 V 1 2 1FLT 3SA Fan M ENC 24 V 0 V ALM ALM CN1 31 32 1D 1Ry 1Ry 1Ry U V W DB24 DBON P P SERVOPACK Converter B1 B2 L1 L2 L3 24 V 0 V U V W R S T 1QF 2KM 1KM 1KM 2KM 1SA 2SA 1KM 1KM Servo power supply ON Servo power supply OF...

Page 65: ...o power Three phase 400 VAC Relay terminal Relay terminal Relay terminal Relay terminal Relay terminal Relay terminal 1QF Molded case circuit breaker 2QF Molded case circuit breaker 3QF Molded case circuit breaker 4QF Molded case circuit breaker 1FIL Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay 1PL Indicator lamp 1SA Surge abso...

Page 66: ...rs is recommended Be sure to ground at only one point Ground the servomotor directly if the servomotor is insulated from the machine The signal cable conductors are as thin as 0 2 mm2 or 0 3 mm2 Do not impose excessive bending force or tension Use a molded case circuit breaker 1QF or fuse to protect the main circuit The SERVOPACKs and converters connect directly to a commercial power supply They a...

Page 67: ...ct a fuse to the input side Select the fuse or molded case circuit breaker for the input side from among models that are compliant with UL standards The table above also provides the nominal values of current capacity and inrush current Select a fuse and a molded case circuit breaker which meet the cutoff characteristics shown below Main circuit control circuit No breaking at three times the curre...

Page 68: ... Main Circuit s Capacitor The following table shows the discharging time of the main circuit s capacitor Input Voltage Combinations Discharging Time min SERVOPACK Model SGDV Converter Model SGDV COA Three phase 200 VAC 121H 2BAA 20 161H 3GAA 25 201H 3GAA 30 Three phase 400 VAC 750J 3ZDA 5 101J 5EDA 10 131J 5EDA 10 ...

Page 69: ...h the busbars as shown in the following figure Note The shapes of the ends of the busbars are different for the SERVOPACK and converter connections and for the P ter minal and N terminal connections SERVOPACK Converter CN901 I O signal connector between the SERVOPACK and converter CN103 Control power supply input connector I O signal connection cable 24 VDC control power supply cable Analog Cable ...

Page 70: ...n 3 2 2 Interconnecting Terminals 3 22 2 SGDV COA3GAA COA5EDA Converters The busbars can be connected in any direction Converter s P terminal Converter s N terminal SERVOPACK s P terminal SERVOPACK s N terminal Analog Analog ...

Page 71: ...ited Reverse run prohibited With overtravel prevention Stops servomotor when movable part travels beyond the allowable range of motion 5 2 3 P CL N CL 45 46 Forward external torque limit Reverse external torque limit Activates deactivates external torque limit func tion 5 8 2 5 8 4 Internal set speed switching With internal set speed control selected Switches the internal set speed settings 5 6 1 ...

Page 72: ...a speed higher than the motor speed setting 5 10 3 S RDY S RDY 29 30 Servo ready Turns ON when the SERVOPACK is ready to accept the servo ON S ON signal 5 10 4 PAO PAO 33 34 Phase A signal Encoder output pulse signals for two phase pulse train with 90 phase differential 5 3 6 5 9 5 PBO PBO 35 36 Phase B signal PCO PCO 19 20 Phase C signal Origin pulse output signal ALO1 ALO2 ALO3 37 1 38 1 39 1 Al...

Page 73: ...se pins 1 and 2 because they are connected to the internal circuits Signal Name Pin No Function HWBB1 4 Hard wire baseblock input 1 For hard wire baseblock input Baseblock motor current off when OFF HWBB1 3 HWBB2 6 Hard wire baseblock input 2 HWBB2 5 EDM1 8 Monitored circuit status output 1 ON when the HWBB1 and the HWBB2 signals are input and the SERVOPACK enters a baseblock state EDM1 7 1 2 ...

Page 74: ...7 41 43 42 44 45 P CL 46 40 S RDY 4 V REF SG A D 5 6 T REF SG 1 SG 9 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 HWBB1 HWBB1 HWBB2 HWBB2 CN8 6 3 4 5 8 7 CN1 D A D A 2 SERVOPACK 1 2 3 Backup battery 2 8 to 4 5 V Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse external torque limit Limit when ON Forward ...

Page 75: ...CL 46 40 S RDY PL1 PL2 PL3 1 SG FG HWBB1 HWBB1 HWBB2 HWBB2 6 3 4 5 EDM1 EDM1 PULS SIGN SIGN PULS 1 0 kΩ 1 0 kΩ 1 0 kΩ CN8 CN1 8 7 14 15 150 Ω CLR CLR 12 11 150 Ω 8 7 150 Ω 3 PULS SIGN CLR SERVOPACK Alarm code output OFF for alarm Max operating voltage 30 VDC Max output current 20 mA DC Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF A...

Page 76: ...44 45 P CL 46 40 S RDY V REF SG A D 5 6 T REF SG 9 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 1 SG FG HWBB1 HWBB1 HWBB2 HWBB2 6 3 4 5 CN8 CN1 D A D A EDM1 EDM1 8 7 2 SERVOPACK 1 4 2 3 Backup battery 2 8 to 4 5 V Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse external torque limit Limit when ON Forwar...

Page 77: ... checked using the parameters Pn50A Pn50B Pn50C Pn50D and Pn515 Pn000 1 Setting Control Method Selection CN1 Pin No 40 41 42 43 44 45 46 0 Speed control S ON Uses as P CON P OT N OT ALM RST P CL N CL 1 Position control 2 Torque control 3 Internal set speed control Uses as SPD D Uses as SPD A Uses as SPD B 4 Internal set speed control Speed control 5 Internal set speed control Position control 6 In...

Page 78: ...r all allocated signals resulting in an unexpected machine operation Input Signal Names and Parameters Validity Level Input Signal CN1 Pin Numbers Connection Not Required SERVOPACK judges the connection 40 41 42 43 44 45 46 Always ON Always OFF Servo ON Pn50A 1 L S ON 0 1 2 3 4 5 6 7 8 H S ON 9 A B C D E F Proportional Operation Reference Pn50A 2 L P CON 0 1 2 3 4 5 6 7 8 H P CON 9 A B C D E F For...

Page 79: ... D E F Internal Set Speed Control Pn50C 2 L SPD B 0 1 2 3 4 5 6 7 8 H SPD B 9 A B C D E F Control Method Selection Pn50C 3 L C SEL 0 1 2 3 4 5 6 7 8 H C SEL 9 A B C D E F Zero Clamp Pn50D 0 L ZCLAMP 0 1 2 3 4 5 6 7 8 H ZCLAMP 9 A B C D E F Reference Pulse Inhibit Pn50D 1 L INHIBIT 0 1 2 3 4 5 6 7 8 H INHIBIT 9 A B C D E F Gain Changeover Pn50D 2 L G SEL 0 1 2 3 4 5 6 7 8 H G SEL 9 A B C D E F Refe...

Page 80: ...o set to 5 Changes the allocation of S ON from CN1 40 to CN1 45 5 Display flashes Press the MODE SET Key The data flashes and is saved 6 Press the DATA SHIFT Key for approximately one second to return to the display Pn50A 7 Press the UP key to display Pn50B 8 Press the DATA SHIFT Key for approximately one second to display the current data of Pn50B P CL is allocated on CN1 45 9 Press the DATA SHIF...

Page 81: ...tions Output signals can be allocated to I O signal connectors CN1 in accordance with the parameter setting of Pn50E Pn50F Pn510 and Pn512 1 Checking Factory Settings Factory settings can be checked using the following parameters Signal Level Voltage Level Contact ON Low L level 0 V Close OFF High H level 24 V Open Pn50E Allocates COIN signal to CN1 25 26 Allocates V CMP signal to CN1 25 26 Alloca...

Page 82: ...e disconnection If this setting is absolutely necessary check the operation and confirm that there are no safety problems When two or more signals are allocated to the same output circuit a signal is output with OR logic circuit Output Signal Names and Parameters Output Signal CN1 Pin Numbers Invalid not use 25 26 27 28 29 30 Positioning Completion Pn50E 0 COIN 1 2 3 0 Speed Coincidence Detection ...

Page 83: ...e Input Multiplication Switch ing Output Pn510 2 PSELA 1 2 3 0 Pn512 0 1 Polarity inversion of CN1 25 26 0 Not invert at factory setting Pn512 1 1 Polarity inversion of CN1 27 28 Pn512 2 1 Polarity inversion of CN1 29 30 cont d Output Signal Names and Parameters Output Signal CN1 Pin Numbers Invalid not use 25 26 27 28 29 30 ...

Page 84: ...he DATA SHIFT Key to select the third digit from the right Press the DOWN Key to set 0 Sets TGON Invalid 4 Display flashes Press the MODE SET Key The data flashes and is saved 5 Press the DATA SHIFT Key for approximately one second to return to the display Pn50E 6 Press the UP Key to display Pn50F 7 Press the DATA SHIFT Key for approximately one second to display the current data of Pn50F BK is se...

Page 85: ... pulse and position error clear signal from the host con troller can be either a line driver output or open collector output The position reference input circuits are shown below by output type Analog Voltage Input Circuit D A Analog Voltage Input Circuit Wiring Example Host controller 0 V SG Approx 14 kΩ min SERVOPACK V REF or T REF D A 25HP 10B 2 kΩ Approx 14 kΩ min 1 8 kΩ 1 2 W min 12 V 0 V SG ...

Page 86: ...ng to the specifications required for each machine Note The connection examples in 3 3 3 to 3 3 5 show sink circuits The ON OFF polarity differs between when a sink circuit is connected and when a source circuit is connected Precaution when host controller uses open collectors with customer supplied power Before wiring confirm that the specifications of the host controller satisfy the values shown...

Page 87: ...Sink Circuit Source Circuit Input Signal Polarities Input Signal Polarities Signal Level Voltage Level Contact Signal Level Voltage Level Contact ON Low L level 0 V Close ON High H level 24 V Close OFF High H level 24 V Open OFF Low L level 0 V Open 24 V SERVOPACK input 24 V SERVOPACK input Input Signal Connection Example 24 V power supply Switch Fuse HWBB1 4 3 HWBB1 HWBB2 HWBB2 3 3 kΩ CN8 3 3 kΩ ...

Page 88: ...LM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Note The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits are as follows Voltage 30 VDC Current 5 to 50 mA DC Incorrect wiring or incorrect voltage application to the output circuit may cause short cir c...

Page 89: ...d below A configuration example for the EDM1 output signal is shown in the following diagram Specifications Electrical characteristics of EDM1 signal are as follows Line Receiver Circuit Example SERVOPACK Host Controller Applicable line receiver SN75ALS175 or the equivalent 220 to 470 Ω EDM1 EDM1 0 V 8 7 CN8 24 V Power Supply SERVOPACK Host controller Type Signal Name Pin No Output Status Meaning ...

Page 90: ... connectors varies in accordance with the servomotor that is used 2 represents shielded twisted pair wires Signal Name Pin No Function PG 5 V 1 Encoder power supply 5 V PG 0 V 2 Encoder power supply 0 V BAT 3 Battery BAT 4 Battery PS 5 Serial data PS 6 Serial data Shield Shell 35 0 V SG 1 PAO PAO PBO PBO PCO PCO 1 2 5 6 CN2 33 34 36 19 20 ENC CN1 Incremental encoder Connector shell Shielded wire C...

Page 91: ...tery on the host controller PCO ENC 3 4 4 2 SG SEN 21 22 BAT BAT CN2 33 34 35 36 19 20 CN1 SG 1 PAO PAO PBO PBO PCO Absolute encoder SERVOPACK Phase A Phase B Phase C Connector shell Connector shell CN1 CN1 2 3 2 1 0 V 5 V Host controller Battery 5 6 1 2 PG5 V PG0 V PS FG PS BAT BAT Phase A Phase B Phase C R R R Output line driver SN75ALS174 manufactured by Texas Instruments or the equivalent R te...

Page 92: ...tive or the sales depart ment for more details WARNING Be sure to connect the regenerative resistor unit correctly Do not short circuit between B1 and B2 Doing so may result in fire or damage to the regenerative resistor unit SERVOPACK or converter or other devices Main Circuit Power Supply Voltage SERVO PACK Model SGDV Converter Model SGDV COA Model of Applicable Regenerative Resistor Unit Resis ...

Page 93: ...s and connect the B2 terminals between the converter and regenerative resistor unit Connect them as shown in the following figures 1 Converter Model SGDV COA2BAA COA3ZDA 2 Converter Model SGDV COA3GAA COA5EDA B1 B2 Regenerative Resistor Unit JUSP RA E SERVOPACK Converter B1 B2 Analog B1B2 B1B2 Regenerative Resistor Unit JUSP RA E SERVOPACK Converter Analog ...

Page 94: ...ernal regenerative resistor For natural convection cooling Set the value to a maximum 20 of the actually installed regenerative resistor capacity W For forced convection cooling Set the value to a maximum 50 of the actually installed regenerative resistor capacity W Example Set 20 W 100 W 20 for the 100 W regenerative resistor unit with natural convection cooling method Pn600 2 unit 10 W WARNING I...

Page 95: ...tive resistor unit specified by Yaskawa Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cooling If you use a non specified regenerative resistor unit follow the specifications of the regenerative resistor unit when you install it 70 min 70 min 200 min 200 min Mounting direction Units mm Up ...

Page 96: ...g cables to connect the dynamic brake unit or dynamic brake contactor to CN115 on the SERVOPACK Main Circuit Power Supply Voltage SERVOPACK Model SGDV Dynamic Brake Unit Model Resistance Specifications Star Wiring Dynamic Brake Contactor and Surge Absorption Unit Three phase 200 V 121H 161H 201H JUSP DB02 E 180 W 0 3 Ω 3 Built into dynamic brake unit Three phase 400 V 750J 101J JUSP DB04 E 180 W 0...

Page 97: ...0 Set Pn00D to either n 0D or n 1 depending on your system Set Pn601 to 20 of the resistor capacity of your dynamic brake 3 Not Using a Dynamic Brake Set Pn001 to n 2 Not necessary to set Pn00D Set Pn601 to 0 Parameter Meaning When Enabled Classification Pn001 n 0 Factory setting Stops servomotor by applying DB dynamic brake After restart Setup n 1 Stops servomotor by applying DB and then releases...

Page 98: ... 2 Detects DB contactor errors when the input signal of CN1 42 is ON closed while the DB is applied n 3 Detects DB contactor errors when the input signal of CN1 43 is ON closed while the DB is applied n 4 Detects DB contactor errors when the input signal of CN1 44 is ON closed while the DB is applied n 5 Detects DB contactor errors when the input signal of CN1 45 is ON closed while the DB is appli...

Page 99: ...ic brake resistor from a company other than Yaskawa follow the specifications of the dynamic brake resistor when you install it 3 8 6 Connections 1 Using a Yaskawa Dynamic Brake Unit A dynamic brake contactor is built into a Yaskawa dynamic brake unit The connections are shown in the following figure Note The dynamic brake answer function Pn515 2 cannot be used because there are no auxiliary conta...

Page 100: ...ctivated the Pn515 parameter in the SERVOPACK must be set to n E If the dynamic brake answer signal is not used Pn515 is set to n 8 default setting Note 1 If you assign more than one signal to the same input circuit OR logic will be used and any of the input signals will cause the circuit to operate This may result in unexpected operation 2 The maximum current for DB24 and DBON is 300 mA DV DU DW ...

Page 101: ...f the input signals will cause the circuit to operate This may result in unexpected operation 2 The maximum current for DB24 and DBON is 300 mA If the coil current of NC dynamic brake contactors is 300 mA or higher obtain an NO relay that can switch the contactor coil current and voltage and a power supply for the contactor coil DV DU DW SERVOPACK 24 V For I O power supply 0 V Auxiliary contacts D...

Page 102: ...nd the encoder cables with a gap of at least 30 cm Do not share the power supply with an electric welder or electrical discharge machine If the SERVOPACK is placed near equipment that generates high frequency noise install a noise filter on the input side of the main circuit power supply cables and control power supply cables even if the same power supply is not used As for the wiring of noise fil...

Page 103: ...nal Also be sure to ground the ground terminal If the servomotor is grounded via the machine a switching noise current will flow from the main circuit of the SERVOPACK and converter through the stray capacitance of the servomotor To prevent the adverse effects of switching noise always connect the ground terminal in the motor terminal box on the servomotor to the ground terminal on the SERVOPACK N...

