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XtraDrive User Manual

Table of Contents/Preface

5.9.1.4. Acceleration Units .................................................................................. 5-93
5.9.1.5. Setting

Default

Motion Profile Parameters............................................ 5-94

5.9.1.6. Profile Speed (Pn2A2, Pn2A3) .............................................................. 5-95
5.9.1.7. Profile

Acceleration (Pn2A4, Pn2A5).................................................... 5-95

5.9.1.8. Jerk

Smoothing

Time (Pn2A6) .............................................................. 5-95

5.9.1.9. Quick

Stop

Deceleration (Pn2A8, Pn2A9)............................................ 5-96

5.9.1.10. Motion End Window (Pn2C0) ............................................................... 5-96
5.9.2. Torque

Control........................................................................................ 5-96

5.9.2.1.

Torque Slope (Pn2C1) ..............................................................5-96

5.9.3. Homing.................................................................................................... 5-97
5.9.4. Digital

I/O ............................................................................................... 5-98

5.9.5. Auto

Tuning............................................................................................ 5-99

5.10. Auto Running a User Program..................................................................... 5-99

Servo Adjustment..............................................................................................6-1

6.1. Selection

Control Mode............................................................................. 6-2

6.2.

Analog Input or Contact Input Velocity Control........................................... 6-3

6.2.1. Principle

and

Block Diagram of the Velocity Control ............................ 6-3

6.2.2. Parameters

the

Velocity Control.......................................................... 6-4

6.2.3. Setting

the

Input Gain............................................................................... 6-4

6.2.4. Adjusting Offset........................................................................................ 6-5
6.2.5. Using

the

Soft

Start Function ................................................................... 6-6

6.2.6. Load

Inertia Setting................................................................................... 6-7

6.2.7. Adjusting

Speed Loop Gain ..................................................................... 6-8

6.2.8. Setting

the

Torque Reference Filter Time Constant ................................ 6-9

6.2.9. Notch

Filter ............................................................................................... 6-9

6.2.10. Gain

Setting

Reference Values............................................................... 6-10

6.3. NCT

Position

Control................................................................................... 6-12

6.3.1. Load

Inertia Setting................................................................................. 6-12

6.3.2. Position

Control

Block Diagram............................................................ 6-14

6.3.3.

NCT Gain Parameters............................................................................. 6-15

6.3.4.

OCA - Oscillation Canceling Algorithm ............................................... 6-16

6.3.5. Additional

Parameters Tuning................................................................ 6-17

6.3.6. Filters....................................................................................................... 6-17
6.3.7. Flexible

System Parameters ................................................................... 6-18

6.3.8. Gain

Factor.............................................................................................. 6-19

6.3.9. Integral

Clear Parameters ....................................................................... 6-19

6.3.10. Tuning

Procedure for Position Control Parameters............................... 6-20

6.4. Analog

Monitor ............................................................................................ 6-22

Using the Panel Operator.................................................................................7-1

7.1. Basic

Operation .............................................................................................. 7-2

7.1.1. Panel

Operator .......................................................................................... 7-2

7.1.2. Resetting

Servo Alarms............................................................................ 7-3

7.1.3. Basic

Mode

Selection ............................................................................... 7-3

7.1.4. Status

Display Mode................................................................................. 7-4

7.1.5. Operation

Parameter Setting Mode...................................................... 7-6

7.1.6. Operation

Monitor Mode ................................................................... 7-11

7.2. Applied

Operation ........................................................................................ 7-16

7.2.1. Operation

Alarm Traceback Mode .................................................... 7-17

7.2.2. JOG

Operation ........................................................................................ 7-18

7.2.3.

Automatic Adjustment of Speed and Torque Reference Offset............ 7-20

Содержание 8U0108-E1-01

Страница 1: ...XtraDrive XD SERIES AC Servo Driver USER S Manual Manual No 8U0108 E1 01 XtraDrive XD Series USER S MANUAL Manual No 8U0108 E1 01...

Страница 2: ...s been made to make this guide complete and as accurate as possible However no warranty of suitability purpose or fitness is made or implied YET Ltd is not liable or responsible to any person or entit...

Страница 3: ...trols should be designed to detect faults dynamically and fail safely under all circumstances All products designed to incorporate a component part manufactured by YET must be supplied to the end user...

Страница 4: ...iv This page intentionally left blank...

Страница 5: ...follow precautions provided in this manual can result in serious possibly even fatal injury and or damage to the persons products or related equipment and systems WARNING WARNING Indicates a potential...

Страница 6: ...vi This page intentionally left blank...

Страница 7: ...400V Models 3 9 3 3 Main Circuit Wiring 3 10 3 3 1 Names and Descriptions of Main Circuit Terminal 3 11 3 3 2 Typical Main Circuit Wiring Example 3 12 3 3 3 Servo Amplifier Power Losses 3 13 3 3 4 Wi...

Страница 8: ...ing Stop Functions 5 54 5 4 1 Adjusting Offset 5 54 5 4 2 Servo OFF Stop Mode Selection 5 55 5 4 3 Using the Zero Clamp Function 5 56 5 4 4 Using the Holding Brake 5 58 5 5 Forming a Protective Sequen...

Страница 9: ...Load Inertia Setting 6 7 6 2 7 Adjusting Speed Loop Gain 6 8 6 2 8 Setting the Torque Reference Filter Time Constant 6 9 6 2 9 Notch Filter 6 9 6 2 10 Gain Setting Reference Values 6 10 6 3 NCT Posit...

Страница 10: ...14 8 6 Rack mounted Dimensional Drawings 8 15 8 6 1 XD P3 to 02 1 phase 200V 30 to 200 W 8 15 8 6 2 XD 04 1 phase 200 V 400 W 8 16 8 6 3 XD 08 1 phase 200V 0 75kW and XD 10 3 phase 200V 1 0kW 8 17 8 6...

Страница 11: ...al Connector C 9 C 9 Connecting Pulse A B Encoder without C Pulse Index Pulse C 10 C 10 Absolute Encoder Battery C 11 C 11 Cables for Connecting PC to XtraDrive C 12 C 11 1 RS 232 Communication Cable...

Страница 12: ...XtraDrive User Manual Table of Contents Preface xii This page intentionally left blank...

Страница 13: ...tion of Technical Terms In this manual the following terms are defined as follows Servomotor SGMAH SGMPH SGMGH SGMSH or other compatible servomotor Servo Amplifier XtraDrive Series XD servo amplifier...

Страница 14: ...an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire Wiring WARNING Connect the ground terminal to a class 3 ground 100 or l...

Страница 15: ...hat an emergency stop can be applied at any time Not doing so may result in injury Do not touch the heat sinks during operation Not doing so may result in burns due to high temperatures Maintenance an...

Страница 16: ...ct you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual...

Страница 17: ...chapter describes the procedure for checking products upon delivery as well as names for product parts 1 Checking Product and Part Names 1 1 1 1 Checking the XtraDrive Series Products on Delivery 1 2...

Страница 18: ...efer to the descriptions of model numbers on following pages Does the servomotor shaft rotate smoothly The servomotor shaft is normal if it can be turned smoothly by hand Servomotors with brakes howev...

Страница 19: ...ve User Manual Chapter 1 Checking Product and Part Names 1 3 1 2 Product Part Names This section describes product part names 1 2 1 Servo Amplifiers The figure below shows the part names for servo amp...

Страница 20: ...rds S no CN10 connector or N with CN10 connector Design Version Blank or 01 FF optional Blank or R Rack mounted or V Board coating optional Blank or Y followed by 1 to 4 alphanumeric characters to ide...

Страница 21: ...2 1 2 Installation This chapter describes precautions for XtraDrive Series servomotor and servo amplifier installation 2 1 Servo Amplifiers 2 2 2 1 1 Storage Conditions 2 2 2 1 2 Installation Site 2 2...

Страница 22: ...around the servo amplifier does not exceed 55 C Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so the temper...

Страница 23: ...er must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan Secure the servo amplifier using the mounting holes The number of holes varies from two to fo...

Страница 24: ...allation When installing servo amplifiers side by side as shown in the figure above allow at least 0 39in 10mm between and at least 1 97in 50mm above and below each servo amplifier Install cooling fan...

Страница 25: ...phase 30W to 800W 200V Models 3 7 3 2 2 Three phase 1kW to 3kW 200V Models 3 8 3 2 3 Three phase 0 5kW to 3 0kW 400V Models 3 9 3 3 Main Circuit Wiring 3 10 3 3 1 Names and Descriptions of Main Circui...

Страница 26: ...Chapter 3 Wiring 3 2 3 1 Connecting to Peripheral Devices This section provides examples of standard XtraDrive Series product connections to peripheral devices It also briefly explains how to connect...

Страница 27: ...XtraDrive User Manual Chapter 3 Wiring 3 3 3 1 1 Single Phase 200V Main Circuit Specifications...