Page 104: ...em together Some noise filters have large leakage currents The grounding measures taken also affects the extent of the leakage current If necessary select an appropriate leakage cur rent detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter Contact the manufacturer of the noise filter for details Separate these circui...

Page 105: ... inside a control panel first connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel then ground the plates Shielded ground wire Noise Filter Noise Filter Converter SERVOPACK Converter SERVOPACK Ground plate Ground plate Incorrect Correct P N N P P N N P Control Panel Ground Ground plate Noise Filter P N P N P...

Page 106: ...s required Connect a reactor as shown in the following figure Note 1 Connection terminals for DC reactor 1 and 2 are short circuited at shipment Remove the lead wire for short circuit and connect a DC reactor 2 Reactors are not included Sold separately 3 To use the SERVOPACK with a DC reactor use the terminals on the converters DC Reactor AC Reactor 1 2 DC reactor Converter AC reactor Converter L2...

Page 107: ...on in Speed Control 4 7 4 3 3 Trial Operation under Position Control from the Host Controller with the SERVO PACK Used for Speed Control 4 8 4 3 4 Trial Operation in Position Control 4 9 4 4 Trial Operation with the Servomotor Connected to the Machine 4 10 4 5 Trial Operation of Servomotor with Brakes 4 11 4 6 Test Without Motor Function 4 12 4 6 1 Motor Information 4 12 4 6 2 Motor Position and S...

Page 108: ...iled Note When performing trial operation on a servomotor that has been stored for a long period of time perform the inspec tion according to the procedures described in 1 10 Inspection and Maintenance 2 SERVOPACKs and Converters Inspect and check the following items and take appropriate measures before performing trial operation if any problem exists Are all wiring and connections correct Is the ...

Page 109: ...tion in Position Control Position Control with Host Controller Refer to 4 4 3 Trial Operation under Position Control from the Host with the SERVOPACK used for Speed Control Perform the trial operation of the servomotor with the machine Refer to 4 5 Trial Operation with the Servomotor Connected to the Machine Preparations Trial Operation in Each Control Trial Operation in Combination with Machine A...

Page 110: ... host controller be sure that the servomotor has no load i e the coupling and belt are removed from the servomotor to prevent unexpected accidents CN1 To host controller To main circuit power supply To control power supply Secure the motor flange to the machine but do not connect the motor shaft to the load shaft ...

Page 111: ...nect a safety function device to CN8 when using the safety function For the connecting method refer to 1 Connecting a Safety Function Device Refer to the following connec tion diagrams 3 3 3 Example of I O Signal Connections in Speed Control 3 3 4 Example of I O Signal Connections in Position Con trol 3 3 5 Example of I O Signal Connections in Torque Control 5 9 Absolute Encoders 5 11 Safety Funct...

Page 112: ...ill be displayed on the panel operator or the digital operator 4 Input the S ON signal then make sure that the display of the panel operator is as shown below If an alarm display appears correct it according to 10 1 Alarm Displays If the cause of alarm is not corrected the servo ON signal cannot be input and the servomotor cannot be turned on 10 1 Alarm Displays 5 This completes all preparations f...

Page 113: ... and turn ON the servo ON S ON input signal Note If the servomotor rotates at a very low speed with the speed reference input at 0 V adjust the reference offset so that the servomotor will not rotate 5 3 2 Reference Offset Adjustment 5 Gradually increase the voltage of the speed reference input i e the voltage between V REF and SG from 0 V Note The factory setting is 6 V at the rated speed 5 3 1 B...

Page 114: ...the voltage between V REF and SG is 0 V and turn ON the servo ON S ON input signal Note If the servomotor rotates at a very low speed with the speed reference input at 0 V adjust the reference offset so that the servomotor will not rotate 5 3 2 Reference Offset Adjustment 6 To check the speed of the servomotor execute a constant speed reference at a low speed through the host controller Example Vi...

Page 115: ...d after the reference The input reference pulse can be checked with Un00C 8 Check the actual number of motor rotations from the changes in the feedback pulse monitor before and after the reference The feedback pulse can be checked with Un00D 9 Check that step 7 and step 8 satisfy the following formula Un00D Un00C Pn20E Pn210 10 Check that the servomotor is rotating in the direction specified by th...

Page 116: ...mper connector inserted into CN8 no current will flow to the servomotor and no torque will be output In this case Hbb will be dis played on the panel operator or the digital operator When a servomotor with brake is used take advance measures to prevent vibration due to gravity acting on the machine or external forces before checking the brake operation Check that both servomotor and brake operatio...

Page 117: ...ettings for machine such as reference unit 4 3 Trial Operation for Servomotor without Load from Host Reference 6 Check the settings of parameters for control method used set in step 2 again Check that the servomotor rotates matching the machine operating specifications 7 Adjust the servo gain and improve the servomotor response characteristics if neces sary 6 Adjustments 8 Write the parameters set...

Page 118: ...Connected If a motor is connected the information from the connected motor is used for the motor and encoder scale information The set values of Pn00C 1 and Pn00C 2 are not used 2 When Motor is Not Connected The information for the virtual motor that is stored in the SERVOPACK is used The set values of Pn00C 1 and Pn00C 2 are used for the encoder information Encoder Resolution The encoder informat...

Page 119: ...CK is used for the encoder information Resolution 256 Incremental encoder 4 6 2 Motor Position and Speed Responses For the test without a motor the following responses are simulated for references from the host controller according to the gain settings for position or speed control Servomotor position Servomotor speed Encoder position The load model however will be a rigid system with the moment o...

Page 120: ...n00B Manual servo tuning of torque reference offset Fn00C Offset adjustment of analog monitor output Fn00D Gain adjustment of analog monitor output Fn00E Automatic offset signal adjustment of the motor current detection signal Fn00F Manual offset signal adjustment of the motor current detection signal Fn010 Write prohibited setting Fn011 Servomotor model display Fn012 Software version display Fn01...

Page 121: ... the servomotor is OFF Note The test without a motor status is not displayed during alarm occurs A Display Status run tSt Power is supplied to the servomotor bb tSt Power to the servomotor is OFF Pot not tSt Forward or reverse run is prohibited Pot tSt Forward run is prohibited not tSt Reverse run is prohibited Hbb tSt In hard wire base block safety state Displayed alternately Analog Display Statu...

Page 122: ...eference Offset Adjustment 5 23 5 3 3 Soft Start 5 26 5 3 4 Speed Reference Filter 5 26 5 3 5 Zero Clamp Function 5 27 5 3 6 Encoder Output Pulses 5 29 5 3 7 Setting Encoder Output Pulse 5 30 5 3 8 Setting Speed Coincidence Signal 5 31 5 4 Position Control 5 32 5 4 1 Basic Settings for Position Control 5 33 5 4 2 Clear Signal Setting 5 37 5 4 3 Reference Pulse Input Multiplication Switching Functi...

Page 123: ...king Output Torque Limiting during Operation 5 64 5 9 Absolute Encoders 5 65 5 9 1 Connecting the Absolute Encoder 5 66 5 9 2 Absolute Data Request Signal SEN 5 68 5 9 3 Battery Replacement 5 69 5 9 4 Absolute Encoder Setup and Reinitialization 5 71 5 9 5 Absolute Data Reception Sequence 5 73 5 9 6 Multiturn Limit Setting 5 76 5 9 7 Multiturn Limit Disagreement Alarm A CC0 5 77 5 10 Other Output S...

Page 124: ...e required amount of torque for operations such as stopping on contact 5 5 Torque Control n 3 Internal Set Speed Con trol Uses the three input signals P CON SPD D P CL SPD A and N CL SPD B to control the speed as set in advance in the SERVOPACK Three operating speeds can be set in the SERVO PACK When selecting this control an analog reference is not necessary 5 6 Internal Set Speed Control n 4 Int...

Page 125: ...omotor can be operated OFF Servomotor power is OFF Servomo tor cannot be operated Always input the servo ON signal before inputting the speed position torque reference to start or stop the servomotor Do not input the references first and then use the servo ON signal or turn ON OFF the AC power supply to start or stop Doing so will degrade inter nal elements and lead to accident Input the servo ON ...

Page 126: ...erse Reference N OT n 1 Sets CW as for ward direction Reverse Rotation Mode Forward Reference P OT Reverse Reference N OT CCW Phase B advanced Time Encoder output pulse PAO PBO Motor speed Torque reference Motor speed CW Phase A advanced Time Encoder output pulse Motor speed Torque reference Motor speed PAO PBO PAO PBO CW Phase B advanced Encoder output pulse Motor speed Torque reference Motor spe...

Page 127: ...he brake is released Set the parameter Pn001 n 1 to bring the servomotor to zero clamp state after stopping to prevent a workpiece from falling Other axes to which external force is applied Overtravel will bring about a baseblock state after the servomotor stops which may cause the servomotor to be pushed back by the load s external force To prevent this set the parameter Pn001 n 1 to bring the se...

Page 128: ... The servomotor stopping method when an overtravel P OT N OT signal is input while the servomotor is operating can be set with parameter Pn001 Always connect a dynamic brake circuit for these settings A servomotor under torque control cannot be decelerated to a stop The servomotor is stopped with the dynamic braking DB or coasts to a stop according to the setting of Pn001 0 After the servomotor st...

Page 129: ...OFF to ON even if overtravel status exists The warning output will be held for one second after the overtravel status no longer exists and it will then be cleared automatically Related Parameter Pn406 Emergency Stop Torque Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 800 Immediately Setup Speed Position Torque CAUTION The overtravel warning function only detect...

Page 130: ...r 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 servomotor Servomotor Vertical Shaft Holding brake Shaft with External Force Applied Movable part of machine Holding brake Movable part of machine Servomotor External force Prevents the movable part table from moving due to external force Prevents the mova...

Page 131: ...sing the brake signal BK Main Circuit Power Supply Voltage Servomotor Model SGMVV Rated Speed min 1 Voltage Brake Open Time ms Brake Operation Time ms Three phase 200 VAC 2BA B 1500 24 VDC or 90 VDC 500 max 150 max 3ZA B 3GA B 2BA D 800 3ZA D 550 max 320 max 3GA D 700 max Three phase 400 VAC 2BD B 1500 500 max 150 max 3ZD B 3GD B 4ED B 550 max 320 max 5ED B 2BD D 800 500 max 150 max 3ZD D 550 max ...

Page 132: ...ted check the total time the brake is applied for the system Depending on the surge absorber the total time the brake is applied can be changed Configure the relay circuit to apply the holding brake by the emergency stop The brake signal BK cannot be used with factory settings The output signal must be allocated Refer to 3 Brake Signal BK Allocation to set the parameter Pn50F When using a 24 V bra...

Page 133: ... to the same output terminal the signals are output with OR logic For the BK signal do not use the output terminal that is already being used for another signal Pn506 Brake Reference Servo OFF Delay Time Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 50 10 ms 0 Immediately Setup Speed Position Torque When using the servomotor to control a vertical axis the machine mova...

Page 134: ... Unit Factory Setting When Enabled 10 to 100 10 ms 50 Immediately Setup Speed Position Torque Speed Position Torque BK Signal Output Conditions When Servomotor Rotating The BK signal goes to high level brake ON when either of the fol lowing conditions is satisfied When the motor speed falls below the level set in Pn507 after the power to the servomo tor is turned OFF When the time set in Pn508 is ...

Page 135: ...opping methods in 10 1 1 List of Alarms Dynamic braking DB is used for emergency stops The DB circuit will operate fre quently if the power is turned ON and OFF or the S ON signal is ON and OFF with a reference input applied to start and stop the servomotor which may result in deterio ration of the internal elements in the SERVOPACK and converter Use speed input references or position references t...

Page 136: ...o speed stopping The speed reference is set to 0 to stop quickly Note The setting of Pn00B 1 is effective for position control and speed control Pn00B 1 will be ignored for torque control and only the setting of Pn001 0 will be valid Parameter Stop Mode Mode After Stopping When Enabled Classification Pn001 n 0 Factory setting DB DB After restart Setup n 1 Coast n 2 Coast Coast Parameter Stop Mode ...

Page 137: ...Unit Factory Setting When Enabled 20 to 50000 1 ms 20 Immediately Setup If the control power supply makes control impossible during an instantaneous power interruption the same operation will be performed as for normally turning OFF the power supply and the setting of Pn509 will be ignored The holding time of the main circuit power supply varies with the output of the SER VOPACK If the load on the...

Page 138: ...terruptions that exceed these voltage and time ranges This function is intended for voltage drops in the main circuit power supply The follow ing restrictions apply when it is used to provide an instantaneous power cut hold time in the control power supply Control Power Supply Restrictions 400 VAC voltage input SERVOPACK Provide the control power supply from a 24 VDC power supply that complies wit...

Page 139: ...e host controller and SERVOPACK or by the SERVOPACK only 560 V 400 V 0 0 Main circuit power interruption time Main circuit input power supply Main circuit bus voltage Undervoltage warning detected Torque limit reference Undervoltage warning Torque limit SERVOPACK Host controller Torque limit starts Main circuit bus voltage increases by recovery of the main circuit power Main circuit bus voltage dr...

Page 140: ...e by Pn424 and Pn425 Only in the SERVOPACK Pn424 Torque Limit at Main Circuit Voltage Drop Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 50 Immediately Setup Pn425 Release Time for Torque Limit at Main Circuit Voltage Drop Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 1 ms 100 Immediately Setup Pn509 Instantaneous Power Cut Hol...

Page 141: ...his protective function enables the warning out put signal WARN to serve as a protective function and to be output at the best timing for your system The following graph shows an example of the detection of an overload warning when the overload warning level Pn52B is changed from 20 to 50 An overload warning is detected in half of the time required to detect an overload alarm Note For details refe...

Page 142: ...rrent The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50 The calculation for the overload of motors 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 required to detect the overload warning will also be changed Not...

Page 143: ...d on the operator as 006 00 Connect the pins for the V REF signal and SG to the speed reference output terminal on the host controller when using a host controller such as a programmable controller for position control Note Always use twisted pair cable to control noise Parameter Meaning When Enabled Classification Pn000 n 0 Fac tory setting Speed control After restart Setup Type Signal Name Conne...

Page 144: ...atic adjustment uses the automatic adjustment parameter for reference offset Fn009 Manual adjustment uses the manual adjustment parameter for refer ence offset Fn00A Pn300 Speed Reference Input Gain Classification Setting Range Setting Unit Factory Setting When Enabled 150 to 3000 0 01 V rated speed 600 Rated speed at 6 00 V Immediately Setup Speed Position Torque Motor speed min 1 Minimum input v...

Page 145: ...the panel operator using the following steps Note The automatic adjustment of reference offset Fn009 cannot be used when a position loop has been formed with a host controller Use the manual adjustment of reference offset described in 2 Manual Adjustment of Reference Off set Fn00A The servomotor power must be OFF when automatically adjusting the reference offset Step Display after Operation Keys O...

Page 146: ...e offset manually with the panel operator using the following steps Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or the DOWN Key to select Fn00A 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears Note When no_oP flashes for approximately one second the write prohibited setting has been ...

Page 147: ...g filter to the analog speed reference V REF input Note The user need not usually change the setting A setting value that is too large however will slow down response Check the response characteristics when setting this parameter Pn305 Soft Start Acceleration Time Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 ms 0 Immediately Setup Pn306 Soft Start Deceleratio...

Page 148: ...function is used adjusting the 2nd position loop gain Pn106 is required as well For details refer to 6 8 1 Switching Gain Settings 1 Factory set Input Signal Allocations Pn50A 0 0 When Pn000 1 is set to A the control method becomes speed control speed control with zero clamp function and the P CON signal is used as a zero clamp signal Host controller Speed reference Stops precisely V REF P CON Zer...

Page 149: ...f the servomotor is set the actual speed will be limited to the max imum speed of the servomotor Type Connector Pin Number Setting Meaning Input ZCLAMP Must be allocated ON closed The zero clamp function will be turned ON if the input volt age of the speed reference V REF drops below the set speed in the zero clamp level Pn501 OFF open Turns OFF the zero clamp function Parameter Control Method Inp...

Page 150: ...tput pulse phase A These encoder pulse output pins out put the number of pulses per motor revolution that is set in Pn212 Phase A and phase B are different from each other in phase by an electric angle of 90 PAO CN1 34 PBO CN1 35 Encoder output pulse phase B PBO CN1 36 PCO CN1 19 Encoder output pulse phase C One pulse is output per motor rota tion PCO CN1 20 ENC CN1 CN2 PAO PBO PCO SERVOPACK Host ...