Страница 28: ...1 Connect main power supply shown below to L1 and L3 terminals Power supply is single phase 220 to 230 VAC 10 to 15 50 60Hz If power supply of 187V 15 of 220V or less is used alarm A 41 indicating vol...

Страница 29: ...XtraDrive User Manual Chapter 3 Wiring 3 5 3 1 3 Three phase 200V Main Circuit Specifications...

Страница 30: ...XtraDrive User Manual Chapter 3 Wiring 3 6 3 1 4 Three Phase 400V Main Circuit Specifications...

Страница 31: ...XtraDrive User Manual Chapter 3 Wiring 3 7 3 2 XtraDrive Internal Block Diagrams The following sections show internal block diagrams of the servo amplifiers 3 2 1 Single phase 30W to 800W 200V Models...

Страница 32: ...XtraDrive User Manual Chapter 3 Wiring 3 8 3 2 2 Three phase 1kW to 3kW 200V Models...

Страница 33: ...XtraDrive User Manual Chapter 3 Wiring 3 9 3 2 3 Three phase 0 5kW to 3 0kW 400V Models...

Страница 34: ...for signal and encoder PG feedback lines The maximum length is 3m 118 11 in for reference input lines and is 20m 787 40 in for PG feedback lines Do not touch the power terminals for 5 minutes after tu...

Страница 35: ...s insufficient Note No B3 terminal B1 B2 or B1 B2 B3 External regenerative resistor terminal 800W to 3 0kW Normally short B2 and B3 for an internal regenerative resistor Remove the wire between B2 and...

Страница 36: ...ning the power ON sequence Design the power ON sequence so that power is turned OFF when a servo alarm signal is output See the circuit figure above Hold the power ON button for at least two seconds T...

Страница 37: ...1 13 3 26 3 0 40 XD 04 2 8 20 13 33 Single phase 200V 0 75 XD 08 4 4 47 12 15 74 1 0 XD 10 7 6 55 12 82 2 0 XD 20 18 5 120 163 Three phase 200V 3 0 XD 30 7 5 60 28 15 198 0 45 XD 05 1 9 19 48 1 0 XD 1...

Страница 38: ...ype terminal blocks for main circuit terminals Follow the procedure below when connecting to the terminal block Connection Procedure Strip the end of the wire leaving the ends twisted together Open th...

Страница 39: ...XtraDrive User Manual Chapter 3 Wiring 3 15 3 4 I O Signals This section describes I O signals for the XtraDrive servo amplifier 3 4 1 Example of Typical I O Signal Connections...

Страница 40: ...t 33 PAO PG divided output A phase 35 PBO PG divided output B phase 37 AL01 Alarm code output 39 AL03 Open collector output 41 P CON P operation input 43 N OT Reverse overtravel input 45 P CL Forward...

Страница 41: ...ternal speed switching With internal reference speed selected switches the internal speed settings 5 2 6 ALM RST 44 Alarm reset Releases the servo alarm state 5 5 1 24VIN 47 Control power supply input...

Страница 42: ...f revolutions RS 422 or equivalent ALO1 ALO2 ALO3 37 38 39 1 Alarm code output Outputs 3 bit alarm codes Open collector 30V and 20mA rating maximum 5 5 1 TMON 16 Analog monitor signal Common VTG 17 An...

Страница 43: ...rque reference signals at the impedance below Speed reference input About 14k Torque reference input About 14k The maximum allowable voltage for input signals is 12V Reference Position Input Circuit A...

Страница 44: ...5 R1 180 with VCC 5V 5 Open collector Output Example 2 Using a servo amplifier with an internal 12V power supply This circuit uses the 12V power supply built into the servo amplifier The input is not...

Страница 45: ...nals PCO PCO are output via line driver output circuits that normally comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit...

Страница 46: ...t signal circuits Connect an optocoupler output circuit through a relay or line receiver circuit Note The maximum allowable capacities for optocoupler output circuits are Voltage 30VDC Current 50mADC...

Страница 47: ...e for wiring a servo amplifier to the encoder 3 5 1 Encoder Connections The following diagrams show the wiring of the encoder output from the motor to CN2 of the servo amplifier and PG output signals...

Страница 48: ...XtraDrive User Manual Chapter 3 Wiring 3 24 Absolute Serial Encoders Incremental A B C Encoders...

Страница 49: ...CN2 Connector with Commutation Sensors Terminal Layout 1 PPG0V PG GND 3 PPG0V PG GND 5 PPG5V PG 5V 7 UIN U Phase Hall Effect 9 VIN V Phase Hall Effect 2 PPG0V PG GND 4 PPG5V PG 5V 6 PPG5V PG 5V 8 NC 1...

Страница 50: ...6V 9 FG Cable Shield 14 0V BAT 12 BAT 13 P P Twisted pair XtraDrive side 20 pin connector Motor side 15 pin connector P P P PC 14 PC 15 PA 16 PA 17 PB 18 PB 19 YELLOW GREEN WHITE YELLOW WHITE BLUE BL...

Страница 51: ...Drive side 20 pin connector Motor side 6 pin connector Cable Shield WHITE BLUE BLUE WHITE ORANGE ORANGE BLACK RED Battery connector Incremental Serial Encoder Cable For Yaskawa SGMAH motors P N 004140...

Страница 52: ...al B3 and internal regenerative resistor Observe the following points 1 Connect main power supply shown below to L1 and L3 terminals Power supply is single phase 220 to 230 VAC 10 to 15 50 60Hz If pow...

Страница 53: ...d from all other circuits by double and reinforced insulator 4 Used only with an absolute encoder 8 Use a double insulated 24 VDC power supply 9 Optional not available in all models 5 Connect an exter...

Страница 54: ...from all other circuits by double and reinforced insulator 4 Used only with an absolute encoder 8 Use a double insulated 24 VDC power supply 9 Optional not available in all models 5 Connect an extern...

Страница 55: ...from all other circuits by double and reinforced insulator 4 Used only with an absolute encoder 8 Use a double insulated 24 VDC power supply 9 Optional not available in all models 5 Connect an extern...

Страница 56: ...XtraDrive User Manual Chapter 3 Wiring 3 32 This page intentionally left blank...

Страница 57: ...ep Trial Operation 4 2 4 1 1 Step 1 Trial Operation for Servomotor without Load 4 3 4 1 2 Step 2 Trial Operation with Servomotor Connected to Machine 4 9 4 2 Additional Setup Procedures in Trial Opera...

Страница 58: ...for Servomotor Connected to Mashine for more details on the trial operation Step 1 Trial Operation for Servomotor without Load Make sure the Servomotor is wired properly and then turn the shaft prior...

Страница 59: ...he servomotor is wired properly as shown below Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation Check main power supply circuit wiring Check ser...

Страница 60: ...r Normal display Alternative display Example of alarm display Turn ON the servo amplifier s power If the servo amplifier has turned ON normally the LED display on its front panel will appear as shown...

Страница 61: ...connect the CN1 connector a Turn OFF power b Connect the CN1 connector c Turn ON power again 6 Check the input signals Check input signal wiring in Monitor Mode using the panel operator See 7 1 6 Ope...

Страница 62: ...an rotate in reverse direction when this signal line is low 0V S ON CN1 40 The servomotor is turned ON when this signal line is low 0V Leave the servomotor OFF 24VIN CN1 47 Control power supply termin...

Страница 63: ...or rotates at a speed proportional to the reference voltage 1 Gradually increase the reference speed input V REF CN1 5 voltage The servomotor will rotate 2 Check the following items in Monitor mode Se...

Страница 64: ...offset Has the reference pulse been input Is the motor speed as defined Does the reference speed coincide with the actual motor speed Does the servomotor stop when the speed reference is 0 4 Reset th...

Страница 65: ...hing direction of rotation and speed to the equipment s specifications Checking the final control form XtraDrive Servomotor Connect to the machine Follow the procedure below to perform the trial opera...

Страница 66: ...ng brake operation when using servomotors with brakes External force Servomotor Servomotor Holding brake Prevents the Servomotor from rotating due to gravity Vertical shaft Shaft with External Force A...

Страница 67: ...Motor speed Check motor speed as follows Use the speed monitor Un000 on the Panel Operator Run the servomotor at low speed Input a reference speed of 60rpm for example to see if the servomotor makes...

Страница 68: ...ference See 5 2 2 Pn202 Using the Electronic Gear Function Numerator See 5 2 5 Pn203 Using the Electronic Gear Function Denominator See 5 2 5 Changing Servomotor Rotation Direction If the specified di...

Страница 69: ...trol Mode Selection 5 52 5 4 Setting Stop Functions 5 54 5 4 1 Adjusting Offset 5 54 5 4 2 Servo OFF Stop Mode Selection 5 55 5 4 3 Using the Zero Clamp Function 5 56 5 4 4 Using the Holding Brake 5 5...

Страница 70: ...file Parameters 5 94 5 9 1 6 Profile Speed Pn2A2 Pn2A3 5 95 5 9 1 7 Profile Acceleration Pn2A4 Pn2A5 5 95 5 9 1 8 Jerk Smoothing Time Pn2A6 5 95 5 9 1 9 Quick Stop Deceleration Pn2A8 Pn2A9 5 96 5 9 1...

Страница 71: ...trol or the stop mode used when an alarm occurs Servo Gain and Other Constants Pn100 to Pn11E Pn1A0 to Pn1C0 Set numerical values speed control Set numerical values position control Position Control C...

Страница 72: ...Only the direction of shaft motion is reversed Standard Setting Reverse Rotation Mode Forward Reference Encoder output from XtraDrive PAO phase A PBO phase B ccw Encoder output fromXtraDrive PAO phase...

Страница 73: ...rse rotation end Servomotor Forward rotation end XtraDrive CN1 42 CN1 43 P OT N OT The drive status with an input signal ON or OFF is shown in the following table Signal State Input Level Description...

Страница 74: ...ot use the P OT input signal to prevent forward rotation Forward rotation is always allowed and has the same effect as shorting CN1 42 to 0V Pn50A 3 P OT Signal Mapping Forward Run Prohibit Input Sign...

Страница 75: ...n001 0 1 Decelerates the servomotor to a stop at the preset torque and then locks the servomotor in Zero Clamp mode Torque setting Pn406 Emergency Stop Torque Pn001 1 Overtravel Stop Mode 2 Decelerate...

Страница 76: ...o 800 Default Setting 800 Speed Torque Control Position Control Pn403 Reverse Torque Limit Range 0 to 800 Default Setting 800 Speed Torque Control Position Control Sets the maximum torque limits for f...

Страница 77: ...he limit setting Settings Pn402 Forward Torque Limit Pn403 Reverse Torque Limit Pn404 Forward External Torque Limit P CL input only Pn405 Reverse External Torque Limit N CL input only When the CLT sig...

Страница 78: ...N1 46 XtraDrive Input P CL CN1 45 Forward External Torque Limit Input Speed Torque Control Position Control Output N CL CN1 46 Reverse External Torque Limit Input Speed Torque Control Position Control...

Страница 79: ...op Robot holding a workpiece Parameter Signal Setting Control Mode Pn404 Forward External Torque Limit Range 0 to 800 Default Setting 100 Speed Torque Control Position Control Pn405 Reverse External T...

Страница 80: ...ge input Input V REF CN1 5 Speed Reference Input Speed Control Input SG CN1 6 Signal Ground Speed Control The above inputs are used for speed control analog reference Pn000 1 0 4 7 9 or A Always wire...

Страница 81: ...pulse input terminals Host controller P Indicates twisted pair wires Adjust Pn300 according to the output voltage specifications of the host controller Adjust the speed reference input adjustment fact...

Страница 82: ...hod can prevent the occurrence of overshoot and also shorten settling time If PI control mode is used when the speed reference has a reference offset the motor may rotate at a very slow speed and fail...

Страница 83: ...Set limiting resistor R1 so that input current I falls within the following range The examples below show how to select the pull up resistor R1 so that the input current I falls between 7 and 15mA App...

Страница 84: ...trol Input PULS CN1 8 Reference Pulse Input Position Control Input SIGN CN1 11 Reference Code Input Position Control Input SIGN CN1 12 Reference Code Input Position Control The servomotor only rotates...

Страница 85: ...0 phase differential x4 Positive PULS CN1 7 SIGN CN1 11 90 PULS CN1 7 SIGN CN1 11 90 5 Sign pulse train Low PULS CN1 7 SIGN CN1 11 High PULS CN1 7 SIGN CN1 11 6 CW pulse CCW pulse High PULS CN1 7 SIGN...

Страница 86: ...pecifications Remarks Sign pulse train input SIGN PULS signal Maximum reference frequency 500kpps 200kpps open collector output t7 t1 t2 0 1 s t4 t5 t6 3 s t3 t7 0 1 s t3 t4 T t6 t5 T x 100 50 Sign SI...

Страница 87: ...r Counter Clear Signal Form Default Setting 0 Position Control Select the pulse form for the error counter clear signal CLR CN1 15 Pn200 1 Setting Description Clear Timing 0 Clears the error counter w...

Страница 88: ...ution PPR I O Signals I O signals are described below Output PAO CN1 33 Encoder Output Phase A Speed Torque Control Position Control Output PAO CN1 34 Encoder Output Phase A Speed Torque Control Posit...

Страница 89: ...before starting the original return operation If the configuration of the mechanical system prevents turning the servomotor before the origin return operation then perform the origin return operation...

Страница 90: ...meter 2 A 13 bit encoder will run at 2048PPR even if the setting at Pn201 is set higher than 2049 A quad B Encoder Setting of the pulse dividing ratio 4 192 65536 201 Pn PGout Pn PGout number of requi...

Страница 91: ...e an internal 24V power supply External power supply specifications 24V 1 VDC 50mA minimum Yaskawa recommends using the same type of external power supply as the one used for output circuits The funct...

Страница 92: ...ct the sequence output signals as shown in the following figure Note Provide a separate external I O power supply the servo amplifier does not have an internal 24V power supply It is recommended to us...

Страница 93: ...input as reference The equation must be calculated at the host controller Equipment conditions and reference units must be defined for the electronic gear function beforehand To move a workpiece 10 mm...

Страница 94: ...er load shaft revolution in reference units Travel distance per load shaft revolution Unit Reference revolution shaft load per distance Travel When the ball screw pitch is 0 20in 5mm and the reference...

Страница 95: ...e electronic gear ratio according to equipment specifications M Electronic gear B _ A Motor XtraDrive Reference input pulse Electronic Gear Ratio A B 203 Pn 202 Pn B Number of encoder pulses 4 motor s...

Страница 96: ...Travel distance per load shaft revolution in 0010 0 in 4 x 1416 3 12566 Electronic gear ratio A B 12566 3 x 4 x 16384 203 Pn 202 Pn 12566 196608 1309 20480 Pn202 20480 Preset Values Pn203 1309 Contro...

Страница 97: ...D A N CL SPD B CN1 41 CN1 45 CN1 46 External speed setting devices and pulse generation are not required User constants XtraDrive Servomotor operates at the speed set in the user constant Using Contac...

Страница 98: ...3 4 5 or 6 The function is switched automatically when Pn50A 0 is set to 0 3 The SPD D SPD A and SPD B signals can be used only when signals are allocated to the input circuits See 5 3 3 Input Circuit...

Страница 99: ...a progressive speed reference or using contact input speed control Set each constant to 0 for normal speed control Set each parameter to the following time intervals Pn305 Time interval from when the...

Страница 100: ...ed input signals are used as external torque limit inputs Note The contact input speed control function is used only when signals are allocated to SPD D SPD A and SPD B Selection of Rotation Direction...

Страница 101: ...available when a pulse reference input is used If the Contact Input Speed Control mode is switched to Pulse Reference Input mode while the servomotor is operating at speed 1 speed 2 or speed 3 the se...

Страница 102: ...put rather than speed output Level 4 Switches between speed and torque control The following describes uses for levels 3 and 4 in the torque control function Torque Control Selection Set the following...

Страница 103: ...etween torque and speed control V REF CN1 5 inputs a speed reference or speed limit T REF CN1 9 inputs a torque reference torque feed forward reference or torque limit depending on the control mode P...

Страница 104: ...e Torque feed forward See 5 2 8 Torque Feed Forward Function for more details on torque feed forward speed control 8 Position Control Torque Control Can be used to switch between speed contact referen...

Страница 105: ...SG CN1 10 Signal Ground for the Torque Reference Input Speed Torque Control These signals are used when torque control is selected Servomotor torque is controlled so that it is proportional to the in...

Страница 106: ...e input signal P CON varies with the setting applied to Pn000 1 P and PI control switching Zero clamp ON OFF switching Inhibit ON OFF switching Control mode switching Direction of rotation switching X...

Страница 107: ...nce torque Reference voltage V Rated torque Pn002 1 Setting Description 0 Uses speed limit set by Pn407 internal speed limit function 1 Uses V REF Cn1 5 and 6 as external speed limit input and sets sp...

Страница 108: ...ded the torque which is inversely proportional to the difference between the speed limit and the actual speed is fed back in order to return the system to a level within the control speed range In eff...

Страница 109: ...sed for external torque limit input 2 T REF terminal used for torque feed forward input The torque feed forward function cannot be used with the torque limiting by analog voltage reference function de...

Страница 110: ...signal turns ON Using Torque Limiting by Analog Voltage Reference To use this function set the following parameter to 3 Parameter Signal Setting rpm Control Mode Pn002 0 Speed Control Option T REF Ter...

Страница 111: ...OFF Torque is not limited at the forward run side Normal operation Setting The torque limit is set using parameter Pn400 The default setting for Pn400 is 30 If for example the torque limit is 3V then...