Page 151: ...upper limit of the pulse frequency is approximately 1 6 Mpps The servomotor speed is limited if the setting value of the encoder output pulses Pn212 is large An overspeed of encoder output pulse rate alarm A 511 will occur if the motor speed exceeds the upper limit specified in the above table Output Example When Pn212 16 16 pulse output per one revolution PAO and PBO are output as shown below Pn2...

Page 152: ...ls The V CMP signal is output when the difference between the reference speed and actual motor speed is below this setting Example The V CMP signal is output at 1900 to 2100 min 1 if the Pn503 is set to 100 and the reference speed is 2000 min 1 Type Signal Name Connector Pin Number Setting Meaning Output V CMP CN1 25 26 Factory Setting ON closed Speed coincides OFF open Speed does not coincide Pn5...

Page 153: ...nter Position control section Position feedback Speed feedback Current feedback Torque reference Speed reference Clear signal input Position reference ENC M Power amplifier Divider Speed conversion Pn000 1 Pn000 1 Pn200 0 Pn218 Pn109 Pn20E Pn210 COIN Pn212 Pn216 Pn217 Encoder output pulse SERVOPACK Servomotor Feed forward Elec tronic gear Reference Pulse Multiplier n Smooth ing Feedforward filter ...

Page 154: ... 5 Sign pulse train Negative logic n 6 CW CCW pulse train Negative logic H level PULS CN1 7 SIGN CN1 1 1 L level PULS CN1 7 SIGN CN1 1 1 L level CW CN1 7 CCW CN1 1 1 L level CW CN1 7 CCW CN1 1 1 90ࠑ Phase A CN1 7 Phase B 1 CN1 1 90ࠑ Phase A CN1 7 Phase B 1 CN1 1 L level PULS CN1 7 SIGN CN1 1 1 H level PULS CN1 7 SIGN CN1 1 1 H level CW CN1 7 CCW CN1 1 1 H level CW CN1 7 CCW CN1 1 1 Parameter Meani...

Page 155: ...ocoupler 150 Ω 4 7 kΩ Photocoupler 150 Ω 4 7 kΩ Photocoupler FG FG Analog Use a shielded cable for I O signals and ground both ends of the shield Connect the shield of the cable on the SERVOPACK side to the connector shell so that the shield will be connected to the frame ground FG through the connector CN1 7 8 14 15 12 11 PULS SIGN SIGN CLR CLR PULS 150 Ω 4 7 kΩ 4 7 kΩ 4 7 kΩ 150 Ω 150 Ω FG FG Vc...

Page 156: ...s twisted pair wires Use a shielded cable for I O signals and ground both ends of the shield Connect the shield of the cable on the SERVOPACK side to the connector shell so that the shield will be connected to the frame ground FG through the connector 1 12 V FG CN1 7 8 14 15 12 11 13 PULS SIGN SIGN CLR CLR PULS PL1 PL2 18 PL3 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 150 Ω 1 kΩ FG 3 Tr Tr Tr SERVOPACK Ph...

Page 157: ...uency in case of open collector output 200 kpps t1 t2 t3 t7 0 025 μs t4 t5 t6 0 5 μs τ 0 125 μs T τ 0 125 μs Sign SIGN H Forward reference L Reverse reference CW CCW pulse train Maximum reference fre quency 4 Mpps Maximum reference fre quency in case of open collector output 200 kpps t1 t2 0 025 μs t3 0 5 μs τ 0 125 μs T τ 0 125 μs Two phase pulse train with 90 phase differential phase A phase B M...

Page 158: ...r determines when the position error should be set to zero according to the condition of the SER VOPACK Any of three clearing modes can be selected with Pn200 2 Type Signal Name Connector Pin Number Name Input CLR CN1 15 Clear input CLR CN1 14 Parameter Description Clear Timing When Enabled Classification Pn200 n 0 Factory setting Clears at ON Position errors do not accumulate while the sig nal is...

Page 159: ...515 1 to allocate the PSEL signal for use For details refer to 3 4 1 Input Signal Allocationss to Input Terminals CAUTION Unexpected operation may occur if a position reference pulse is input before the multiplier changes Always use the PSELA signal to confirm that the multiplier has been switched before inputting a position reference pulse If changing the setting of Pn218 disconnect the servomoto...

Page 160: ...nal for use For details refer to 3 4 2 Output Signal Allocations 5 Restriction When using the following utility functions the reference pulse input multiplication switching function is dis abled Type Signal Name Connector Pin Number Setting Meaning Output PSELA Must be allocated ON closed The multiplier of the input reference pulse is enabled OFF open The multiplier of the input reference pulse is...

Page 161: ...volutions 1 revolution is 6 mm Therefore 10 6 10 6 revolutions When the Electronic Gear is Used Ball screw pitch 6 mm Workpiece Encoder resolution 20 bit 1048576 1 2 3 The section indicates the difference between using and not using an electronic gear when a workpiece is moved 10 mm in the following configuration Calculate the required reference pulses 1048576 pulses is 1 revolution Therefore 10 6...

Page 162: ...ctory Setting When Enabled 1 to 1073741824 1 4 After restart Setup Pn210 Electronic Gear Ratio Denominator Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 1 1 After restart Setup Position Position Electronic gear ratio A B Pn210 Pn20E n m Encoder resolution Travel distance per load shaft revolution reference units Rotation Electronic gear ratio setting range ...

Page 163: ... bit 1048576 20 bit 3 Determine the reference unit used Reference unit 0 001 mm 1 μm Reference unit 0 01 Reference unit 0 005 mm 5 μm 4 Calculate the travel dis tance per load shaft revo lution Reference unit 6 mm 0 001 mm 6000 360 0 01 36000 314 mm 0 005 mm 62800 5 Calculate the electronic gear ratio 6 Set parameters Pn20E 1048576 Pn20E 104857600 Pn20E 52428800 Pn210 6000 Pn210 36000 Pn210 62800 ...

Page 164: ...217 is shown below Pn216 Position Reference Acceleration Deceleration Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 0 1 ms 0 Immediately after the servomotor stops Setup Pn217 Average Movement Time of Position Reference Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 0 1 ms 0 Immediately after the servomotor stops ...

Page 165: ... output unexpectedly reduce the set value until it is no longer output If the position error is kept to a minimum when the positioning completed width is small use Pn207 3 to change output timing for the COIN signal Type Signal Name Connector Pin Number Setting Meaning Output COIN CN1 25 26 Factory setting ON closed Positioning has been completed OFF open Positioning is not completed Pn522 Positio...

Page 166: ...e difference between the number of reference pulses output by the host controller and the travel distance of the servomotor position error is less than the set value Note Normally the value of Pn524 should be larger than that for the positioning completed width Pn522 Type Signal Name Connector Pin Number Setting Meaning Output NEAR Must be allocated ON closed The servomotor has reached a point nea...

Page 167: ...ignal for use For details refer to 3 4 1 Input Signal Allocations to Input Terminals To use the reference pulse inhibit function set Pn000 1 to 1 5 7 or 8 Note Reference pulse inhibit function is effective only with position control Type Signal Name Connector Pin Number Setting Meaning Input P CON CN1 41 Factory setting ON closed Stops counting the reference pulses OFF open Counts the reference pu...

Page 168: ...tory setting Note The value is 30 but it will be displayed on the operator as 0003 0 Connect the pins for the T REF signal and SG to the analog reference output terminal on the host controller when using a host controller such as a programmable controller for torque control Note Always use twisted pair cables to control noise Parameter Meaning When Enabled Classification Pn000 n 2 Torque control A...

Page 169: ...ry low speed the offset needs to be eliminated with the offset adjustment func tion Use either automatic adjustment or manual adjustment Automatic adjustment uses the automatic adjustment parameter for reference offset Fn009 Manual adjustment uses the manual adjustment parameter for refer ence offset Fn00B Pn400 Torque Reference Input Gain Classification Setting Range Setting Unit Factory Setting ...

Page 170: ...anel operator using the following steps Note The automatic adjustment of reference offset Fn009 cannot be used when a position loop has been formed with the host controller Use the manual adjustment of reference offset described in 2 Manual Adjustment of Reference Off set Fn00B The servomotor power must be OFF when automatically adjusting the reference offset Step Display after Operation Keys Oper...

Page 171: ... with the panel operator using the following steps Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or the DOWN Key to select Fn00b 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears Note When no_oP flashes for approximately one second the write prohibited setting has been set in Fn010 Chan...

Page 172: ...Limit The following signal is output when the motor speed reaches the limit speed Note Use parameter Pn50F 1 to allocate the VLT signal for use For details refer to 3 4 2 Output Signal Allocations 2 Speed Limit Setting Select the speed limit mode with Pn002 1 Pn415 T REF Filter Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 0 01 ms 0 Immediately Set...

Page 173: ... the V REF and the value of Pn407 is enabled when Pn002 1 is set to 1 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect When Pn300 is set to 6 00 factory setting and 6 V is input to V REF CN1 5 6 the speed is limited to the rated speed of the servomotor used Pn407 Speed Limit During Torque Control Classification Setting Range Setting Unit Facto...

Page 174: ...basic settings for the internal set speeds 1 Signal Setting The following input signals are used to switch the operating speed Factory set Input Signal Allocations P CON P CL and N CL Changing Input Signal Allocations SPD D SPD A and SPD B 2 Parameter Setting Select the speed control with an internal set speed with Pn000 1 41 45 46 Pn301 Pn302 Pn303 M P CON SPD D P CL SPD A N CL SPD B CN1 Stops In...

Page 175: ...10000 1 min 1 100 Immediately Setup Pn302 Internal Set Speed 2 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 1 200 Immediately Setup Pn303 Internal Set Speed 3 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 1 300 Immediately Setup Speed Speed Speed Input Signal Motor Rota tion Direc tion Speed P CON SPD D P CL SPD A...

Page 176: ...tart function The shock that results when the speed is changed can be reduced by using the soft start function SPEED1 Servomotor speed SPEED3 SPEED2 SPEED1 SPEED2 SPEED3 0 OFF ON Stop P CL SPD A N CL SPD B P CON SPD D Stop Stop OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON ON ON ON OFF OFF OFF Acceleration deceleration are done for the soft start times set in Pn305 and Pn306 ...

Page 177: ...ed Control After restart Setup n 5 Internal Set Speed Control Position Control n 6 Internal Set Speed Control Torque Control n 7 Position Control Speed Control n 8 Position Control Torque Control n 9 Torque Control Speed Control n A Speed Control Speed Control with Zero Clamp Func tion n B Position Control Position Control with Reference Pulse Inhibit Function Input Signal Pn000 1 Settings and Ope...

Page 178: ... the SPD D SPD A and SPD B signals for use For details refer to 3 4 1 Input Signal Allocations SPEED1 SPEED3 SPEED2 SPEED1 SPEED2 SPEED3 0 P CL COIN N CL V1 㨪㨪㨪㨪 Motor speed ON Decelerating to a stop Internal set speed control Internal set speed control Position control 1st speed 2nd speed 3rd speed Switching Pulse 1st speed OFF OFF OFF OFF OFF OFF OFF ON ON ON ON Reference Reference pulse Anal...

Page 179: ...Allocations for Each Signal Pn50A 0 1 Type Signal Name Connector Pin Number Setting Pn000 1 Setting and Control Method n 7 n 8 n 9 Input P CON CN1 41 ON closed Speed Torque Speed OFF open Position Position Torque Type Signal Name Connector Pin Number Setting Pn000 1 Setting and Control Method n 7 n 8 n 9 Input C SEL Must be allocated ON closed Speed Torque Speed OFF open Position Position Torque T...

Page 180: ...imit Always limits torque by setting the parameter 5 8 1 External torque limit Limits torque by input signal from the host controller 5 8 2 Torque limiting by analog voltage reference Assigns a torque limit by analog voltage reference 5 8 3 External torque limit Torque limiting by analog voltage ref erence Combines torque limiting by an external input and by analog volt age reference 5 8 4 Pn402 F...

Page 181: ...ion of the servomotor Type Signal Name Connector Pin Number Setting Meaning Limit value Input P CL CN1 45 Factory setting ON closed Forward external torque limit ON The smaller value of these set tings Pn402 or Pn404 OFF open Forward external torque limit OFF Pn402 Input N CL CN1 46 Factory setting ON closed Reverse external torque limit ON The smaller value of these set tings Pn403 or Pn405 OFF o...

Page 182: ...analog voltage reference is performed in the speed control There is no polarity in the input voltage of the analog voltage reference for torque limiting The absolute val ues of both and voltages are input and a torque limit value corresponding to that absolute value is applied in the forward and reverse direction P CL OFF ON N CL OFF ON Pn402 Pn403 0 Torque Speed Pn403 0 Pn404 Pn402 Torque Speed 0...

Page 183: ...0 Torque Reference Input Gain Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 100 0 1 V 30 Rated torque at 3 0 V Immediately Setup Pn402 Forward Torque Limit Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 800 Immediately Setup Pn403 Reverse Torque Limit Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 ...

Page 184: ...e limit input After restart Setup Pn300 T REF V REF N CL P CL Pn101 Pn100 Pn400 T REF filter time constant Pn415 Torque limit value Speed reference Pn404 P CL ON Pn402 Pn405 Reverse external torque limit N CL ON Pn403 Speed loop gain Speed feedback Torque reference SERVOPACK Torque reference input gain Forward torque limit Forward external torque limit Reverse torque limit Speed reference input ga...

Page 185: ...Unit Factory Setting When Enabled Setup 0 to 800 1 800 Immediately Pn403 Reverse Torque Limit Classification Setting Range Setting Unit Factory Setting When Enabled Setup 0 to 800 1 800 Immediately Pn404 Forward External Torque Limit Classification Setting Range Setting Unit Factory Setting When Enabled Setup 0 to 800 1 100 Immediately Pn405 Reverse External Torque Limit Classification Setting Ran...

Page 186: ... restart Setup n 1 Uses the absolute encoder as an incremental encoder The output range of the rotational serial data for the absolute position detecting system used for Σ V large capacity servo drives is different from that of SGDB Σ servo drives As a result the infinite length positioning system of the Σ servo drives must be changed for use with Σ V large capacity servo drives Be sure to make th...

Page 187: ...ower by installing an encoder cable with a JUSP BA01 E Battery Case or install a battery on the host controller PCO 4 2 SG SEN 33 34 35 36 19 20 CN1 SG 1 PAO PAO PBO PBO PCO Battery SERVOPACK Encoder cable with battery case Connector shell CN1 2 0 V 5 V Host controller R R R 3 ENC 3 4 CN2 Absolute encoder Connector shell 2 1 5 6 1 2 PG5 V PG0 V PS FG PS BAT BAT Output line driver SN75ALS174 manufa...

Page 188: ...attery on the host controller PCO ENC 3 4 4 2 SG SEN 21 22 BAT BAT CN2 33 34 35 36 19 20 CN1 SG 1 PAO PAO PBO PBO PCO Absolute encoder SERVOPACK Connector shell Connector shell CN1 CN1 2 3 2 1 0 V 5 V Host controller Battery 5 6 1 2 PG5 V PG0 V PS FG PS BAT BAT R R R Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent Terminating resistance R 220 to 47...

Page 189: ...ds a request to the SERVOPACK for the absolute data 4 7 kΩ SEN 4 CN1 SG 2 5 V 0 V 100 Ω 0 V 0 1 μF Host controller SERVOPACK High level Approx 1 mA 7406 or the equivalent We recommend a PNP transistor Analog SERVOPACK control power supply 5 seconds max ON OFF OFF ON Normal status OFF ON 50 ms Rotational serial data Phase A Phase B Phase B Approx 15 ms 400 ms max 1 to 3 ms 60 ms max 90 ms typ The s...

Page 190: ...l 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 enabled after the ALM signal outputs max 5 seconds when the control power supply is turned ON Maintain the high level for at least 1 3 seconds when the SEN signal is turned OFF and then ON as shown in the figure below SEN Signal cannot be OFF while ...

Page 191: ...attery turn OFF the control power supply to clear the absolute encoder battery error alarm A 830 6 Turn ON the control power supply again 7 Check that the alarm display has been cleared and that the SERVOPACK and converter operate normally If the control power supply to the SERVOPACK and converter is turned OFF and the bat tery is disconnected which includes disconnecting the encoder cable the abs...

Page 192: ... absolute encoder with Fn008 1 Precautions on Setup and Reinitialization The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 Set up or reinitialize the encoder when the servomotor power is OFF If the following absolute encoder alarms are displayed cancel the alarm by using the same method as the set up initializing with Fn008 They cannot be canceled with the SERVOPAC...