Страница 112: ...rameter Signal Setting rpm Control Mode Pn000 1 Control Method Selection Default Setting 0 Position Control The following settings enable the inhibit function Pn000 1 Setting Description C Enables the...

Страница 113: ...es servo amplifier provides many functions and has parameters that allow the user to specify functions and perform fine adjustments Parameters are divided into the following three groups Parameter Fun...

Страница 114: ...peed 5 3 3 Input Circuit Signal Allocation The functions allocated to sequence input signal circuits can be changed CN1 connector input signals are allocated with the default settings as shown in the...

Страница 115: ...ON Determines terminal allocation for input signals CN1 XtraDrive 40 SI0 44 SI4 45 SI5 46 SI6 41 SI1 42 SI2 43 SI3 CN1 40 is factory set for the S ON input signal Any terminal from CN1 40 to 46 can b...

Страница 116: ...the SI4 CN1 44 input terminal E Inputs the S ON signal from the SI5 CN1 45 input terminal F Inputs the S ON signal from the SI6 CN1 46 input terminal Signal polarity Inversion Valid at OFF H level wi...

Страница 117: ...he specified inverse signal from SI2 CN1 42 C Inputs the specified inverse signal from SI3 CN1 43 D Inputs the specified inverse signal from SI4 CN1 44 E Inputs the specified inverse signal from SI5 C...

Страница 118: ...ode 27 TGON 28 SG SO2 TGON Rotation detection 29 S RDY 30 SG SO3 S RDY Servo ready Output Signal Selection Default Settings The output signal selection parameters and their default settings are shown...

Страница 119: ...3 Same as above Output signals are disabled or allocated to output terminals SO1 to SO3 through parameter settings 0 to 3 Not used Note Signals are output with OR logic when multiple signals are allo...

Страница 120: ...ection Contact Reference 4 Contact Input Speed Control Selection Contact Reference Speed Control Analog Reference 5 Not Used 6 Not Used 7 Not Used 8 Not Used 9 Torque Control Analog Reference Speed Co...

Страница 121: ...eed Control Analog Reference This mode switches between torque and speed control through the P CON C SEL signal See 5 2 7 Using Torque Control A Speed Control Analog Reference Q Zero Clamp This speed...

Страница 122: ...ry low speed and not stop even when 0V is specified as the reference voltage for servo amplifier speed and torque control analog reference This happens when the reference voltage from the host control...

Страница 123: ...eference Offset 7 2 3 Automatic Adjustment of the Speed and Torque Reference Offset Manual Adjustment of Reference Offset 7 2 4 Manual Adjustment of the Speed and Torque Reference Offset 5 4 2 Servo O...

Страница 124: ...ower supply or the control power supply is OFF disconnect the servo amplifier s wiring U V and W Note The dynamic brake is an emergency stop function Do not repeatedly start and stop the servomotor us...

Страница 125: ...CN1 41 is used to turn the zero clamp function ON and OFF CN1 41 is open OFF Turns the zero clamp function OFF CN1 41 is 0V ON Turns the zero clamp function ON Zero clamp is performed when the follow...

Страница 126: ...4 4 Using the Holding Brake The holding brake is used when a XtraDrive controls a vertical axis In other words a servomotor with brake prevents the movable part from shifting due to the force of gravi...

Страница 127: ...ng for Brake Reference Output during Motor Operation The following parameter must be selected to determine the location of the output signal when the BK signal is used Parameter Signal Setting Descrip...

Страница 128: ...ightly due to gravity depending on equipment configuration and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the servomo...

Страница 129: ...while observing equipment operation BK Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 a...

Страница 130: ...evel Alarm state Alarm codes ALO1 ALO2 and ALO3 are output to indicate each alarm type The use of open collector output signals ALO1 ALO2 and ALO3 is described below Output ALO1 CN1 37 Alarm Code Outp...

Страница 131: ...d wiring procedure for the Servo ON S ON input signal sequence input signal Use this signal to forcibly turn OFF the servomotor from the host controller Input S ON CN1 40 Servo ON Speed Torque Control...

Страница 132: ...g the Positioning Completed Output Signal COIN This section describes the basic use and wiring procedures for the positioning completed COIN output signal photocoupler output signal The signal is outp...

Страница 133: ...nits for this parameter are the number of input pulses as defined using the electronic gear function if a Serial Command is used it is defined in Position Units This parameter is used to set output ti...

Страница 134: ...vel Speed does not coincide Speed error is above the setting The following parameter setting is used to change the CN1 connector terminal that outputs the V CMP signal Parameter Signal Setting rpm Des...

Страница 135: ...signal photocoupler output signal The signal can be activated to indicate that the servomotor is currently operating It is used as an external interlock Output TGON CN1 27 Running Output Signal Speed...

Страница 136: ...n Mode Monitor Mode Un006 5 5 6 Using the Servo Ready Output Signal S RDY This section describes the basic use and wiring procedures for the Servo Ready S RDY output signal photocoupler output signal...

Страница 137: ...edure for the warning WARN output signal photocoupler output signal The signal consists of the following two output signals Output WARN Warning Output Signal Speed Torque Control Position Control This...

Страница 138: ...rol Mode Pn001 3 Warning Code Output Selection Default Setting 0 Speed Torque Control Position Control Pn001 3 Setting Result 0 Outputs alarm codes only for alarm codes ALO1 ALO2 and ALO3 1 Outputs bo...

Страница 139: ...s In the following instances however either a servo alarm is generated or control is lost equivalent to normal power OFF operation regardless of the parameter setting When an insufficient voltage alar...

Страница 140: ...generative power exceeds the processing capacity of the servo amplifier install an external regenerative resistor The following table shows the examples of specifications for servo amplifier s built i...

Страница 141: ...100W Note 1 In general when resistors for power are used at the rated load ratio the resistor temperature increases to between 200 C and 300 C The resistors must be used at or below the rated values...

Страница 142: ...Amplifiers Regenerative Energy that Can Be Processed Joules Comments XD P3 P5 18 5 200V XD 01 to 04 37 1 Value when the input voltage is 200V AC Calculate the rotational energy in the servo system us...

Страница 143: ...42 15 10 12 8 SGMSH 47 31 48 20 400V SGMUH 27 19 13 Operating Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regenerat...

Страница 144: ...L 60 NM x L x tD Where L Motor torque 3 Calculate the energy lost EM from servomotor winding resistance tD s deceleration stopping time EM Joules J EM Value from the Servomotor Winding Resistance Loss...

Страница 145: ...e in order to find the required capacity W for the regenerative resistor Energy for continuous regeneration mode operation period EG joules Energy consumed by regenerative resistor EK ES EL EM EC EG R...

Страница 146: ...the Output Range Exceeds the Limit Sigma conventional type 12 and 15 bit encoder 99999 to 99999 When the upper limit 99999 is exceeded in positive direction the counter displays 00000 and begins coun...

Страница 147: ...er before raising the SEN signal to high level When the SEN signal is changed from low level to high level the multi turn data and initial incremental pulses are transmitted The motor cannot be operat...

Страница 148: ...ti turn Limit refers to the highest number of rotations the encoder s counter will display before returning the counter to 0 Parameter Signal Setting Control Mode Pn205 Multi turn Limit Setting Settin...

Страница 149: ...electric shock or fire 5 7 3 Absolute Encoder Setup Perform the setup operation for the absolute encoder in the following circumstances When starting the machine for the first time When an encoder bac...

Страница 150: ...e MODE SET key The display will change as follows and the absolute encoder s multi turn data will be cleared Flashes for 1 second 6 Press the DATA SHIFT key to return to the Auxiliary Function mode Th...

Страница 151: ...s the absolute encoder s multi turn limit setting operation Cycle the power to the servo amplifier WARNING The multi turn limit value should be changed only for special applications Changing it inappr...

Страница 152: ...below Signal Status Contents Initial State Serial data Initial incremental pulse PAO Normal State Incremental pulse Initial State Initial incremental pulse PBO Incremental pulse PCO Home position puls...

Страница 153: ...f initial incremental pulses read at setup This is saved and controlled by the host controller PM The current value required for the user s system R The number of pulses per encoder revolution Pulse c...

Страница 154: ...32767 to 32768 When this range is exceeded the data changes from 32767 to 32768 or from 32768 to 32767 PSO Serial Data Specifications The number of revolutions and the absolute position within one rev...

Страница 155: ...the pulse dividing ratio Parameter Signal Setting PPR Description Setting Range 16 to 16384 Speed Torque Control Pn201 PG Divider Default Setting 16384 Position Control This parameter sets the number...

Страница 156: ...nals can be utilized to transfer the alarm contents through PAO outputs to the host device as serial data Alarm Contents Output Example SEN Signal L H Error detection Digital Operator Display or Absol...

Страница 157: ...ts 0 Yaskawa Serial Encoder 1 AB Encoder Set Pn190 0 according to the following table Pn190 0 Setting Results 0 Yaskawa AB model SGM 1 Yaskawa AB model SGMP 2 Other motor brand with A quad B encoder A...

Страница 158: ...d to find the electrical phase in the AB encoder other than Yaskawa if you don t know the direction just set unknown direction and XtraDrive will find it automatically Pn191 0 Setting Results 0 Unknow...

Страница 159: ...nits Use the following parameters to convert position units from Encoder counts to User units Parameter Setting Default Setting Signal Pn2B0 Setting range 1 65535 1 Position units ratio numerator Pn2B...

Страница 160: ...n2B7 Setting range 0 16383 0 Speed units ratio denominator high bits Speed user units are calculated according to the formula 1 User speed unit r denominato ratio units Speed numerator ratio units Spe...

Страница 161: ...ion units ratio numerator Pn2B9 0 16383 0 Acceleration units ratio numerator high bits Pn2BA 1 65535 1 Acceleration units ratio denominator Pn2BB 0 16383 0 Acceleration units ratio denominator high bi...

Страница 162: ...832 131072 10000 2 131072 2 10 2 ms T counts U Example 5 9 1 5 Setting Default Motion Profile Parameters When using position control with serial commands the user downloads the movements from the host...

Страница 163: ...he default value of the profile acceleration variable This variable is used in Position mode whenever the motor accelerates Parameter Setting Signal Pn2A4 Setting range 0 65535 Default setting 0 User...

Страница 164: ...36 3 Pn2A9 200000 3 65536 3392 5 9 1 10 Motion End Window Pn2C0 This variable defines the default value of a window for position error to finish a motion In case of a MOVED motion the next motion in b...

Страница 165: ...ts position and does not use these parameters Note If after home in absolute encoder the command SET ZERO POSITION does not execute then no offset is added to encoder It is possible to find home in tw...

Страница 166: ...45 6 SI6 CN1 46 7 Set Emergency always OFF 8 Set Emergency always ON default Note In case of Pn2D1 0 8 you cannot set servo ON because Emergency is always ON In addition to digital output parameters...

Страница 167: ...Default setting 50 ms Define the time of acceleration to reach the maximum speed of the movement t2 Pn2CB Setting range 0 1000 Default setting 50 ms Define the plateau time time of constant speed of...

Страница 168: ...ting Offset 6 5 6 2 5 Using the Soft Start Function 6 6 6 2 6 Load Inertia Setting 6 7 6 2 7 Adjusting Speed Loop Gain 6 8 6 2 8 Setting the Torque Reference Filter Time Constant 6 9 6 2 9 Notch Filte...

Страница 169: ...Control Selection Contact Reference Torque Control Analog Reference 8 Position Control Pulse Train Reference Torque Control Analog Reference 9 Torque Control Analog Reference Speed Control Analog Ref...

Страница 170: ...referring to Analog Input in the following sections also apply to Contact Input 6 2 1 Principle and Block Diagram of the Velocity Control The Velocity Command is first processed in order to smooth th...

Страница 171: ...Pn401 Torque Reference Filter Time Constant Pn408 0 Notch Filter activation Pn409 Notch Filter Frequency Pn40A Notch Filter Width 6 2 3 Setting the Input Gain Parameter 300 defines the ratio between A...

Страница 172: ...peed or torque Offset adjustment Reference Offset Adjustment The following two methods are provided to reset the reference offset value to 0V Reference offset automatic adjustment Reference offset man...

Страница 173: ...a speed reference is smoothed by the acceleration or deceleration value set in Pn305 or Pn306 to provide speed control The soft start function enables smooth speed control when non progressive speed...

Страница 174: ...L x 100 Parameter Signal Setting Application Pn103 Inertia Ratio Setting Range 0 to 10000 Default Setting 0 Speed Torque Control Position Control The following shows how to calculate the Load Inertial...

Страница 175: ...velocity error using an oscilloscope and the analog monitoring outputs provided by the XtraDrive Refer to Section 6 4 The tuning procedure is as follows 1 Start with a Ti at maximum value and a low va...

Страница 176: ...of previous section for each new try of the torque filter Finally select the optimal torque filter value as the one who results in the highest Kv 6 2 9 Notch Filter Vibration in the machine can somet...

Страница 177: ...high gain increments exceeding the described ranges are possible Machines with High Rigidity These machines are directly connected to ball screws Examples Chip mounting machine bonding machine and hi...

Страница 178: ...oop integral constant to the largest value in the ranges given above In speed control operation the position loop gain is set through the host controller If that is not possible adjust the position lo...

Страница 179: ...ur system the loop gains are normalized in Hertz This normalization of parameters is done according to the assumed inertia of the system Furthermore the controller includes an automatic set up procedu...

Страница 180: ...Jload Where is the characteristic weight of the load kg m 3 L is the length and d is the diameter of the load m Estimation of Equivalent Load Jload Case 1_ Load is a cylinder directly mounted or coupl...

Страница 181: ...algorithm includes specific non linear functions for each one of the blocks shown here so that this block diagram should be used for general understanding only Kp S Kis S Kd S 2 Ka S 2 Kff Kiv Comman...

Страница 182: ...hen reduce back to a safe value around 10 to 20 depending on the system Kp Pn1AA range 0 500 Hz default 40 This parameter sets the position loop gain For tight control increase it until overshoot or o...

Страница 183: ...ive Version XtraWare Version The following description relates to 2 8 2 5 3 General Description OCA is used to dynamically eliminate vibrations during motion The frequency of Speed Error vibrations wi...

Страница 184: ...lected for the filter will be the one that allows the highest Kd Kd Filter Pn1A2 Range 30 3200 0 01ms Default 40 This parameter sets a low pass filter on differential gain a good starting value is abo...

Страница 185: ...Parameters KffSpring Pn1BB range 10 2000 Hz default 2000 This parameter compensates the position error during the acceleration and deceleration phase and the overshoot observed when stopping at the e...

Страница 186: ...activates a special treatment of integral at the end of a decelerating ramp When using a command having a trapezoid speed profile at the end of the deceleration there is a discontinuity of accelerati...

Страница 187: ...nt of integral at the end of a decelerating ramp When using a command having a trapezoid speed profile at the end of the deceleration there is a discontinuity of acceleration at this point deceleratio...

Страница 188: ...error after the command speed reaches zero Stiffness Can be measured by monitoring the position error amplitude resulting from a perturbation This perturbation can be an abrupt change in command acce...

Страница 189: ...sed to suppress overshoot to reduce it progressively or to cancel overshoot b KfbSpring Pn1BD This parameter may be used to suppress oscillations in a flexible system Default value is 2000Hz Decrease...

Страница 190: ...r Signal Setting Description Pn003 0 Analog Monitor 1 Default Setting 2 Speed Torque Control Position Control Pn003 1 Analog Monitor 2 Default Setting 0 Speed Torque Control Position Control The follo...

Страница 191: ...1V 500 rpm 3 Smoothed target speed 1V 500 rpm 4 Torque 10V Max Torque 5 Motor speed 1V 500 rpm 6 Target acceleration 10V Max Acceleration Note If the monitored signal does not fit the oscilloscope it...

Страница 192: ...tting Mode 7 6 7 1 6 Operation in Monitor Mode 7 11 7 2 Applied Operation 7 16 7 2 1 Operation in Alarm Traceback Mode 7 17 7 2 2 JOG Operation 7 18 7 2 3 Automatic Adjustment of the Speed and Torque...

Страница 193: ...erator When a function is executed When an operation has failed When an operation is not executed Key Name Function Up Arrow Down Arrow Press this key to set parameters or display the set values of pa...

Страница 194: ...e alarm first Refer to 9 2 Troubleshooting 7 1 3 Basic Mode Selection Basic mode selection of the digital operator is used for indicating the status of the servo amplifier in operation and setting a v...

Страница 195: ...xplain the meanings of bit data and code displays in Speed and Torque Control modes Bit Data and Meanings in Speed and Torque Control Mode Bit Data Meaning Control Power ON Lit when servo amplifier co...

Страница 196: ...lear Input The following tables list and explain the meanings of bit data and code displays in Position Control mode Bit Data and Meanings in Position Control Mode Bit Data Meaning Control Power ON Li...

Страница 197: ...other requires function selection These two types use different setting methods With value setting a parameter is set to a value within the specified range of the parameter With function selection fu...

Страница 198: ...A SHIFT key for a minimum of one second to save the data The display will flash 6 Press the DATA SHIFT key once more for a minimum of one second to display the parameter number again This has changed...

Страница 199: ...tches 0000 See 2 Gain related Parameters Pn110 Online Autotuning Switches 0010 See 2 Position Control related Parameter Pn200 Position Control Reference Selection Switches 0000 See 1 Pn50A Input Signa...

Страница 200: ...n Selection Parameters Each digit of the function selection parameters has a unique meaning For example the rightmost digit of parameter Pn000 is expressed as Pn000 0 Each digit of the function select...