Page 193: ...e left appears 4 Continue pressing the UP Key until PGCL5 is displayed Note If the wrong key is pressed no oP will flash for about one second and it will return to the utility func tion Start the operation from the beginning 5 Press the MODE SET Key The absolute encoder is initial ized When completed donE flashes for approximately one second 6 Then donE changes to PGCL5 7 Press the DATA SHIFT Key ...

Page 194: ...tion Sequence 1 Set the SEN signal at ON high level 2 After 100 ms the system is set to rotational serial data reception standby and the incremental pulse up down counter is cleared to zero 3 Eight characters of rotational serial data is received 4 The system enters a normal incremental operation state about 400 ms after the last rotational serial data is received Note The output pulses are phase ...

Page 195: ...a PE M R PO PS MS R PS PM PE PS Note The following formula applies in reverse mode Pn000 0 1 PE M R PO PS MS R PS PM PE PS Setting of the Encoder Output Pulses Pn212 Formula of the Initial Incremental Pulse Speed 16 to 16384 16386 to 32768 32772 to 65536 65544 to 131072 131088 to 262144 680 Pn212 16384 kpps 680 Pn212 32768 kpps 680 Pn212 65536 kpps 680 Pn212 131072 kpps 680 Pn212 262144 kpps Coord...

Page 196: ... while the servomotor power is ON Output example of alarm contents are as shown below Data Transfer Method Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below Note 1 Data is P 00000 CR or P 00000 CR when the number of revolutions is zero 2 The revolution range is 32768 to 32767 When...

Page 197: ...205 m 1 The case in 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 absolute encoder is used The range of the data will vary when this parameter is set to anything other than the factory setting 1 When the motor rotates in the reverse direction wit...

Page 198: ...isplay Alarm Name Alarm Code Output Meaning A CC0 Multiturn Limit Dis agreement ALO1 ALO2 ALO3 Different multiturn limits have been set in the encoder and SERVOPACK ON L OFF H ON L Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn013 3 Press the DATA SHIFT Key for approximately one second PGSEt appears 4 Pres...

Page 199: ...s refer to 10 1 1 List of Alarms 3 Alarm Reset Method If a servo alarm ALM occurs use one of the following methods to reset the alarm after eliminating the cause of the alarm The ALM RST signal will not always reset encoder related alarms If an alarm cannot be reset with ALM RST cycle the control power supply Configure an external circuit so that this alarm output turns OFF the main circuit power ...

Page 200: ...ARN signal for use For details refer to 3 4 2 Output Signal Alloca tions 2 Related Parameters Set the output method for alarm codes in Pn001 3 For details on alarm codes refer to 2 Alarm Code Output Signals ALO1 ALO2 and ALO3 of 5 10 1 Servo Alarm Output Signal ALM and Alarm Code Output Signals ALO1 ALO2 and ALO3 For details on warning codes refer to 10 2 1 List of Warnings Type Signal Name Connec...

Page 201: ... completed when the SEN signal is ON high level before S RDY is output For details on the hard wire base block function refer to 5 11 1 Hard Wire Base Block HWBB Function 1 Signal Specifications Note 1 Use parameter Pn50E 3 to allocate the S RDY signal to another terminal For details refer to 3 4 2 Output Sig nal Allocations 2 For details on the hard wire base block function and the servo ready ou...

Page 202: ...assessment of the servo system in advance Make sure that the safety level of the standards is met For details about the standards refer to Harmonized Stan dards at the front of this manual Note 1 Applications for certification are pending to show that SERVOPACKs comply with rules and regulations for North American and other safety standards including those for safe performance 2 To meet the perfor...

Page 203: ...te with the main power supply turned OFF the HWBB state will be maintained until the servo ON signal is turned OFF 2 The HWBB state cannot be reset if the servo ON signal is set to be constantly enabled in the servo ON signal allocation Pn50A 1 Do not make this setting if the HWBB function is being used 4 Error Detection in HWBB Signal If only the HWBB1 or HWBB2 signal is input an A Eb1 alarm Safe...

Page 204: ...anual To avoid confusion the ON and OFF status of signals for safety functions are defined as fol lows ON The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur rent flows into the signal line Type Signal Name Connector Pin Number Setting Meaning Input HWB...

Page 205: ... signals are ON The following diagram shows an example where the main circuit power supply is turned ON the SEN signal is turned ON with an absolute encoder and no servo alarm occurs 8 Brake Signal BK When the HWBB1 or HWBB2 signal is OFF and the HWBB function operates the brake signal BK will turn OFF At that time Pn506 brake reference servo OFF delay time will be disabled Therefore the servo mot...

Page 206: ...sition error Therefore stop the position reference through the host controller while in HWBB state If Pn200 2 is set to 1 i e the position error is not cleared input the clear CLR signal while in HWBB or BB state to clear the position error 11 Servo Alarm Output Signal ALM and Alarm Code Output Signals ALO1 ALO2 and ALO3 In the HWBB state the servo alarm output signal ALM and alarm code output sig...

Page 207: ...t monitored by a host controller the system only qualifies for the performance level c PLc Failure Detection Signal for EDM1 Signal The relation of the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal in the table Failures can be detected if the failure status can be confirmed e g when the power ...

Page 208: ...lows ON The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur rent flows into the signal line Host controller EDM1 CN8 EDM1 8 7 0 V 24 V power supply SERVOPACK Type Signal Name Connector Pin Number Setting Meaning Output EDM1 CN8 8 CN8 7 ON closed Both th...

Page 209: ...output Connect the EDM1 so that the current flows from EMD1 to EMD1 2 Failure Detection Method In case of a failure such as the HWBB1 or the HWBB2 signal remains ON the safety unit is not reset when the guard closes because the EDM1 signal keeps OFF Therefore starting is impossible then the failure is detected In this case an error in the external device disconnection or short circuiting of the ex...

Page 210: ...xternal device dis connection or short circuiting of the external wiring or a failure in the SERVOPACK or converter must be considered Find the cause and correct the problem For details refer to 8 7 Monitor Display at Power ON Check with the display of the feedback circuit input of the connected device to confirm that the EDM1 sig nal is OFF while in normal operation 1 2 3 4 6 Request to open the ...

Page 211: ...r check ing that the rotation of the motor will not result in a dangerous condition Incorrect use of the machine may cause injury The dynamic brake and the brake signal are not safety related parts of a control system Be sure to design the system that these failures will not cause a dangerous condition when the HWBB function operates Incorrect use of the machine may cause injury Connect devices me...

Page 212: ...dvanced Autotuning by Reference Fn202 6 29 6 4 1 Advanced Autotuning by Reference 6 29 6 4 2 Advanced Autotuning by Reference Procedure 6 31 6 4 3 Related Parameters 6 35 6 5 One parameter Tuning Fn203 6 36 6 5 1 One parameter Tuning 6 36 6 5 2 One parameter Tuning Procedure 6 37 6 5 3 One parameter Tuning Example 6 44 6 5 4 Related Parameters 6 45 6 6 Anti Resonance Control Adjustment Function Fn...

Page 213: ...e Selection Function 6 64 6 8 4 Current Gain Level Setting 6 64 6 8 5 Speed Detection Method Selection 6 64 6 8 6 Position Integral 6 65 6 9 Compatible Adjustment Function 6 66 6 9 1 Feedforward Reference 6 66 6 9 2 Torque Feedforward 6 66 6 9 3 Speed Feedforward 6 68 6 9 4 Proportional Control 6 69 6 9 5 Mode Switch P PI Switching 6 70 6 9 6 Torque Reference Filter 6 72 ...

Page 214: ...ill be eliminated This section describes the following utility adjustment functions Utility Function for Adjustment Outline Applicable Control Method Tool Digital Operator Panel Operator SigmaWin Tuning less Levels Setting Fn200 This function is enabled when the factory settings are used This function can be used to obtain a sta ble response regardless of the type of machine or changes in the load...

Page 215: ...tion Fn204 This function effectively suppresses continuous vibration Speed and Position Vibration Suppres sion Function Fn205 This function effectively suppresses residual vibra tion if it occurs when positioning Position cont d Utility Function for Adjustment Outline Applicable Control Method Tool Digital Operator Panel Operator SigmaWin ...

Page 216: ...tically adjusts gains and filters with user reference inputs Adjust using One parameter Tuning Manually adjusts gains and filters Position loop gain speed loop gain filters and friction compensation adjustments are available Continuous vibration occurs Reduce the vibration using Anti resonance Control Adjustment Function Residual vibration occurs at positioning Reduce the vibration using Vibration...

Page 217: ...nal Name Factory Setting White Analog monitor 1 Torque reference 1 V 100 rated torque Red Analog monitor 2 Motor speed 1 V 1000 min 1 Black 2 lines GND Analog monitor GND 0 V Probe GND Measuring probe Measuring instrument Probe GND Measuring probe White Red Black Black CN5 CN5 JZSP CA01 E White Red Black Black Connection Example Measuring instrument is not included Analog U V W T REF V REF PULS SI...

Page 218: ...trol n 04 Position amplifier error 0 05 V 1 encoder pulse unit Position error after electronic gear conversion n 05 Position reference speed 1 V 1000 min 1 The input reference pulses will be multiplied by n to output the position reference speed n 06 Reserved Do not set n 07 Motor load position error 0 01 V 1 reference unit n 08 Positioning completed Positioning completed 5 V Positioning not com p...

Page 219: ...output voltage 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 Rotation Pn550 Analog Monitor 1 Offset Voltage Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0 Immediately Setup Pn551 Analog Monitor 2 Offset Voltage Classification Setting Range ...

Page 220: ... follow ing equation Excessive Position Error Alarm Level Pn520 1 reference unit 1 Refer to 5 4 4 Electronic Gear 2 When model following control is enabled Pn140 is set to n 1 use the set value of Pn141 and not that of Pn102 3 To check the Pn102 setting change the parameter display setting to display all parameters Pn00B 0 1 4 At the end of the equation a coefficient is shown as 1 2 to 2 This coef...

Page 221: ...ll move and this movement will clear the counter of all position errors Because the servomotor will move sud denly and unexpectedly safety precautions are required To prevent the servomotor from moving suddenly select the appropriate level for the excessive position error alarm level at servo ON Pn526 to restrict opera tion of the servomotor Related Parameters Pn520 2621440 2 5242880 The factory s...

Page 222: ...ower is turned ON when the position error is greater than the set value of Pn526 while the servomotor power is OFF A d02 Position Error Overflow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn529 limits the speed if the servomotor power is turned ON If Pn529 limits the speed in such a state this alarm occurs when reference pulses are input and the number of...

Page 223: ... sound will not be heard from the next time the S_ON signal is turned ON For details on the automatic notch filter refer to 3 Automatically Setting the Notch Filter on the next page The servomotor may vibrate if the load moment of inertia exceeds the allowable load value If vibration occurs set the mode to 2 in Fn200 or lower the adjustment level Parameter Meaning When Enabled Classification Pn170...

Page 224: ...ameter Gain switching Not available Offline moment of inertia calculation Not available Disable the tuning less function by setting Pn170 0 to 0 before executing this function Mechanical analysis Available While this function is being used the tuning less function cannot be used After completion of the analysis it can be used again cont d Function Availability Remarks Parameter Meaning When Enable...

Page 225: ...evels Setting Fn200 Procedure b Using the parameter Digital Operator Display Meaning Mode 0 Load level Low Mode 1 Factory setting Load level Medium Mode 2 Load level High Parameter Meaning When Enabled Classification Pn170 n 0 Load level Low Mode 0 Immediately Setup n 1 Factory setting Load level Medium Mode 1 n 2 Load level High Mode 2 ...

Page 226: ...lect Fn200 2 Press the Key to display the load level setting screen for Fn200 Tuning less Levels setting Notes If the response waveform causes overshooting or if the load moment of inertia exceeds the allowable level i e outside the scope of product guarantee press the Key and change the mode setting to 2 If a high frequency noise is heard press the Key and change the mode setting to 0 3 Press the...

Page 227: ...tion 2 Press the UP or the DOWN Key to select the Fn200 3 Press the DATA SHIFT Key for approximately one second to display the load level of the tuning less mode setting screen Note If the response waveform causes overshooting or if the load moment of inertia exceeds the allowable level i e outside the scope of product guarantee press the UP Key and change the load level to 2 4 Press the MODE SET ...

Page 228: ... less Function Type The following table shows the types of tuning less functions for the version of SERVOPACK software Parameters Disabled by Tuning less Function Related Functions and Parameters Item Name Pn Number Torque Control Easy FFT Mechanical Analysis Ver tical Axis Mode Gain Speed Loop Gain 2nd Speed Loop Gain Pn100 Pn104 Speed Loop Integral Time Constant Pn101 2nd Speed Loop Integral Tim...

Page 229: ...Parameters can be changed using SigmaWin while this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this functio...

Page 230: ...justments after lowering the speed loop gain Pn100 until vibration is eliminated Before performing advanced autotuning with the tuning less function enabled Pn170 0 1 Factory setting always set Jcalc to ON to calculate the load moment of inertia The tuning less function will automatically be disabled and the gain will be set by advanced autotuning With Jcalc set to OFF so the load moment of inerti...

Page 231: ...e the load moment of inertia when the tuning less function is enabled Pn170 0 1 factory setting or the tuning less function must be disabled Pn170 0 0 Notes If advanced autotuning is started while the SERVOPACK is in speed control the mode will change to position control automatically to perform advanced autotuning The mode will return to speed control after completing the adjustment To perform ad...

Page 232: ...pleted width Pn522 is too small Change only the overshoot detection level Pn561 to finely adjust the amount of overshooting without chang ing the positioning completed width Pn522 Because Pn561 is set by default to 100 the allowable amount of overshooting is the same amount as that for the positioning completed width When Pn561 is set to 0 the amount of overshooting can be adjusted to prevent over...

Page 233: ...evel Mode 2 Makes adjustments for positioning Factory setting Mode 3 Makes adjustments for positioning giving priority to overshooting suppression 3 3 Type Selection Select the type according to the machine element to be driven If there is noise or the gain does not increase bet ter results may be obtained by changing the rigidity type Type 1 For belt drive mechanisms Type 2 For ball screw drive m...

Page 234: ...of inertia ratio in the SERVOPACK DONE will flash for one second and ADJ will be displayed again Note To end operation by calculating only the moment of inertia ratio and without adjusting the gain press the Key to end operation 8 Gain Adjustment When the or Key is pressed according to the sign or of the value set for stroke travel dis tance the calculated value of the moment of inertia ratio will...

Page 235: ...yed If Pn170 0 0 DONE will flash for approxi mately two seconds and BB will be displayed Note Press the Key to not save the values The display will return to that shown in step 1 11 Turn ON the SERVOPACK power supply again after executing advanced autotuning cont d Step Display after Operation Keys Operation 㧭㧥㧠㧝㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢㧼㨚㧝...

Page 236: ... less than the minimum adjustable travel distance Increase the travel distance It is recom mended to set the number of motor rota tions to around 3 The positioning complet ed signal COIN did not turn ON within approxi mately 10 seconds after positioning adjustment was completed The positioning completed width is too nar row or proportional control P control is being used Increase the set value for...

Page 237: ...n is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning and vibration suppression will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing advanced autotuning Note This function uses model following control There...

Page 238: ...ward T REF input from the host controller Refer to 6 9 2 Torque Feedforward and 6 9 3 Speed Feedforward for details Mode 1 Mode 2 Mode 3 Pn408 n 0 Factory setting Adjusted without the friction compensation function Adjusted with the friction compensation function Adjusted with the friction compensation function n 1 Adjusted with the friction compensation function Mode Friction Compensation Selecti...

Page 239: ...Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switch Yes Yes Pn409 1st Notch Filter Frequency No Yes Pn40A 1st Notch Filter Q Value No Yes Pn40C 2nd Notch Filter Frequency ...

Page 240: ...erence performs the following adjustments Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filter Friction compensation Anti resonance control Vibration suppression Refer to 6 4 3 Related Parameters for parameters used for adjustments Advanced autotuning by reference starts adjustments based on the set speed loop gain Pn100 Therefore precise adjustments ca...

Page 241: ...ion level Pn502 The stopping time i e the period while the positioning completed COIN signal is OFF is 10 ms or less The rigidity of the machine is low and vibration occurs when positioning is performed The position integration function is used P control operation proportional control is performed The mode switch is used The positioning completed width Pn522 is too small Change only the overshoot ...

Page 242: ...ershooting suppression 3 2 Type Selection Select the type according to the machine element to be driven If there is noise or the gain does not increase better results may be obtained by changing the rigidity type Type 1 For belt drive mechanisms Type 2 For ball screw drive mechanisms Factory setting Type 3 For rigid systems in which the servomotor is directly coupled to the machine without gear or...