Страница 201: ...Press the DATA SHIFT key for a minimum of one second to display the current data for the selected parameter Digit to be set 4 Press the DATA SHIFT key to select the digit to be set Digit to be set 5...

Страница 202: ...e Monitor Mode The example below shows how to display 1500 the contents of monitor number Un000 when the servomotor rotates at 1500rpm 1 Press the MODE SET key to select the Monitor mode 2 Press the U...

Страница 203: ...08 Error counter value reference unit Positional error See note 4 below Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10s cycle Un00A Regenerative load rat...

Страница 204: ...on input terminals Input signals are allocated as shown above and displayed on the panel of the servo amplifier or the digital operator They are indicated by the ON OFF status of the vertical parts o...

Страница 205: ...uit Signal Allocation for details on output terminals Output signals are allocated as shown above and displayed on the panel of the servo amplifier or the digital operator They are indicated by the ON...

Страница 206: ...Up Arrow AND Down Arrow keys to select Un00C or Un00D 3 Press the DATA SHIFT key for a minimum of one second to display the data for the monitor number selected in the step above 4 Press the Up Arrow...

Страница 207: ...Fn008 Absolute encoder multi turn reset and encoder alarm reset Fn009 Automatic tuning of analog speed torque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment...

Страница 208: ...o determine which alarms have been generated 1 Press the MODE SET key to select Displaying alarm traceback data Fn000 in the Auxiliary Function mode Alarm Traceback Display 2 Press the DATA SHIFT key...

Страница 209: ...ction and speed setting rapidly during machine setup and testing saving the time and trouble of connecting to a host controller For the motor speed setting procedure refer to 7 1 5 Operation in Parame...

Страница 210: ...cond to set the servo to OFF state 6 Press the DATA SHIFT key for a minimum of one second and the display will revert to Fn002 in the Auxiliary Function mode This ends JOG operation under panel operat...

Страница 211: ...ted by XtraDrive Reference speed or torque Offset adjustment After completion of the automatic offset adjustment the new offset value is stored in the servo amplifier The offset value can be checked i...

Страница 212: ...MODE SET key to select the Auxiliary Function mode 3 Press the Up Arrow or Down Arrow key to select the parameter Fn009 4 Press the DATA SHIFT key for a minimum of one second and the display will be a...

Страница 213: ...motor was stopped in servo lock zero reference To deliberately set the offset to a specific value This mode can also be used to check the data set in the Automatic Reference Offset Adjustment mode In...

Страница 214: ...adjustment mode for the speed reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as shown below 5 Press the DATA SHIFT key for less than one second to display the...

Страница 215: ...as shown below The manual adjustment mode for the torque reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as shown below 5 Press the DATA SHIFT key for less than...

Страница 216: ...ess the MODE SET key to select the Auxiliary Function mode 2 Press the Up Arrow or Down Arrow key to select the parameter Fn006 3 Press the DATA SHIFT key for a minimum of one second and the display w...

Страница 217: ...to select the Auxiliary Function mode 2 Press the Up Arrow or Down Arrow key to select the parameter Fn011 3 Press the DATA SHIFT key for a minimum of one second to display the servomotor model and v...

Страница 218: ...hows specification Y10 indicated in decimal 7 Press the DATA SHIFT key to return to the Auxiliary Function mode display Pressing the DATA SHIFT key after the above displays in steps 3 to 5 will also r...

Страница 219: ...Origin Search mode is designed to position the origin pulse position of the encoder and to clamp at the position This mode is used when the motor shaft needs to be aligned to the machine Execute the...

Страница 220: ...below Now it is ready for executing the origin search 5 Hold down Up Arrow or Down Arrow key to execute the origin search When the parameter is set to Pn000 0 0 default pressing the Up Arrow key will...

Страница 221: ...Auxiliary Function mode 2 Press the Up Arrow or Down Arrow key to select parameter Fn005 3 Press the DATA SHIFT key for a minimum of one second and the display will be as shown below 4 Press the MODE...

Страница 222: ...or the zero point drift caused by noise entering the monitor system The gain adjustment function can be changed to match the sensitivity of the measuring system Note The output voltage of the analog...

Страница 223: ...one second and the analog monitor gain parameter will be displayed Pressing the DATA SHIFT key again for less than one second will return to the display shown in steps 3 or 4 above MODE SET key Displa...

Страница 224: ...gle between the displays for the two channels shown below MODE SET key Displayed alternately 5 Press the DATA SHIFT key for less than one second and the analog monitor gain parameter will be displayed...

Страница 225: ...wing sections describe automatic and manual adjustment of the current detection offset Automatic Adjustment of the Motor Current Detection Offset IMPORTANT Automatic adjustment is possible only with p...

Страница 226: ...ximately 100rpm and adjust the Motor Current Detection Offset until the torque ripple observed with the analog monitor is minimized Refer to Section 6 5 Analog Monitor Adjust the U phase and V phase o...

Страница 227: ...ase Cu1_0 and V phase Cu2_0 press the DATA SHIFT key to return to the Auxiliary Function mode display This completes the manual adjustment of the motor current detection offset 7 2 12 Write Protection...

Страница 228: ...e write protection The new password setting will be valid after the next power OFF ON cycle 7 2 13 Clearing the Option Unit Detection Alarm Alarm A E7 option unit detection failure occurs the first ti...

Страница 229: ...it Press the Up Arrow or Down Arrow key to change the value 3 Press the DATA SHIFT key for a minimum of one second and the display will be as shown below 4 Press the MODE SET key and the display will...

Страница 230: ...400V XtraDrive and Motors Combinations 8 8 8 5 Base mounted Dimensional Drawings 8 10 8 5 1 XD P3 to 02 1 phase 200V 30 to 200 W 8 10 8 5 2 XD 04 1 phase 200 V 400 W 8 11 8 5 3 XD 08 1 phase 200V 0 7...

Страница 231: ...08 10 15 20 30 SGMAH A A3 A5 01 02 04 08 SGMPH A 01 02 04 08 15 SGMGH A A 1500rpm 05 09 13 20 30 200V SGMSH A 10 15 20 30 SGMAH D 03 22 SGMPH D 02 04 08 15 SGMGH D 05 09 13 20 30 SGMSH D 10 15 20 30...

Страница 232: ...ncremental absolute Ambient Storage Temperature 0 to 55 C 20 to 85 C When enclosed internal temperatures must not exceed this range Ambient Storage Humidity 90 relative humidity or less with no conden...

Страница 233: ...control signal Speed and Torque Control Modes Input Signals Contact Speed Reference Speed Selection With forward reverse current limit signal speed 1 to 3 selection servomotor stops or another control...

Страница 234: ...sistor Built in Overtravel Stop Dynamic brake stops at P OT or N OT deceleration to a stop or free run to a stop Electronic Gear 0 01 A B 100 Protection Overcurrent overvoltage low voltage overload re...

Страница 235: ...utput Current Arms 1 3 2 0 2 8 6 5 8 5 13 4 SGMAH Series Yaskawa or compatible Allowable Regenerative Energy Joules 18 5 37 1 Model SGMPH 01A 02A 04A 08A Capacity KW 0 1 0 2 0 4 0 75 Applicable Servom...

Страница 236: ...tput Current Arms 17 42 56 Allowable Regenerative Frequency times min 13 12 8 Model SGMGH 06A B 09A B 20A B 30A B Capacity KW 0 6 0 9 2 0 3 0 Applicable Servomotor Motor Speed Rpm Rated 1000 maximum 2...

Страница 237: ...coder YASKAWA serial or incremental A quad B or absolute encoder DIFFERENT incremental A quad B encoders Continuous Output Current Arms 1 4 1 4 2 6 4 5 Maximum Output Current Arms 4 6 4 4 7 8 13 7 SGM...

Страница 238: ...mpatible Allowable Regenerative Frequency times min 47 31 48 20 Model SGMUH 10D 15D 30D Capacity KW 1 0 1 5 3 0 Applicable Servomotor Motor Speed Rpm Rated 6000 maximum 6000 Applicable Encoder YASKAWA...

Страница 239: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 10 8 5 Base mounted Dimensional Drawings 8 5 1 XD P3 to 02 1 phase 200V 30 to 200 W...

Страница 240: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 11 8 5 2 XD 04 1 phase 200 V 400 W...

Страница 241: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 12 8 5 3 XD 08 1 phase 200V 0 75kW and XD 10 3 phase 200V 1 0kW...

Страница 242: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 13 8 5 4 XD 05 10 15 3 phase 400V 0 5 to 1 5kW...

Страница 243: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 14 8 5 5 XD 20 30 3 phase 200V 400V 2 0 and 3 0 kW...

Страница 244: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 15 8 6 Rack mounted Dimensional Drawings 8 6 1 XD P3 to 02 1 phase 200V 30 to 200 W Units mm in...

Страница 245: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 16 8 6 2 XD 04 1 phase 200 V 400 W Units mm in...