Page 243: ... Corrective Actions The main circuit power supply was OFF Turn ON the main circuit power supply An alarm or warning occurred Remove the cause of the alarm or the warning Overtraveling occurred Remove the cause of the overtravel Gain setting 2 was selected by gain switching Disable the automatic gain switching HWBB operated Disable the HWBB function Error Probable Cause Corrective Actions The gain ...

Page 244: ... to Auto Setting The vibration suppression function is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning by reference and vibration suppression will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing advanced a...

Page 245: ...ue feedforward T REF input from the host controller Refer to 6 9 2 Torque Feedforward and 6 9 3 Speed Feedforward for details Mode 1 Mode 2 Mode 3 Pn408 n 0 Factory setting Adjusted without the friction compensation function Adjusted with the friction compensation function Adjusted with the friction compensation function n 1 Adjusted with the friction compensation function Mode Friction Compensati...

Page 246: ...o Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switc...

Page 247: ...sfactory response characteristics is not obtained with advanced autotun ing or advanced autotuning by reference To fine tune each servo gain after one parameter tuning refer to 6 8 Additional Adjustment Function Preparation Check the following settings before performing one parameter tuning The message NO OP indicating that the settings are not appropriate will be displayed if all of the following...

Page 248: ...T Key to select the utility func tion mode 2 Press the UP or DOWN Key to move through the list and select Fn203 3 Press the DATA SHIFT Key for approximately one second The screen shown on the left will be dis played 4 Press the UP or DOWN Key to move through the list and select Tuning Mode TUNING MODE 0 Makes adjustments giving priority to stability 1 Makes adjustments giving priority to responsiv...

Page 249: ...e or the gain does not increase better results may be obtained by changing the rigidity type Type 1 For belt drive mechanisms Type 2 For ball screw drive mechanisms Factory setting Type 3 For rigid systems in which the servomotor is directly coupled to the machine without gear or other transmissions 5 If the servomotor power is OFF input a servo ON signal S ON from the host controller The display ...

Page 250: ... is not pressed and a notch filter or an anti reso nance control will be set 9 Press the Key A confirmation screen will be dis played after LEVEL adjustment 10 Press the Key to save the adjusted values After the data is saved DONE will flash for approximately two seconds and then RUN will be displayed To return to the previous value press the Key Press the Key to readjust the level without saving ...

Page 251: ... element to be driven If there is noise or the gain does not increase better results may be obtained by changing the rigidity type Type 1 For belt drive mechanisms Type 2 For ball screw drive mechanisms Factory setting Type 3 For rigid systems in which the servomotor is directly coupled to the machine without gear or other transmissions 5 If the servomotor power is OFF input a servo ON signal S ON...

Page 252: ...rts operation If the FF LEVEL is changed too much during operation vibration may occur because the responsiveness is changed rap idly when the settings become effective The message FF LEVEL flashes until the machine reaches the effective FF LEVEL If the servomotor does not stop within approximately 10 seconds after changing the setting a timeout will occur The setting will be returned to the previ...

Page 253: ... Setting vibration will be automatically detected during one parameter tun ing and anti resonance control will be automatically adjusted and set ARES will flash on the digital operator when anti resonance control adjustment function is set Parameter Function When Enabled Classification Pn460 n 0 Does not set the 1st notch filter automatically with the utility function Immediately Tuning n 1 Factor...

Page 254: ...o 6 9 2 Torque Feedforward and 6 9 3 Speed Feedforward for details Tuning Mode 0 Tuning Mode 1 Tuning Mode 2 Tuning Mode 3 Pn408 n 0 Factory setting Adjusted without the frictioncompensation function Adjusted without the frictioncompensation function Adjusted with the frictioncompensation function Adjusted with the frictioncompensation function n 1 Adjusted with the frictioncompensation function A...

Page 255: ...fications are met go to step 3 3 Overshooting will be reduced if the FB level is increased If the overshooting is eliminated go to step 4 4 The graph shows overshooting generated with the FF level increased after step 3 In this state the overshooting occurs but the positioning settling time is shorter The tuning will be com pleted if the specifications are met The adjustment results are saved in t...

Page 256: ... Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 Torque Reference Filter Time Constant No Yes Pn408 Torque Related Function Switch Yes...

Page 257: ...n170 0 0 The test without a motor function must be disabled Pn00C 0 0 The control must not be set to torque control The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 CAUTION If this function is executed related parameters will be set automatically Therefore there will be a large response change after this function is executed Enable the function in a state where th...

Page 258: ...the main menu for the utility function Use the or Key to move through the list select Fn204 2 Press the Key to display the initial setting screen for tuning mode 3 Press the or Key and set the tuning mode 0 4 Press the Key while Tuning Mode 0 is dis played The screen shown on the left will appear The detection of vibration frequencies will start and freq will flash Return to step 3 if vibration is...

Page 259: ... seconds and RUN will be displayed 11 Press the Key to complete the anti resonance control adjustment function The screen in step 1 will appear again cont d Step Display after Operation Keys Operation 㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦㨐㨍㨙㨜㧩㧜㧜㧜㧜㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦㨐㨍㨙㨜㧩㧜㧝㧞㧜 Error Error Torque reference Torque reference Positioning completed Positioning com...

Page 260: ...ning of the frequency is necessary press the Key The cursor will move from damp to freq If fine tuning is not necessary skip step 9 and go to step 10 9 Select the digit with the or Key and press the or Key to fine tune the frequency cont d Step Display after Operation Keys Operation 㧾㨁㧺㧲㨁㧺㧯㨀㧵㧻㧺㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧝㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞㨑㨝㧩㧜㧝㧜㧜㧴㨦㨐㨍㨙㨜㧩㧜㧜㧜㧜 Error Error E...

Page 261: ...ly two seconds and RUN will be displayed 11 Press the Key to complete the anti resonance control adjustment function The screen in step 1 will appear again cont d Step Display after Operation Keys Operation 㧾㨁㧺㨂㨕㨎㧿㨡㨜㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦㨐㨍㨙㨜㧩㧜㧝㧞㧜㧾㨁㧺㧲㨁㧺㧯㨀㧵㧻㧺㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎 ޓ 㧿㨡㨜㧲㨚㧞㧜㧡㧦㨂㨕㨎 ޓ 㧿㨡㨜㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥 ޓ 㧲㧲㨀 ...

Page 262: ...one parame ter tuning 5 If fine tuning of the frequency is necessary press the Key The cursor will move from damp to freq If fine tuning is not necessary skip step 6 and go to step 7 6 Select the digit with the or Key and press the or Key to fine tune the frequency 7 Press the Key to save the settings DONE will flash for approximately two seconds and RUN will be displayed 8 Press the Key to comple...

Page 263: ... being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Name Mid execution changes Automatic changes Pn160 ...

Page 264: ...ntinuous vibration occurs when the servomotor is not rotating the vibration suppression function cannot be used to suppress the vibration effectively If the result is not satisfactory perform anti resonance control adjustment function Fn204 or one parameter tuning Fn203 CAUTION If this function is executed related parameters will be set automatically Therefore there will be a large response change...

Page 265: ...bration suppression 6 7 2 Vibration Suppression Function Operating Procedure The following procedure is used for vibration suppression function Vibration suppression function is performed from the digital operator option or SigmaWin This function cannot be performed from the panel operator The operating procedure from the digital operator is described here Refer to the Σ V Series User s Manual Ope...

Page 266: ... detecting and measuring the vibration When the vibra tion frequencies are measured go to step 5 and manually set the measured vibration frequency to Setting f 4 Press the Key The displayed Measure f value will be displayed as the Setting f value as well Example of measured waveform 5 If the vibration is not completely suppressed select the digit with the or Key and press the or Key to fine tune t...

Page 267: ...e Key to complete the vibration suppres sion function The screen in step 1 will appear again cont d Step Display after Operation Keys Operation 㧾㨁㧺㨂㨕㨎㧿㨡㨜㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦 Position Error Torque reference Rota tion 㧾㨁㧺 ޓޓ 㨂㨕㨎㧿㨡㨜㧹㨑㨍㨟㨡㨞㨑㨒㧩㧙㧙㧙㧙㧙㧴㨦㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦㧾㨁㧺㧲㨁㧺㧯㨀㧵㧻㧺㧲㨚㧞㧜㧠㧲㨚㧞㧜㧡㧲㨚㧞㧜㧢㧲㨚㧞㧜㧣 No...

Page 268: ...rol is used to make optimum feedforward settings in the SERVO PACK when model following control is used with the feedforward function Therefore model following control is not normally used together with either the speed feedfor ward V REF input or torque feedforward T REF input from the host controller How ever model following control can be used with the speed feedforward V REF input or torque fe...

Page 269: ...following control gain and the model following control gain compensation are available only for manual gain switching To enable the gain switching of these parameters a gain switching input signal must be sent and the following conditions must be met No command being executed Motor having been completely stopped If these conditions are not satisfied the applicable parameters will not be switched a...

Page 270: ... satis fied Gain setting 2 to gain setting 1 Pn136 Gain Switching Waiting Time 2 Pn132 Gain Switching Time 2 Parameter Switching Condition A for Position Control For Other than Position Control No Switching When Enabled Classification Pn139 n 0 Factory setting Positioning completed signal COIN ON Fixed in gain setting 1 Immediately Tuning n 1 Positioning completed signal COIN OFF Fixed in gain set...

Page 271: ...Tuning Pn101 Speed Loop Integral Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0 01 ms 2000 Immediately Tuning Pn102 Position Loop Gain Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 0 1 s 400 Immediately Tuning Pn401 Torque Reference Filter Time Constant Classification Setting Range Setting Unit Factory Setting...

Page 272: ...00 to 2000 0 1 1000 Immediately Tuning Pn122 2nd Gain for Friction Compensation Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 1000 1 100 Immediately Tuning cont d Speed Position Position Speed Position Torque Position Position Speed Position Pn131 Gain Switching Time 1 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediatel...

Page 273: ...ed Classification Pn408 n 0 Factory setting Does not use friction compensation Immediately Setup n 1 Uses friction compensation Pn121 Friction Compensation Gain Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 1000 1 100 Immediately Tuning Pn123 Friction Compensation Coefficient Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 0 Immediat...

Page 274: ...If the effect is insufficient increase the friction compensation gain Pn121 by 10 increments until it stops vibrating Effect of Parameters for Adjustment Pn121 Friction Compensation Gain This parameter sets the responsiveness for external disturbance The higher the set value is the better the responsiveness will be If the equipment has a resonance frequency however vibration may result if the set ...

Page 275: ...sure smooth movement of the servomotor while the servomotor is running Set the value of Pn009 2 to 1 and select speed detection 2 to smooth the movement of the servomotor while the servomotor is running Parameter Meaning When Enabled Classification Pn009 n 0 Selects the current control mode 1 After restart Tuning n 1 Factory setting Selects the current control mode 2 low noise If current control m...

Page 276: ...l function of the position loop It is used for the electronic cams and elec tronic shafts when using the SERVOPACK with Yaskawa MP900 2000 machine controllers Pn11F Position Integral Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 50000 0 1 ms 0 Immediately Tuning Position ...

Page 277: ...ence to T REF CN1 9 and 10 from the host controller SERVOPACK in Speed Control Pn109 Feedforward Gain Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 0 Immediately Tuning Pn10A Feedforward Filter Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 6400 0 01 ms 0 Immediately Tuning Pn109 Pn10A Position reference pulse Feedback ...

Page 278: ...in Clear input Speed reference input gain T REF filter time constant Position reference Differe ntial Host controller Servomotor Torque reference input gain Refer ence pulse form Smooth ing Position feedback Error counter Pn522 positioning completed width Speed conver sion Speed control section Current control section Power amplifier Current feedback Speed feedback Position control section Encoder...

Page 279: ...forward value will result in overshooting To prevent such troubles set the optimum value while observing the system responsiveness COIN M Pn200 0 Pn218 Pn20E Pn210 T REF V REF CLR PULS SIGN Pn300 Pn212 Pn216 Pn217 Pn207 1 ENC KFF Pn000 1 Pn000 1 Servomotor Host controller Speed reference input gain SERVOPACK in position control Divider Clear input Position reference Differe ntial Refer ence pulse ...

Page 280: ...trol operation is enabled when the control method is set to speed or position control Note Refer to 5 7 Combination of Control Methods for how to switch control methods Type Signal Name Connector Pin Number Setting Meaning Input P CON CN1 41 Factory setting OFF High level Switches to PI control proportional integral control ON Low level Switches to P control proportional control SERVOPACK P CON P ...

Page 281: ...d Classifi cation Pn10B n 0 Factory setting Uses an internal torque reference level for the switching conditions Pn10C Immedi ately Setup n 1 Uses a speed reference level for the switching condi tions Pn10D n 2 Uses an acceleration level for the switching condi tions Pn10E n 3 Uses a position error level for the switching condi tions Pn10F n 4 Does not use mode switch function Pn10C Mode Switch To...

Page 282: ...Acceleration With this setting the speed loop is switched to P control when the speed reference exceeds the acceleration set in Pn10E Using the Position Error With this setting the speed loop is switched to P control when the position error exceeds the value set in Pn10F This setting is effective with position control only Motor speed Speed reference Speed Pn10C Torque Reference Pn10C Torque refer...

Page 283: ... The filter is disabled if 5000 is set Torque reference before filtering Torque Related Function Switch Pn408 Notch filter Notch filter First order lag filter Torque reference after filtering Second order lag filter 2nd Notch Filter Pn40C Pn40D and Pn40E 1st Notch Filter Pn409 Pn40A and Pn40B The 2nd torque reference filter is enabled when Pn40F is set to a value less than 5000 and disabled when P...

Page 284: ...ncy Hz Phase deg Parameter Meaning When Enabled Classification Pn408 n 0 Factory setting Disables 1st notch filter Immediately Setup n 1 Enables 1st notch filter n 0 Factory setting Disables 2nd notch filter n 1 Enables 2nd notch filter Pn409 1st Notch Filter Frequency Classification Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tuning Pn40A 1st Notch Fil...

Page 285: ...r frequencies Pn409 or Pn40C that is close to the speed loop s response frequency Set the frequencies at least four times higher than the speed loop s response frequency Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine Change the notch filter frequencies Pn409 or Pn40C only when the servomotor is stopped Vibration may occur if the no...

Page 286: ... Adjustment of the Motor Current Detection Signal Fn00E 7 18 7 11 Manual Offset Signal Adjustment of the Motor Current Detection Signal Fn00F 7 19 7 12 Write Prohibited Setting Fn010 7 21 7 13 Servomotor Model Display Fn011 7 23 7 14 Software Version Display Fn012 7 25 7 15 Resetting Configuration Errors in Option Modules Fn014 7 26 7 16 Vibration Detection Level Initialization Fn01B 7 27 7 17 Dis...

Page 287: ... reference offset 5 3 2 5 5 2 Fn00A Manual servo tuning of speed reference offset 5 3 2 Fn00B Manual servo tuning of torque reference offset 5 5 2 Fn00C Offset adjustment of analog monitor output 7 8 Fn00D Gain adjustment of analog monitor output 7 9 Fn00E Automatic offset signal adjustment of the motor current detection signal 7 10 Fn00F Manual offset signal adjustment of the motor current detec ...

Page 288: ...006 The alarm history is not cleared on alarm reset or when the main circuit power supply to the SERVOPACK and converter is turned OFF Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function If a number other than Fn000 is displayed press the UP Key or DOWN Key to select Fn000 2 Press the DATA SHIFT Key for approximately one sec ond The latest alarm data...

Page 289: ... is in JOG operation the overtravel function will be disabled Consider the operat ing range of the machine when performing JOG operation for the SERVOPACK Pn304 Jog Speed Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 1 500 Immediately Setup Speed Position Torque Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility func...

Page 290: ...ility Functions Fn 7 Press the DATA SHIFT Key for approximately one second Fn002 is displayed again 8 To enable the change in the setting turn the power OFF and ON again cont d Step Display after Operation Keys Operation MODE SET DATA ...

Page 291: ...g conditions must be met to perform the origin search The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The main circuit power supply must be ON All alarms must be cleared The hardwire baseblock HWBB must be disabled The servo ON signal S ON must be OFF CAUTION Perform origin searches without connecting the coupling The forward run prohibited P OT and reverse run p...

Page 292: ...ction Pressing the DOWN Key will rotate the servomotor in the reverse direction The rotation direction of the servomotor changes according to the setting of Pn000 0 as shown in the following table Note Direction when viewed from the load of the servo motor 6 Display flashes When the servomotor origin search is completed the dis play flashes At this moment the servomotor is servo locked at the ori ...

Page 293: ...n is carried out in position control However the pulse reference input to the SERVOPACK cannot be used The functions that are applicable for position control such as position reference filter can be used The overtravel function is enabled in this function When using an absolute encoder the SEN signal needs not be input since it is always enabled The reference pulse input multiplication switching f...

Page 294: ...536 Waiting time Pn535 Reverse movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Forward Stop Forward Stop Reverse Stop Reverse Movement speed Movement distance Pn533 Pn531 Waiting time Pn535 Accel Decel time Accel Decel time Waiting time Pn534 Pn535 Waiting time Waiting time Pn535 Movement speed Pn533 Pn534 Pn535 Number of movements Pn536 Number of movements Pn536 ...

Page 295: ...n Status Stop Forward Stop Reverse Stop Pn530 0 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Forward movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Reverse Stop Forward Stop Movement speed Pn533 Accel Decel time Pn534 Pn533 Waiting time Pn535 Waiting time Pn535 Number of movements Pn536 Movement speed At zero speed Movement distance Pn531 Moveme...

Page 296: ...Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn004 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the MODE SET Key to turn the servomotor power ON The display shown on the left appears 5 Press the UP or DOWN Key according to the first movement direction of the operation pattern Aft...

Page 297: ...re Be sure to initialize the parameter settings while the servo ON S ON signal is OFF After initialization turn OFF the power supply and then turn ON again to validate the settings Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn005 3 Press the DATA SHIFT Key for approximately one second The display shown on...

Page 298: ...r Fn010 must be set to Write permitted P 0000 2 Operating Procedure Use the following procedure Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn006 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the MODE SET Key to clear the alarm history When the data i...

Page 299: ...tput is shown below While the servomotor is not turned ON set the monitor signal to the torque reference In speed control set the monitor signal to the position error 2 Preparation The following condition must be met to adjust the offsets of the analog monitor output The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 3 Operating Procedure Use the following procedure...

Page 300: ...he left 7 Press the MODE SET Key to switch to channel 2 analog monitor 2 monitor output 8 Press the DATA SHIFT Key Offset data will be displayed as shown on the left 9 Press the UP or DOWN Key to change the data 10 Press the DATA SHIFT Key for approximately one second Ch2 o is displayed and then Fn00C is displayed again cont d Step Display after Operation Keys Operation MODE SET DATA MODE SET DATA...

Page 301: ...alue adjustment range 50 to 150 The following is a setting example Setting the Set Value to 125 100 125 0 4 50 Therefore the monitor output voltage is 0 5 time as high Setting the Set Value to 125 100 125 0 4 150 Therefore the monitor output voltage is 1 5 times as high Note The adjustment value will not be initialized when parameter settings are initialized using Fn005 2 Preparation The following...

Page 302: ...SHIFT Key Gain adjustment data will be displayed as shown on the left 5 Press the UP or DOWN Key to change the gain 6 Press the DATA SHIFT Key to return to the screen as shown on the left 7 Press the MODE SET Key to switch to channel 2 analog monitor 2 monitor output 8 Press the DATA SHIFT Key Gain adjustment data will be displayed as shown on the left 9 Press the UP or DOWN Key to change the gain...

Page 303: ... The servo ON signal S ON must be OFF 2 Operating Procedure Use the following procedure Be sure to perform this function while the servo ON signal S ON is OFF Execute the automatic offset adjustment if the torque ripple is too big when compared with those of other SERVOPACKs Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN K...

Page 304: ...o tuning Run the servomotor at a speed of approximately 100 min 1 Adjust the offset while monitoring the torque reference with the analog monitor until the ripple of torque reference monitor s waveform is minimized Adjust the phase U and phase V offset amounts alternately several times until these offsets are well balanced Step Display after Operation Keys Operation 1 Press the MODE SET Key to sel...

Page 305: ...lly adjust the offset amount while monitoring the torque reference monitor signal Adjustable range 512 to 511 10 Press the DATA SHIFT Key for approximately one second Cu2 o is displayed and then Fn00F is displayed again Step Display after Operation Keys Operation MODE SET DATA MODE SET DATA ...

Page 306: ...ence offset Cannot be executed 5 3 2 Fn00B Manual servo tuning of torque reference offset Cannot be executed 5 5 2 Fn00C Offset adjustment of analog monitor output Cannot be executed 7 8 Fn00D Gain adjustment of analog monitor output Cannot be executed 7 9 Fn00E Automatic offset signal adjustment of the motor current detection signal Cannot be executed 7 10 Fn00F Manual offset signal adjustment of...

Page 307: ...ty function 2 Press the UP or DOWN Key to select Fn010 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the UP or DOWN Key to set a value P 0000 Write permitted Factory setting P 0001 Write prohibited 5 Press the MODE SET Key to register the value When the setting has been completed donE flashes on the display and the screen returns to the state...

Page 308: ...proximately one second to display the servomotor voltage and model codes 4 Press the MODE SET Key to display the servomotor capac ity 5 Press the MODE SET Key to display the encoder type and resolution codes 6 Press the MODE SET Key to display the SERVOPACK s code for custom orders The display y 0000 means standard model If anything other than y 0000 is displayed a customized device is being used ...

Page 309: ...7 Utility Functions Fn 7 24 7 Press the DATA SHIFT Key for approximately one second Fn011 is displayed again cont d Step Display after Operation Keys Operation MODE SET DATA ...

Page 310: ...the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn012 3 Press the DATA SHIFT Key for approximately one second to display the SERVOPACK software version number 4 Press the MODE SET Key to display the encoder software version number Note If the MODE SET Key is pressed again a pre pro grammed display will appear The display will change as follows 0 0000 S FFFF F F...

Page 311: ...et to Write permitted P 0000 2 Operating Procedure Use the following procedure Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn014 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the UP or DOWN Key to select the option module to be cleared 5 Press the MOD...

Page 312: ...de 1 Preparation The following conditions must be met to initialize the vibration detection level The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The test without a motor function must be disabled Pn00C 0 0 Parameter Meaning When Enabled Classification Pn310 n 0 Factory setting Does not detect vibration Immediately Setup n 1 Outputs the warning A 911 when vibrati...

Page 313: ...tion 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn01b 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Display flashes Press the MODE SET Key for approximately one second The display shown on the left will flash and the vibration level will be detected and refreshed Notes Operate the SERVOPACK with the...

Page 314: ...onnected Not connect will be displayed after the module name 1 Preparation There are no tasks that must be performed before the execution ID Items to be Displayed SERVOPACK ID SERVOPACK model SERVOPACK serial number SERVOPACK manufacturing date SERVOPACK input voltage V Maximum applicable motor capacity W Maximum applicable motor rated current Arms Servomotor ID Servomotor model Servomotor order n...

Page 315: ... of the utility function R U N F U N C T I O N F n 0 1 B V i b l v l I n i t F n 0 1 E S v M o t O p I D F n 0 1 F F B O p M o t I D F n 0 2 0 S O r i g S e t Rotation B B S v M o t O p I D D r i v e r S G D V 7 5 0 J 0 1 A D 0 0 2 4 1 2 3 4 5 9 0 0 0 1 1 2 0 7 4 0 0 V 2 2 0 0 0 W Serial number Manufacturing date SERVOPACK model SERVOPACK input voltage SERVOPACK capacity Analog B B S v M o t O p I...

Page 316: ... model Encoder serial number Encoder type resolution Two types of resolution display available Num ber of bits and number of pulses rev Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn01F 2 Press the Key The display changes to the Fn01F execution display The servomotor ID information is ...

Page 317: ...een changed Always turn the power supply OFF and then ON again after execution of origin setting Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn020 3 Press the DATA SHIFT Key for approximately one second The display shown on the left appears 4 Press the UP Key until OSET5 is displayed Note If there is a mis...

Page 318: ...is function resets the SERVOPACK independently of host controller The SERVO PACK carries out the same processing as when the power supply is turned ON and outputs the ALM signal The status of other output signals may be forcibly changed Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the utility function 2 Press the UP or DOWN Key to select Fn030 3 Press the DATA SHI...

Page 319: ...to tuning This built in EasyFFT function is used to maintain interchangeability with previous models There is normally no need to use it 1 Preparation The following conditions must be met to perform EasyFFT The write prohibited setting parameter Fn010 must be set to Write permitted P 0000 The main circuit power supply must be ON All alarms must be cleared The hardwire baseblock HWBB must be disabl...

Page 320: ...movement In the Servo ON status the servomotor power ON press the UP Key forward or the DOWN Key reverse The ser vomotor oscillates within 1 4 rotation in automatic opera tion The servomotor performs such movements for approximately 2 seconds During this operation the display shown on the left flashes Notes Press the MODE SET Key to stop the servomotor No detection is executed F is displayed to in...

Page 321: ... the detected reso nance frequency will automatically be set When the notch filter is set correctly the donE flashes and then the display shown on the left appears When the 1st notch filter frequency is already set Pn408 0 1 the 2nd notch filter frequency will be auto matically set Pn40C Press the MODE SET Key to return to step 5 Notes If both the 1st and 2nd notch filter frequencies are already s...

Page 322: ... settings Use the following flowchart to determine how these functions should be used If a Σ V large capacity SERVOPACK is used to make adjustments it is recommended that you use advanced autotuning This built in function is used to maintain interchangeability with previous models There is nor mally no need to use it 1 Preparation The following conditions must be met to perform online vibration mo...

Page 323: ...ed The displayed value is the frequency of the highest peak of vibration To set the detection result proceed to step 6 To monitor the vibration frequency without setting the detection result press the DATA SHIFT Key for approxi mately one second to return to step 2 Notes If a frequency is not detected F will be displayed If detection processing is not completed normally for some reason no_oP will ...

Page 324: ...sing SigmaWin while this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Name Mid execut...

Page 325: ...ut Signal Display Status 8 5 8 4 3 Input Signal Display Example 8 6 8 5 Monitoring Output Signals 8 7 8 5 1 Displaying Output Signal Status 8 7 8 5 2 Interpreting Output Signal Display Status 8 8 8 5 3 Output Signal Display Example 8 8 8 6 Monitoring Safety Input Signals 8 9 8 6 1 Displaying Safety Input Signals 8 9 8 6 2 Interpreting Safety Input Signal Display Status 8 9 8 6 3 Safety Input Signa...

Page 326: ... pulse 4 Un004 Rotational angle 2 from polarity origin electric angle deg Un005 1 Input signal monitor Un006 2 Output signal monitor Un007 6 Input reference pulse speed valid only in position control min 1 Un008 6 Position error amount valid only in position control reference unit Un009 Accumulated load ratio in percentage to the rated torque effective torque in cycle of 10 seconds Un00A Regenerat...

Page 327: ...splay after Operation Keys Operation 1 Press the MODE SET Key to select the monitor display 2 If Un000 is not displayed press the UP or DOWN Key to select Un000 3 Press the DATA SHIFT Key for approximately one sec ond to display the motor rotating speed Un000 4 Press the DATA SHIFT Key for approximately one sec ond to return to the display of step 1 MODE SET DATA MODE SET DATA MODE SET DATA MODE S...

Page 328: ...T Key to select the monitor display 2 Press the UP or DOWN Key to display the parameter to be displayed in 32 bit decimal In this example Un00D is selected 3 Press the DATA SHIFT Key for approximately one second The lower 4 digits of the setting of the selected parameter are displayed 4 After checking the displayed digits press the DATA SHIFT Key The middle 4 digits of the setting of the selected ...

Page 329: ...status the bottom segment LED is lit Note Input signals use the following circuit configuration OFF Open ON Short circuited Example Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to select Un005 3 Input signal display status The present status can be displayed on the 7 segment dis play on the panel operator by pressing ...

Page 330: ...ut signals are displayed as shown below When the S ON signal is ON When the S ON signal is OFF When the P OT signal operates The bottom segment of number 1 is lit 7 6 5 4 3 2 1 8 Analog The top segment of number 1 is lit 7 6 5 4 3 2 1 8 Analog The top segment of number 3 is lit 7 6 5 4 3 2 1 8 Analog ...

Page 331: ...isplay the output signal status Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to select Un006 3 Output signal display status The present status can be displayed on the 7 segment dis play on the panel operator by pressing the DATA SHIFT Key for approximately one second Refer to 8 5 2 Interpret ing Output Signal Display ...

Page 332: ...l is in ON status the bottom segment LED is lit Note Output signals use the following circuit configuration OFF Transistor OFF ON Transistor ON Example 8 5 3 Output Signal Display Example Output signals are displayed as shown below When the ALM signal is OFF Display LED Number Output Terminal Name Signal Name Factory Setting 1 CN1 31 32 ALM 2 CN1 25 26 COIN or V CMP 3 CN1 27 28 TGON 4 CN1 29 30 S ...

Page 333: ...gnal is in OFF status the bottom segment LED is lit Note Input signals use the following circuit configuration OFF Open ON Short circuited Example Step Display after Operation Keys Operation 1 Press the MODE SET Key to select the monitor display 2 Press the UP or DOWN Key to select Un015 3 Input signal display sta tus The present status can be displayed on the 7 segment dis play on the panel opera...

Page 334: ...en Un number is set using Pn52F the data of Un that was specified in the panel operator is displayed when the power is turned ON When the 0FFF is set factory setting the SERVOPACK becomes the status display mode bb run at power ON The bottom segment of the number 1 is lit 7 6 5 4 3 2 1 8 Analog Pn52F Monitor Display at Power ON Classification Setting Range Setting Unit Factory Setting When Enabled...

Page 335: ...n External Encoder by Renishaw plc 9 6 9 1 6 Precautions When Using an External Incremental Encoder by Magnescale 9 7 9 2 SERVOPACK and Converter Startup Procedure 9 11 9 3 Parameter Settings for Fully closed Loop Control 9 13 9 3 1 Motor Rotation Direction 9 14 9 3 2 Sine Wave Pitch Frequency for an External Encoder 9 16 9 3 3 Setting Encoder Output Pulses PAO PBO and PCO 9 16 9 3 4 External Abso...

Page 336: ...the system configuration Note 1 The figure above shows a connection example of an external encoder Refer to 1 6 Examples of Servo System Configurations for details on the power supply and peripheral devices 2 In fully closed loop control rattling or twisting of mechanical parts may cause vibration delaying the positioning process SERVOPACK with Fully closed Module Servomotor main circuit cable Con...

Page 337: ...ERVOPACK Serial conversion External encoder Speed feedback Refer ence pulse form Elec tronic gear B A Smooth ing Divider Error counter Position control section Position feedback Speed control section Speed conversion Current control section Power amplifier Current feedback Servomotor Reference Pulse Multiplier n Analog Items Specifications Electrical Characteristics Power Supply Voltage 5 0 V 5 ri...

Page 338: ...form insulation resistance and withstand voltage tests When low voltage analog signals are input to the serial converter unit noise influence on the analog signals affects the unit s ability to output correct position information The analog cable must be as short as possible and shielded Use the serial converter unit in a location without gases such as H2S Do not connect or disconnect the unit whi...

Page 339: ...tional external absolute encoder Model SL700 SL710 SL720 SL730 CN31 JZSP CLP70 E CN1 CN2 SERVOPACK with Fully closed Module Serial converter unit Connection cable by Heidenhain External encoder by Heidenhain JZDP D003 000 E SERVOPACK with Fully closed Module CN31 Interface unit by Heidenhain EIB3391 Connection cable by Heidenhain External encoder by Heidenhain CN1 CN2 CN31 JZSP CLP70 E Serial conv...

Page 340: ...rection and Returning after Power ON Machine position Power ON Phase C detection position Phase C detection position Zero point signal 㧔Ref㧕 Phase C Time Second pulse is half as wide as the phase A pulse No zero point signal Ref is sent from the external encoder However a phase C pulse will be sent from the SERVOPACK when moving in the reverse direction because it is the same position from which a...

Page 341: ...Direction and Returning after Power ON After the power is turned on the phase C pulse CN1 19 CN1 20 is output when the external encoder moves forward and its detection head first passes the phase C detection position After the detection head of the encoder passes the detection position in a forward direction the phase C pulse is output when the head passes the position regardless of the direction ...

Page 342: ... passes the detection position After the detection head of the encoder first passes the detection position in the forward direction the phase C pulse is output when the head passes the position regardless of the direction of the encoder s movement The phase C pulse is not output when passing the detection position in reverse direction first The phase C pulse is also output when passing this point ...