Страница 246: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 17 8 6 3 XD 08 1 phase 200V 0 75kW and XD 10 3 phase 200V 1 0kW Units mm in...

Страница 247: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 18 8 6 4 XD 05 10 15 3 phase 400V 0 5 to 1 5kW Units mm in...

Страница 248: ...XtraDrive User Manual Chapter 8 Ratings Specifications and Dimensional Drawings 8 19 8 6 5 XD 20 30 3 phase 200V 400V 2 0 and 3 0 kW Units mm in...

Страница 249: ...ed for problems which generate an alarm display and for problems which result in no alarm display 9 1 XtraDrive Inspection and Maintenance 9 2 9 1 1 Servomotor Inspection 9 2 9 1 2 Servo Amplifier Ins...

Страница 250: ...loth or compressed air Insulation Resistance Measurement At least every year Disconnect servo amplifier and test insulation resistance at 500V Must exceed 10M Contact Yaskawa if the insulation resista...

Страница 251: ...t 2 7V or less an Absolute Encoder Battery Alarm A 83 will occur in the servo amplifier This alarm occurs when the servo amplifier receives a signal from the absolute encoder when the power to the ser...

Страница 252: ...not an alarm A 02 Parameter Breakdown Display and Outputs Alarm Outputs Alarm Code Output ALO1 ALO2 ALO3 ALM Output OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for...

Страница 253: ...s in the range Otherwise reload the correct parameter B Circuit board 1PWB is defective Replace the servo amplifier A 05 Servomotor and Amplifier Combination Error Display and Outputs Alarm Outputs Al...

Страница 254: ...ervomotor Check and correct wiring B Shorted servomotor U V or W phase Replace servomotor C Defective circuit board 1PWB Defective power transistor Replace servo amplifier D Defective current feedback...

Страница 255: ...mplifier or regenerative resistor C Disconnected regenerative unit for an external regenerative resistor Check the wiring of the external regenerative resistor D Defective servo amplifier Replace serv...

Страница 256: ...r is ON Status and Remedy for Alarm During servomotor operation When main circuit power is turned ON When the control power is turned ON A B C D E A D Cause of the Problem Solution A Power supply volt...

Страница 257: ...ned ON When the control power is turned ON A B C D A B C Cause of the Problem Solution A The power supply voltage exceeds specified range Check power supply voltage B Fuse blown C Defective rectifying...

Страница 258: ...output status and remedy for A 71 are the same as for A 72 Display and Outputs Alarm Outputs Alarm Code Output ALO1 ALO2 ALO3 ALM Output ON ON ON OFF Note OFF Output transistor is OFF alarm state ON O...

Страница 259: ...servomotors A SGMAH or SGMPH servomotor with a maximum capacity of 400W 100V and 200V only B Other servomotors similar to the SGMAH SGMPH SGMGH SGMSH and SGMUH A 73 Dynamic Brake Overload Display and...

Страница 260: ...eated Heat sink temperature exceeds 100 C Display and Outputs Alarm Outputs Alarm Code Output ALO1 ALO2 ALO3 ALM Output ON ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor...

Страница 261: ...use of the Problem Solution A The following power supplies to the absolute encoder both failed 5V supply Battery power Follow absolute encoder setup procedure B Absolute encoder malfunctioned Replace...

Страница 262: ...Status and Remedy for Alarm At power ON When parameter Pn 002 2 0 or 2 A B C C When parameter Pn 002 2 1 Cause of the Problem Solution A Disconnected battery Defective battery connection Check and co...

Страница 263: ...B Operational error in encoder caused by external noise Check and correct wiring around the encoder grounding of servomotor separation of encoder and power cables insertion of toroidal cores onto cab...

Страница 264: ...Reduce load C Defective circuit board 1PWB Replace servo amplifier D Encoder defective Replace servo amplifier A b1 A b2 A b1 Reference Speed Input Read Error A b2 Reference Torque Input Read Error T...

Страница 265: ...ON When parameter Pn 50A 1 7 When Servo ON S ON signal is turned ON A A B C D D When the speed reference is entered Within 1 to 3s after power is turned ON When parameter Pn 50A 1 7 A A B C D A B C C...

Страница 266: ...d update this parameter value C Undesired motor motion was detected when the motor was turned on for the first time after power up Before turning servo on be sure that there is no mechanical movements...

Страница 267: ...se of the Problem Solution A Incorrect or disconnected encoder wiring Check wiring and connectors at the encoder B Defective encoder Replace servomotor C Defective servo amplifier Replace servo amplif...

Страница 268: ...place servo amplifier A CC Multi turn Limit Disagreement Alarm Display and Outputs Alarm Outputs Alarm Code Output ALO1 ALO2 ALO3 ALM Output ON OFF ON OFF Note OFF Output transistor is OFF alarm state...

Страница 269: ...tion When a properly entered reference pulse does not generate a feedback pulse A B C D E Cause of the Problem Solution A Servomotor wiring incorrect or poor connection Check wiring and connectors at...

Страница 270: ...ON Status and Remedy for Alarm When the control power is turned ON after disconnecting an option unit When the control power is turned ON with an option unit connected A D Cause of the Problem Solutio...

Страница 271: ...he line voltage is low Check power supply C Servo amplifier defective Replace servo amplifier Note A and B tend to occur in a servo amplifier with a capacity of 500W or higher CPF00 Digital Operator T...

Страница 272: ...lem Solution A Cable defective or poor contact between digital operator and servo amplifier Check connector connections Replace cable B Malfunction due to external noise Separate digital operator and...

Страница 273: ...ence pulse mode selection incorrect Refer to section 5 2 2 Correct setting of parameter Pn200 0 Encoder type differs from parameter setting Confirm whether incremental or absolute encoder is used Set...

Страница 274: ...V but servomotor rotates Speed reference voltage offset applied Adjust reference offset Refer to sections 7 2 4 and 7 2 5 9 2 3 Alarm Display Table A summary of alarm displays and alarm code outputs i...

Страница 275: ...ge for the absolute encoder has dropped A 84 Absolute Encoder Data Error Received absolute data is abnormal A 85 Absolute Encoder Overspeed The encoder was rotating at high speed when the power was tu...

Страница 276: ...ith servo amplifier e g CPU error A OFF OFF OFF ON Not an error Normal operation status These alarms are not reset by the alarm reset signal ALM RST Eliminate the cause of the alarm and then turn OFF...

Страница 277: ...host controller when actually connecting to them A 1 Connecting the GL series MC20 Motion Module A 2 A 2 Connecting the CP 9200SH Servo Controller Module SVA A 3 A 3 Connecting the GL series B2813 Po...

Страница 278: ...Controller Connection Examples A 2 A 1 Connecting the GL series MC20 Motion Module The following diagram shows an example of connecting to the GL series MC20 Motion Module In this example the servo am...

Страница 279: ...r Connection Examples A 3 A 2 Connecting the CP 9200SH Servo Controller Module SVA The following diagram shows an example of connecting to the CP 9200SH servo controller Module SVA In this example the...

Страница 280: ...example the servo amplifier is used in Position Control Mode 1 The ALM signal is output for approximately two seconds when the power is turned ON Take this into consideration when designing the power...

Страница 281: ...ed Control Mode 1 The ALM signal is output for approximately two seconds when the power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm...

Страница 282: ...is used in the position control mode 1 The ALM signal is output for approximately two seconds when the power is turned ON Take this into consideration when designing the power ON sequence The ALM sig...

Страница 283: ...gnal is output for approximately two seconds when the power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop...

Страница 284: ...this example the servo amplifier is used in Position Control Mode The ALM signal is output for approximately two seconds when the power is turned ON Take this into consider action when designing the p...

Страница 285: ...lifiers connected to typical host controllers Refer to the manuals for the host controller when actually connecting to them B 1 Wiring Precautions B 2 B 2 Wiring for Noise Control B 5 B 3 Using More T...

Страница 286: ...For a ground wire use as large a wire as possible AWG14 2 0mm2 or larger At least class 3 ground 100 maximum is recommended Ground to one point only If the motor is insulated from the machine ground t...

Страница 287: ...aced near a high frequency oscillator install a noise filter on the input side of the power supply line Note 1 Since the servo amplifier uses high speed switching elements signal lines may receive noi...

Страница 288: ...15A 4 0 19 SGMGH 09D SGMSH 10D 1 0 10 SGMUH 10D 2 3 3 4 SGMGH 09D Three phase 400V 2 0 20 SGMSH 10D 4 9 7 1 This is the net value at the rated load When actually selecting fuses determine the capacit...

Страница 289: ...te place The following is an example of wiring for noise control Note When using a noise filter follow the precautions in Using Noise Filters on the following page For ground wires connecting to the c...

Страница 290: ...ystem Using Noise Filters Use a noise suppression filter to prevent noise generated by the power supply line Install a noise filter on the power supply line for peripheral equipment as necessary The f...