Page 343: ...ction point is passed in reverse set the following parameter to 1 Power ON Time Phase C pulse output Scale count up direction Zero point 1 detection position Zero point 2 detection position Even after zero point 1 has first been passed in the forward direction the phase C pulse is not output here because zero point 2 is passed in reverse direction The phase C pulse is also output when passing this...

Page 344: ...ting equipment must remain as is When Pn081 0 1 the width of the phase C pulse output is narrower than that of the phase A pulse in some cases As shown in the following figure there is a one eighth scale pitch difference in posi tions between the two settings Pn081 0 1 and Pn081 0 0 for the phase C pulse output 1 8 scale pitch Pn081 0 0 Zero point Zero point Moves to forward 1 scale pitch Pn081 0 ...

Page 345: ... Output Signal Selection Pn50E Pn50F Pn510 SERVOPACK or host controller 2 Check operation of the system connected with the machine and servomotor in semi closed loop control mode Items to Check Initial responsiveness of the system connected with the machine Movement direction distance and speed of the machine spec ified by the host controller Connect the servomotor to the machine Set the moment of...

Page 346: ...s the same as the distance that is set in Pn531 Note Start from a low speed and gradually increase the speed Program JOG related param eters Pn530 to Pn536 SERVOPACK 5 Operate the SERVOPACK and converter Items to Check Does the fully closed loop control operate correctly including the host controller Input the position reference and check that the SERVOPACK and converter operate correctly Note Sta...

Page 347: ...rnal encoder usage method Pn20A Number of pitches for the external encoder 9 3 2 Pn281 Number of encoder output pulses PAO PBO and PCO from the SERVOPACK 9 3 3 External absolute encoder data reception sequence 9 3 4 Pn20E Pn210 Electronic gear ratio 9 3 5 Pn51B Excessive error level between servo motor and load positions 9 3 6 Pn52A Multiplier per one fully closed rota tion Pn006 Pn007 Analog moni...

Page 348: ...e Overtravel OT Pn000 n 0 Sets CCW as forward direction Factory setting Forward Reference P OT Reverse Reference N OT n 1 Sets CW as forward direction Reverse Rotation Mode Forward Reference P OT Reverse Reference N OT PAO PBO CCW Phase B advanced Time Encoder output pulse Motor speed Torque reference Motor speed PAO PBO CW Phase A advanced Time Encoder output pulse Motor speed Torque reference Mo...

Page 349: ...002 to n 1 If the Un00E counts down set Pn002 to n 3 The output pulses are phase B advanced if the motor is turning forward regardless of the setting in Pn000 0 Parameter Pn002 3 External Encoder Usage 1 3 Pn000 0 Motor rotation direction 0 Reference direction Forward reference Reverse reference Forward reference Reverse reference Motor rotation direction CCW CW CCW CW External encoder output cos ...

Page 350: ...e pulse multiplied by 4 is 1 μm the set value will be 20 If the output of a single pulse multiplied by 4 is 0 5 μm the set value will be 40 The encoder output pulse will have the following waveform if the set value is 20 shows the edge position In this example the set value is 20 therefore the number of is 20 Note The upper limit of the encoder signal output frequency multiplied by 4 is 6 4 Mpps D...

Page 351: ...ts them to host controller in fully closed loop control is shown below 1 Outline of Absolute Signals The serial data pulses etc of the external absolute encoder that are output from the SERVOPACK are output from the PAO PBO and PCO signals as shown below Note When host controller receives the data from the external absolute encoder do not perform counter reset using the output of PCO signal Pn281 ...

Page 352: ...put speed is approximately 1 48 µs per pulse Final absolute data PM is calculated by following formula PE MO R PO PM PE MS R PS Note If host controller receives the data from the external absolute encoder do not perform counter reset using the output of PCO signal SEN signal PAO PBO Incremental pulses Incremental pulses Undefined Undefined Phase A Phase A Phase B Phase B Serial data 400 ms max 50 ...

Page 353: ...od Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below Note 1 Data is P 00000 CR or P 00000 CR when the position is zero 2 The serial data range is 32768 to 32767 When this range is exceeded the data changes from 32767 to 32678 or from 32768 to 32767 When changing multiturn limit th...

Page 354: ...r and serial converter unit for details on the sine wave pitch and the number of divisions of the external encoder A B Pn210 Pn20E External encoder sine wave pitch Travel distance per reference unit Number of divisions Electronic gear ratio Rotation B A Type of External Encoder Manufacturer External Encoder Model Sine Wave Pitch μm Model of Relay Device between SERVOPACK and External Encoder Numbe...

Page 355: ...of the error between the external encoder and the motor per motor rotation can be set This function can be used to prevent the motor from running out of control due to damage to the external encoder or to detect slippage of the belt Setting Example Increase the value if the belt slips or is twisted excessively If the set value is 0 the external encoder value will be read as it is If the factory se...

Page 356: ...mediately Setup Pn007 n 07 Analog Monitor 2 Signal Selection Position error between servomotor and load 0 01 V 1 reference unit Factory setting n 00 Parameter Meaning When Enabled Classification Pn22A n 0 Factory setting Uses motor encoder speed After restart Setup n 1 Uses external encoder speed A d10 ENC M Pn22A Pn20A Pn200 0 Pn218 Pn20E Pn210 Pn281 Pn000 1 Pn000 1 Pn216 Pn217 SERVOPACK Machine ...

Page 357: ...ys 10 2 10 1 1 List of Alarms 10 2 10 1 2 Troubleshooting of Alarms 10 7 10 2 Warning Displays 10 22 10 2 1 List of Warnings 10 22 10 2 2 Troubleshooting of Warnings 10 23 10 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 10 26 ...

Page 358: ...alarm Alarm Number Alarm Name Meaning Servomotor Stopping Method Alarm Reset Alarm Code Output ALO1 ALO2 ALO3 A 020 Parameter Checksum Error 1 The data of the parameter in the SERVO PACK is incorrect Gr 1 N A H H H A 021 Parameter Format Error 1 The data of the parameter in the SERVO PACK is incorrect Gr 1 N A H H H A 022 System Checksum Error 1 The data of the parameter in the SERVO PACK is incor...

Page 359: ... L A 521 Autotuning Alarm Vibration was detected while performing tuning less function Gr 1 Available L H L A 710 Overload High Load The servomotor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings Gr 2 Available L L L A 720 Overload Low Load The servomotor was operating continu ously under a torque exceeding ratings Gr 1 Available L L L A 730 A ...

Page 360: ...ion circuit for the current is faulty Gr 1 N A H H H A bF0 System Alarm 0 Internal program error 0 of the SERVO PACK occurred Gr 1 N A H H H A bF1 System Alarm 1 Internal program error 1 of the SERVO PACK occurred Gr 1 N A H H H A bF2 System Alarm 2 Internal program error 2 of the SERVO PACK occurred Gr 1 N A H H H A bF3 System Alarm 3 Internal program error 3 of the SERVO PACK occurred Gr 1 N A H...

Page 361: ... fully closed loop control the posi tion error between motor and load is excessive Gr 2 Available L L H A E71 Safety Option Module Detection Failure Detection of the safety option module failed Gr 1 N A H L L A E72 Feedback Option Module Detection Failure Detection of the Feedback Option Module failed Gr 1 N A H L L A E74 Unsupported Safety Option Module An unsupported safety option module was con...

Page 362: ...rator JUSP OP05A 1 E fails to communicate with the SERVOPACK e g CPU error N A Undefined CPF01 Digital Operator Transmission Error 2 N A Undefined A Not an error Normal operation status H H H cont d Alarm Number Alarm Name Meaning Servomotor Stopping Method Alarm Reset Alarm Code Output ALO1 ALO2 ALO3 ...

Page 363: ...021 Parameter Format Error 1 The parameter data in the SERVOPACK is incorrect The software version of SERVO PACK that caused the alarm is older than that of the written parameter Check Fn012 to see if the set soft ware version agrees with that of the SERVOPACK If not an alarm may occur Write the parameter of another SERVOPACK of the same model with the same software version Then turn the power OFF...

Page 364: ...of Pn002 3 The setting of fully closed module must be compatible with the setting of Pn002 3 A 050 Combination Error The SERVOPACK and servomotor capacities do not correspond The SERVOPACK and servomo tor capacities do not match each other Check the capacities to see if they satisfy the following condition Select the proper combination of SERVOPACK and servomotor capacities An encoder fault occurr...

Page 365: ...e if the DB overload alarm A 730 or A 731 was reported Change the SERVOPACK model operating conditions or the mecha nism so that the DB does not need to be used so frequently A heavy load was applied while the servomotor was stopped or running at a low speed Check to see if the operating condi tions are outside servo drive specifi cations Reduce the load applied to the ser vomotor or increase the ...

Page 366: ...and operating con ditions The setting of parameter Pn600 is smaller than the regenerative resistor s capacity Check the regenerative resistor unit connection and the value of the Pn600 Set the Pn600 to a correct value The regenerative resistance is too high Check the regenerative resistance Change the regenerative resistance to a correct value or use an external regenerative resistor of appropriat...

Page 367: ...n verter to see if it remains lit for more than a few seconds immedi ately after the main circuit power supply is turned OFF The converter may be faulty Replace the converter The connection of the I O signals CN901 between the SERVO PACK and converter is faulty Check the connection of CN901 Correctly connect CN901 A fault occurred in the SERVO PACK or converter Turn the control power OFF and then ...

Page 368: ...nverter Input the control power supply simultaneously to the SERVO PACK and converter The wiring between the SERVO PACK and converter is incorrect or the connection is faulty Check the wiring Correctly connect the SERVO PACK and converter to each other The connection of the I O signals CN901 between the SERVO PACK and converter is faulty Check the connection of CN901 Correctly connect CN901 A faul...

Page 369: ...apacity Excessive load was applied dur ing operation because the servo motor was not driven due to mechanical problems Check the executed operation refer ence and motor speed Remove the mechanical problems A fault occurred in the SERVO PACK or converter The SERVOPACK or converter may be faulty Replace the SERVO PACK or converter A 730 A 731 Dynamic Brake Overload An excessive power consumption of ...

Page 370: ...ty Replace the SERVOPACK A 7AB Built in Fan in SERVOPACK Stopped The fan inside the SERVOPACK stopped Check for foreign matter or debris inside the SERVOPACK Remove foreign matter or debris from the SERVOPACK If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK A 810 Encoder Backup Error Only when an absolute encoder is connected Detected on the encoder side Alarm occurred ...

Page 371: ...A 860 Encoder Overheated Only when an absolute encoder is connected Detected on the encoder side The ambient operating tempera ture around the servomotor is too high Measure the ambient operating tem perature around the servomotor The ambient operating temperature must be 40 C or less The motor load is greater than the rated load Check the accumulated load ratio Un009 to see the load The motor loa...

Page 372: ...Current Detection Error 1 The current detection circuit for phase U is faulty Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b32 Current Detection Error 2 The current detection circuit for phase V is faulty Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPAC...

Page 373: ...encoder is correctly wired Cable disconnection for encoder cable or short circuit Or incorrect cable impedance Check the encoder cable Use the cable with the specified rat ing Corrosion caused by improper temperature humidity or gas short circuit caused by intrusion of water drops or cutting oil or connector contact fault caused by vibration Check the operating environment Improve the operating en...

Page 374: ... tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of at least 0 12 mm2 Noise interference occurred because the wiring distance for the encoder cable is too long The wiring distance must be 50 m max The FG potential varies because of influence from machines on the servomotor side such as the welder Check the cable layout for encoder cable Properly g...

Page 375: ...eration of posi tion reference Or reconsider the electronic gear ratio The acceleration of the position reference is too high Reduce the reference acceleration and operate the SERVOPACK Apply the smoothing function such as using position reference accelera tion deceleration time constant Pn216 Setting of the excessive position error alarm level Pn520 is low against the operating condition Check th...

Page 376: ...ween the SERVOPACK and the Feedback Option Module Correctly connect the Feedback Option Module The Feedback Option Module was disconnected Execute resetting configuration error in option modules Fn014 and turn the power supply OFF and then ON again A Feedback Option Module fault occurred Replace the Feedback Option Mod ule A fault occurred in the SERVO PACK Replace the SERVOPACK A E74 Unsupported ...

Page 377: ...wiring of the dynamic brake answer signal Correctly wire the dynamic brake answer signal A fault occurred in the SERVO PACK Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK FL 1 2 System Alarm A fault occurred in the SERVO PACK Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Rep...

Page 378: ...s warning occurs before the overload alarms A 710 or A 720 occur If the warning is ignored and operation continues an overload alarm may occur L H H A 911 Vibration Abnormal vibration at the motor speed was detected The detection level is the same as A 520 Set whether to output an alarm or warning by the vibration detection switch Pn310 L H H A 920 Regenerative Overload This warning occurs before ...

Page 379: ...16 Setting of the excessive position error alarm level Pn520 is low against the operating condition Check the alarm level Pn520 to see if it is set to an appropriate value Set the Pn520 to proper value A fault occurred in the SERVOPACK Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 901 Position Error Overflow Alarm at Servo...

Page 380: ...was continuously applied Check the load to the servomotor dur ing operation Reconsider the system including servo drives machine and operating condi tions A 921 Dynamic Brake Overload Warning before the alarm A 731 occurs The servomotor rotates because of external force Check the operation status Take measures to ensure the servomo tor will not rotate because of external force The rotating energy ...

Page 381: ...r con verter The SERVOPACK or converter may be faulty Replace the SERVOPACK or converter A 9A0 Overtravel Overtravel status is detected When the servomotor power is ON over travel status is detected Check the input signal monitor Un005 to check the status of the overtravel signals Refer to 10 3 Troubleshooting Mal function Based on Operation and Conditions of the Servomotor Even if overtravel sign...

Page 382: ...ON signal S ON stays OFF Check the settings for parameters Pn50A 0 and Pn50A 1 Set the parameters Pn50A 0 and Pn50A 1 to turn the S ON signal ON P CON input function setting is incorrect Check the settings for parameter Pn000 1 Set parameters to match the applica tion SEN input is OFF Check the ON OFF status of the SEN input If using an absolute encoder turn the SEN input signal ON Reference pulse...

Page 383: ...ut are agreed Correct the control method selec tion parameter and the input signal Speed reference offset is incorrect The SERVOPACK offset is adjusted incorrectly Adjust the SERVOPACK offset Position control Reference pulse input is incorrect Check the reference pulse form Pn200 0 and sign pulse signal Correct the control method selec tion parameter and the input signal A fault occurred in the SE...

Page 384: ...specifications of encoder cable The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm2 min Use the specified encoder cable Noise interference due to length of encoder cable Check the length of the encoder cable The encoder cable must be no more than 50 m Noise interference due to damaged encoder cable Check if the en...

Page 385: ...the moment of inertia ratio Pn103 Correct the moment of inertia ratio Pn103 High Motor Speed Overshoot on Starting and Stopping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn...

Page 386: ...nfluence of machines such as weld ers at the servomotor Check if the machines are correctly grounded Ground machines correctly and prevent diversion to the FG on the encoder side SERVOPACK pulse counting error due to noise interference Check if there is noise interference on the I O signal line from the encoder Take measures against noise in the encoder wiring Excessive vibration and shock to the ...

Page 387: ...tch wiring is correct check for dam aged 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 cated in Pn50A 3 If another signal is allocated in Pn50A 3 allocate P OT Check if the N OT signal is allo cated in Pn50B 0 If another signal is allocated in Pn50...

Page 388: ...ing between the machine and servomotor Noise interference due to improper I O signal cable specifications The I O signal cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm2 min Use input signal cable with the specified specifications If the reference pulse input multipli cation switching function is being used noise may be ca...

Page 389: ...N s Position Control Unit 11 5 11 1 5 Connection to MITSUBISHI s AD72 Positioning Module SERVOPACK in Speed Control 11 6 11 1 6 Connection to MITSUBISHI s AD75 Positioning Module SERVOPACK in Position Control 11 7 11 1 7 Connection to MITSUBISHI s QD75D Positioning Module SERVOPACK in Position Control 11 8 11 2 List of Parameters 11 9 11 2 1 Utility Functions 11 9 11 2 2 Parameters 11 10 11 3 List...

Page 390: ...A PA PC PC SG T REF ALM CN1 CN2 CN1 P OT 24 V IN ALM VTG TMON AI GND TGON BRK SG SEN S RDY PB PB SG ALM RST S ON N OT S RDY BAT BAT TGON BRK GND GND CN5 SERVOPACK 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 2 5 33 34 19 20 6 9 32 41 45 46 42 47 31 10 4 35 36 28 27 1 30 44 40 43 29 21 22 4 3 2 1 CN2 L3 L2 L1 W V U M ENC 0V For 24 V 0V For 24 V ...

Page 391: ...it power supply is a three phase 200 VAC SERVOPACK input in the example 4 Incorrect signal connections will cause damage to the machine controller SERVOPACK or converter Wire all connections carefully 5 Open the signal lines not to be used 6 The above connection diagram shows the connections for only one axis When using other axes make connec tions to the SERVOPACK in the same way 7 Short circuit ...

Page 392: ...tes safety functions to protect people from the hazardous operation of the movable parts of the machines reduce the risk and ensure the safety of the machine in operation Necessary circuits and settings are required in CN8 to use these functions If these functions are not used use the SERVOPACK with the enclosed safety jumper connected to CN8 For details refer to 5 11 Safety Function CN1 3 4 5 16 ...

Page 393: ...7 Make the settings so that the servomotor can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of the movable parts of the machines reduce the risk and ensure the safety of the machine in operation Necessary circuits and settings are required in CN8 to use these functions If these functions are not used use t...

Page 394: ...r only one axis When using other axes make connec tions to the SERVOPACK in the same way 6 Short circuit the normally closed NC input terminals that are not used at the I O connector section of the posi tioning module 7 Make the settings so that the servo can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of...

Page 395: ... circuit the normally closed NC input terminals that are not used at the I O connector section of the posi tioning module 7 Make the settings so that the servomotor can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of the movable parts of the machines reduce the risk and ensure the safety of the machine in ...

Page 396: ...the same way 6 Short circuit the normally closed NC input terminals that are not used at the I O connector section of the posi tioning module 7 Make the settings so that the servo can be turned ON OFF by the Servo ON S ON signal 8 The SERVOPACK incorporates safety functions to protect people from the hazardous operation of the movable parts of the machines reduce the risk and ensure the safety of ...

Page 397: ...e offset 5 3 2 Fn00B Manual servo tuning of torque reference offset 5 5 2 Fn00C Offset adjustment of analog monitor output 7 8 Fn00D Gain adjustment of analog monitor output 7 9 Fn00E Automatic offset signal adjustment of the motor current detec tion signal 7 10 Fn00F Manual offset signal adjustment of the motor current detec tion signal 7 11 Fn010 Write prohibited setting 7 12 Fn011 Servomotor mo...

Page 398: ...nternal set speed control contact reference 4 Internal set speed control contact reference Speed control analog reference 5 Internal set speed control contact reference Position control pulse train reference 6 Internal set speed control contact reference Torque control analog reference 7 Position control pulse train reference Speed control analog reference 8 Position control pulse train reference ...

Page 399: ...e without using the DB Overtravel OT Stop Mode Reference Section 0 Stops in accordance with the setting of Pn001 0 5 2 3 1 Sets the torque of Pn406 to the maximum value decelerates the servomotor to a stop and then sets it to servolock state 2 Sets the torque of Pn406 to the maximum value decelerates the servomotor to a stop and then sets it to coasting state Reserved Do not change Warning Code Ou...

Page 400: ...REF as a torque feedforward input 6 9 2 3 Uses T REF as an external torque limit input when P CL and N CL are ON 5 8 4 Torque Control Option V REF Terminal Allocation Reference Section 0 V REF not allocated 5 5 4 1 Uses V REF as an external speed limit input Absolute Encoder Usage Reference Section 0 Uses absolute encoder as an absolute encoder 5 9 1 Uses absolute encoder as an incremental encoder...

Page 401: ...orque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference completed 5 V not completed 0 V 0D External encoder speed 1 V 1000 min 1 Values at motor shaft Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 2 Signal Selection 00 Motor rotating speed 1 V 1000 min 1 01 Speed reference 1 V 1000 min 1 02 Torque reference 1 V 100...

Page 402: ...ction Selection for Undervoltage Reference Section 0 Does not detect undervoltage 5 2 7 1 Detects warning and limits torque by host controller 2 Detects warning and limits torque by Pn424 and Pn425 Only in the SERVOPACK Warning Detection Selection Reference Section 0 Detects warning 10 2 1 1 Does not detect warning except for A 971 Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n R...

Page 403: ...2 3 1 1 All parameters Alarm Gr 2 Stop Method Selection Reference Section 0 Stops the motor by setting the speed reference to 0 5 2 5 1 Same setting as Pn001 0 Stops the motor by applying DB or by coasting Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Selection of Test without a Motor 0 Disables test without a motor 1 Enables test without a motor Encoder R...

Page 404: ...ediately Tuning 6 8 1 Pn109 2 Feedforward Gain 0 to 100 1 0 Immediately Tuning 6 9 1 Pn10A 2 Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immediately Tuning 6 9 1 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classifi cation Reference Section Reserved Do not change Dynamic Brake Signal Selection Reference Section 0 Enables the control of an NO contactor The...

Page 405: ...nsation Gain Correction 1 to 1000 1 100 Immediately Tuning 6 8 2 Pn131 2 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning 6 8 1 Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning 6 8 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning 6 8 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning 6 8 1 cont d Parameter No Size Na...

Page 406: ...t satisfied Gain Switching Condition A 0 Positioning completion signal COIN ON 1 Positioning completion signal COIN OFF 2 Positioning near signal NEAR ON 3 Positioning near signal NEAR OFF 4 Position reference filter output 0 and reference pulse input OFF 5 Position reference pulse input ON Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Model Following Cont...

Page 407: ... restart Tuning Pn160 2 Anti Resonance Control Related Switch 0000 to 0011 0010 Immediately Tuning 6 3 1 6 4 1 6 5 1 6 7 1 Pn161 2 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immediately Tuning cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classifi cation Reference Section Model Following Control Type Selection Reference Section 0 Model Following Control 1 6 3...

Page 408: ...Units Factory Setting When Enabled Classifi cation Reference Section Tuning less Function Selection When Enabled Classification Reference Section 0 Disables tuning less function After restart Setup 6 2 1 Enables tuning less function Control Method during Speed Control When Enabled Classification Reference Section 0 Uses as speed control After restart Setup 6 2 1 Uses as speed control and uses the ...

Page 409: ...tive logic 5 Sign Pulse train negative logic 6 CW CCW pulse train negative logic Clear Signal Form Reference Section 0 Clears position error when the signal is at high level 5 4 2 1 Clears position error at the rising edge of the signal 2 Clears position error when the signal is at low level 3 Clears position error at the falling edge of the signal Clear Operation Reference Section 0 Clears positi...

Page 410: ... 0000 to 1003 0000 After restart Setup cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classifi cation Reference Section Reserved Do not change Position Control Option Reference Section 0 V REF not allocated 6 9 3 1 Uses V REF as a speed feedforward input Reserved Do not change COIN Output Timing Reference Section 0 Outputs when the position error absolute value is t...

Page 411: ... 50 Immediately Tuning 7 16 Pn324 2 Moment of Inertia Calculating Start Level 0 to 20000 1 300 Immediately Setup 6 3 2 Pn400 2 Torque Reference Input Gain 10 to100 0 1 V rated torque 30 Immediately Setup 5 5 1 6 9 2 Pn401 2 Torque Reference Filter Time Constant 0 to 65535 0 01 ms 100 Immediately Tuning 6 9 6 Pn402 2 Forward Torque Limit 0 to 800 1 800 Immediately Setup 5 8 1 Pn403 2 Reverse Torque...

Page 412: ...ain Circuit Voltage Drop 0 to 100 1 50 Immediately Setup 5 2 7 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1000 1 ms 100 Immediately Setup 5 2 7 Pn456 2 Sweep Torque Reference Ampli tude 1 to 800 1 15 Immediately Tuning 7 21 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classifi cation Reference Section 1st Step Notch Filter Selection Wh...

Page 413: ... 4 Pn508 2 Waiting Time for Brake Signal When Motor Running 10 to 100 10 ms 50 Immediately Setup 5 2 4 Pn509 2 Instantaneous Power Cut Hold time 20 to 50000 1 ms 20 Immediately Setup 5 2 6 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classifi cation Reference Section Notch Filter Adjustment Selection 1 0 Does not adjust 1st step notch filter automatically using ut...

Page 414: ...tive when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open P CON Signal Mapping P control when ON closed Reference Section 0 to F Same as Servo ON Signal S ON Mapping 6 9 4 P OT Signal Mapping Forward run prohibited when OFF open Reference Section 0 Forward run allowed when CN1 ...

Page 415: ...al is OFF open E Reverse run allowed when CN1 45 input signal is OFF open F Reverse run allowed when CN1 46 input signal is OFF open ALM RST Signal Mapping Alarm reset when OFF open to ON closed Reference Section 0 Active on the falling edge of CN1 40 input signal 5 10 1 1 Active on the falling edge of CN1 41 input signal 2 Active on the falling edge of CN1 42 input signal 3 Active on the falling ...

Page 416: ...en CN1 46 input signal is ON closed 7 Reserved Do not set 8 Not active fixed 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open S...

Page 417: ... when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open INHIBIT Signal Mapping Reference pulse inhibit when ON closed Reference Section 0 to F Same as ZCLAMP Signal Mapping 5 4 8 G SEL Signal Mapping Gain change when ON closed Reference Section 0 to F Same as ZCLAMP Signal Mappin...

Page 418: ...Reference Section 0 to 3 Same as CLT Signal Mapping 5 5 4 Brake Signal Mapping BK Reference Section 0 to 3 Same as CLT Signal Mapping 5 2 4 Warning Signal Mapping WARN Reference Section 0 to 3 Same as CLT Signal Mapping 5 10 2 4th 3rd 2nd 1st digit digit digit digit n Near Signal Mapping NEAR Reference Section 0 Disabled the above signal is not used 5 4 7 1 Outputs the signal from CN1 25 26 output...

Page 419: ...nce Section Output Signal Inversion for CN1 25 or 26 Terminal 0 Does not inverse outputs 1 Inverses outputs Output Signal Inversion for CN1 27 or 28 Terminal 0 Does not inverse outputs 1 Inverses outputs Output Signal Inversion for CN1 29 or 30 Terminal 0 Does not inverse outputs 1 Inverses outputs Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do ...

Page 420: ... Dynamic Brake Answer signal 1 Input Signal Mapping DBANS1 Reference Section 0 Detects dynamic brake DB contactor errors when the input signal of CN1 40 is ON closed while the DB is applied 3 8 4 1 Detects DB contactor errors when the input signal of CN1 41 is ON closed while the DB is applied 2 Detects DB contactor errors when the input signal of CN1 42 is ON closed while the DB is applied 3 Dete...

Page 421: ...rogram JOG Movement Speed 1 to 10000 1 min 1 500 Immediately Setup 7 5 Pn534 2 Program JOG Acceleration Deceleration Time 2 to 10000 1 ms 100 Immediately Setup 7 5 Pn535 2 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup 7 5 Pn536 2 Number of Times of Program JOG Movement 0 to 1000 1 time 1 Immediately Setup 7 5 Pn550 2 Analog Monitor 1 Offset Voltage 10000 to 10000 0 1 V 0 Immediate...

Page 422: ...tion 1 10000 to 10000 0 01 100 Immediately Setup 6 1 3 Pn553 2 Analog Monitor Magnification 2 10000 to 10000 0 01 100 Immediately Setup 6 1 3 Pn560 2 Remained Vibration Detection Width 1 to 3000 0 1 400 Immediately Setup 6 7 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 Immediately Setup 6 3 1 6 4 1 Pn600 2 Regenerative Resistor Capacity 1 Depends on SERVOPACK Capacity 2 10 W 0 Immediately Se...

Page 423: ... angle 2 from polarity origin electric angle deg Un005 1 Input signal monitor Un006 2 Output signal monitor Un007 6 Input reference pulse speed valid only in position control min 1 Un008 6 Position error amount valid only in position control reference unit Un009 Accumulated load ratio in percentage to the rated torque effective torque in cycle of 10 seconds Un00A Regenerative load ratio as a perce...

Page 424: ...op Gain Immediately Pn103 100 Moment of Inertia Ratio Immediately Pn104 400 2nd Speed Loop Gain Immediately Pn105 2000 2nd Speed Loop Integral Time Con stant Immediately Pn106 400 2nd Position Loop Gain Immediately Pn109 0 Feedforward Gain Immediately Pn10A 0 Feedforward Filter Time Constant Immediately Pn10B 0000 Application Function for Gain Select Switch Pn10C 200 Mode Switch torque reference I...

Page 425: ...lated Switch Immediately Pn161 1000 Anti Resonance Frequency Immediately Pn162 100 Anti Resonance Gain Compensation Immediately Pn163 0 Anti Resonance Damping Gain Immediately Pn164 0 Anti Resonance Filter Time Con stant 1 Compensation Immediately Pn165 0 Anti Resonance Filter Time Con stant 2 Compensation Immediately Pn170 1401 Tuning less Function Related Switch Pn200 0000 Position Control Refer...

Page 426: ...Immediately Pn405 100 Reverse External Torque Limit Immediately Pn406 800 Emergency Stop Torque Immediately Pn407 10000 Speed Limit during Torque Control Immediately Pn408 0000 Torque Related Function Switch Pn409 5000 1st Notch Filter Frequency Immediately Pn40A 70 1st Notch Filter Q Value Immediately Pn40B 0 1st Notch Filter Depth Immediately Pn40C 5000 2nd Notch Filter Frequency Immediately Pn4...

Page 427: ...00 Output Signal Selection 4 After restart Pn515 8888 Input Signal Selection 6 After restart Pn517 0000 Reserved Pn51B 1000 Excessive Error Level Between Ser vomotor and Load Positions Immediately Pn51E 100 Excessive Position Error Warning Level Immediately Pn520 5242880 Excessive Position Error Alarm Level Immediately Pn522 7 Positioning Completed Width Immediately Pn524 1073741824 NEAR Signal Wi...

Page 428: ...tor 2 Offset Voltage Immediately Pn552 100 Analog Monitor Magnification 1 Immediately Pn553 100 Analog Monitor Magnification 2 Immediately Pn560 400 Remained Vibration Detection Width Immediately Pn561 100 Overshoot Detection Level Immediately Pn600 0 Regenerative Resistor Capacity Immediately Pn601 0 Dynamic Brake Resistor Capacity Immediately cont d Parameter Factory Setting Name When Enabled ...

Page 429: ...ction Fn204 6 46 application example of safety functions 5 88 automatic adjustment of reference offset speed control 5 23 torque control 5 48 automatic gain switching 6 59 automatic offset signal adjustment of the motor current detection signal Fn00E 7 18 automatically setting the notch filter 6 13 B baseblock 2 3 battery battery case 5 65 battery replacement 5 69 installing the battery in the hos...

Page 430: ...ion 9 14 serial converter unit 9 3 setting encoder output pulses 9 16 sine wave pitch frequency for an external encoder 9 16 speed feedback method 9 22 system configuration 9 2 G gain adjustment of analog monitor output Fn00D 7 16 Gr 1 alarm 5 14 Gr 2 alarm 5 14 grounding 3 55 H hard wire base block HWBB function 5 81 hard wire base block HWBB state 5 82 harmonized standards xv 1 7 holding brakes ...

Page 431: ...B state 5 82 reverse external torque limit 5 60 risk assessment 5 81 rotation detection output signal 5 80 rotational serial data 5 74 5 75 RUN 4 15 S safety function 5 81 safety function signal CN8 names and functions 3 25 safety precautions on adjustment of servo gains 6 9 SEMI F47 function 5 17 SEN 5 68 servo alarm output signal 5 78 servo gains 6 3 servo ON 5 4 servo ready output signal 5 80 s...

Page 432: ...eration in position control 4 9 trial operation in speed control 4 7 trial operation of servomotor with brakes 4 11 trial operation under position control from the host with the SERVOPACK used for speed control 4 8 trial operation with the servomotor connected to the machine 4 10 troubleshooting alarms 10 7 warnings 10 23 troubleshooting malfunction based on operation and conditions of the servomo...

Page 433: ...on Revised Content September 2014 9 1 3 2 Revision Description of analog signal input timing 9 1 4 9 3 5 Addition External encoder by Heidenhain models LIC4100 series models 11 4 Revision Name and enable timing of Pn601 August 2013 Preface 1 4 2 Revision Description of Harmonized Standards EN 55011 A2 changed to EN 55011 Back cover Revision Address March 2013 All chapters Addition Descriptions rel...

Page 434: ...385 2200 Fax 86 21 5385 3299 http www yaskawa com cn 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 Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 In the event that the end user of this pr...

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