Страница 291: ...benefits Follow these instructions for the best results Separate the input lines from the output lines Do not put the input and output lines in the same duct or bundle them together Isolate the noise...

Страница 292: ...Do not connect the noise filter ground wire to other ground wires When grounding a noise filter inside an enclosure If a noise filter is located inside an enclosure connect the noise filter ground wi...

Страница 293: ...nect the alarm output ALM terminals for the three servo amplifiers in series to enable alarm detection relay 1RY to operate The output transistor is turned OFF when the ALM output signal enters an ala...

Страница 294: ...eparing 50m 164 0ft Encoder Cables Cable Model Number UL2076 SB Cables are ordered in units of meters Specify the length when ordering Connectors or Connector Kits Connector Type Model XtraDrive end E...

Страница 295: ...Manual Appendix B Special Wiring B 11 Preparing Encoder Cables Encoder Connector at XtraDrive end Cable Line Encoder Connector at Motor End molex For SGMAH and SGMPH servomotors For SGMGH SGMSH and SG...

Страница 296: ...voltage conversion transformer single phase or three phase Primary Voltage Secondary Voltage 400 Vac or 440V 200 Vac Refer to the capacities shown in the following table when selecting a voltage conve...

Страница 297: ...ial Wiring B 13 n Single phase Power Supply Connection Example N C N C 3 1 C 2 N 1KM 1KM Transformer for voltage conversion 200VAC L1 L2 Electromagnetic contactor for power supply ON OFF R S T XtraDri...

Страница 298: ...The DC reactor is connected in series to the rectifier circuit s output side Refer to 3 2 Servo Amplifier Internal Block Diagrams 1 2 DC reactor XtraDrive By default XtraDrive shipped with 1 and 2 te...

Страница 299: ...d for Minimum Harmonics C 6 C 4 Brake Power Supplies C 8 C 5 Surge Suppressor C 9 C 6 Magnetic Contactor C 9 C 7 Variable Resistor for Speed Setting C 9 C 8 CN1 I O Signal Connector C 9 C 9 Connecting...

Страница 300: ...XtraDrive User Manual Appendix C Specifications for Peripheral Devices C 2 C 1 Connector Terminal Block Converter Unit JUSP TA50P Terminal specifications see the following page...

Страница 301: ...XtraDrive User Manual Appendix C Specifications for Peripheral Devices C 3 JUSP TA50P Terminal Block Pin Numbers and Signal Names...

Страница 302: ...tor Mounted in a XtraDrive Applicable XtraDrive Resistance Capacity W Min Allowable Resistance XD 01 XD 02 XD 04 40 XD 08 50 60 40 Single phase 200V XD 15 25 140 20 XD 05 XD 10 108 70 73 XD 20 Three p...

Страница 303: ...Voltage R at 200 VAC 1min 0 1 0 05 Insulation Resistance 500 VDC 20 M or higher Short term Overload R with 10 times the rated power applied for 5 s 2 0 05 Service Life R in 1000 hours at rated 90 min...

Страница 304: ...s Select a DC reactor that matches the ratings of the XtraDrive from among those listed in table DC Reactor Specifications Reactor Specifications Applicable XtraDrive Impedance mH Rated Current A Reac...

Страница 305: ...51 35 1 38 45 1 77 60 2 36 5 0 20 4 3 0 17 1 2 2 65 X5078 50 1 97 74 2 91 125 4 92 155 6 1 60 2 36 70 2 76 80 3 15 5 0 20 5 3 0 21 2 0 4 41 X5061 35 1 38 52 2 5 80 3 15 95 3 74 35 1 38 45 1 77 50 1 9...

Страница 306: ...98 11 0 43 Units mm in Specifications Lead wire length About 500 mm 19 69 in each Max ambient temperature 60 C Lead wires Color coded AC Input Brake End Yellow White Red Black Internal Circuit The fo...

Страница 307: ...or Select a magnetic contactor based on the current capacity of the XtraDrive For multiply servo systems select a contactor based on total current capacity C 7 Variable Resistor for Speed Setting A va...

Страница 308: ...3 PG GND Black Red 4 5 6 PG 5V White Twisted Pair 14 PC Green 15 PC White Twisted Pair 16 PA Blue 17 PA White Twisted Pair 18 PB Yellow 19 PB White Twisted Pair FG Connector Shield Yellow Green In ca...

Страница 309: ...one of the absolute encoder batteries shown below Battery Installed at the Absolute Encoder Cable End Model ER6V Lithium battery by Toshiba Battery Co Ltd 3 6V 2000 mAh YET P N 704004 Battery Install...

Страница 310: ...unication specifications are as follows Baud Rate up to 19200 bps Number of Bits Start 1 bit Data 7 bits Stop 1 bit Parity 1 bit even Synchronization Method Start Stop XON XOFF Control None Shift Cont...

Страница 311: ...traDrive End Connector Pin Numbers and Signal Names Pin No Signal Name Signal Circuit Name Signal Direction 1 TXD Transmit data not inverted P 1 S 2 2 TXD Transmit data inverted P S 3 RXD Receive data...

Страница 312: ...232 to RS 422 Active Adapter This cable is required when operating XtraDrive in Programming mode TXD 1 3 RXD TXD 2 4 RXD RXD 3 1 TXD RXD 4 2 TXD 0V 5 14 0V FG Case FG Case Cable Model 004197 YET 9 Pin...

Страница 313: ...egenerative resistor requirements using the calculation method shown below Servo Amplifiers with Capacity of 400W or Less Servo amplifiers with a capacity of 400W or less do not have built in regenera...

Страница 314: ...ine whether an external regenerative resistor is needed Series Allowable Frequencies in Regeneration Mode r min Voltage Capacity Symbol 03 05 08 09 10 13 15 20 30 SGMAH 89 SGMPH 29 17 SGMGH A A 34 13...

Страница 315: ...tD s EL 60 NM x L x tD Where L Motor torque 3 Calculate the energy lost EM from servomotor winding resistance tD s deceleration stopping time EM Joules J EM Value from the Servomotor Winding Resistanc...

Страница 316: ...ure in order to find the required capacity W for the regenerative resistor Energy for continuous regeneration mode operation period EG joules Energy consumed by regenerative resistor EK ES EL EM EC EG...

Страница 317: ...ption Board to XtraDrive 1 Turn XtraDrive power supply off 2 Remove the connector cover from the CN10 connector on the XtraDrive 3 Insert the lower two mounting notches into the mounting holes at the...

Страница 318: ...t put signal selections auxiliary functions and monitor modes for XtraDrive servo amplifiers D 1 Parameters D 2 D 2 Switches D 7 D 3 Input Signal Selections D 11 D 3 1 Home Switches D 12 D 3 2 Extende...

Страница 319: ...trol power supplies to enable the new settings The multi turn limit is valid only when parameter Pn002 2 Absolute Encoder Usage is set to 2 The value will be processed in the range of 32767 to 32768 f...

Страница 320: ...n Limit Setting2 rev 0 to 65535 65535 5 7 2 Position Parameters Pn216 Command smoothing 0 1ms 0 65535 0 6 3 4 Linear Motor Position parameter Pn281 PG Divider Counts Scale Pitch 1 256 1 Pn2A2 Work spe...

Страница 321: ...uto tuning Speed of movement of maximum speed 0 100 50 5 9 5 Pn2CA Auto tuning Acceleration time ms 1 1000 50 5 9 5 Pn2CB Auto tuning Plateau time of movement ms 0 1000 50 5 9 5 Pn2CC Auto start user...

Страница 322: ...el rpm 1 to 10000 20 5 5 5 Pn503 Speed Coincidence Signal Output Width rpm 0 to 100 10 5 5 4 Pn504 NEAR Signal Width ref units 1 to 250 7 5 5 8 Pn505 Overflow Level 256 ref units 1 to 32767 1024 6 2 1...

Страница 323: ...of 32767 to 32768 for other settings even if the value is changed There is no need to change the multi turn limit except for in special cases Be careful not to change the setting unless necessary 3 Th...

Страница 324: ...ifier axis address 0 Pn000 Function Selection Basic Switches 3 Reserved 0 0 Stops the motor by applying dynamic brake DB 1 Stops the motor by applying dynamic brake DB and then releases DB 0 Servo OFF...

Страница 325: ...cation Switches 3 Not used 0 0 0 Motor speed 1V 1000rpm 2 1 Speed reference 1V 1000rpm 2 Torque reference 1V 100 3 Position error 0 05V 1 reference units 4 Position error 0 05V 100 reference units 5 R...

Страница 326: ...y at the beginning of operation 1 Always tunes 0 Online Auto tuning Method 2 Does not perform autotuning 0 0 Enabled 1 Speed Feed back Compensation Selection 1 Disabled 1 0 Friction compensation Disab...

Страница 327: ...gnal Form 3 Clears error counter at the falling edge of the signal 0 0 Clears error counter at the base block 1 Does not clear error counter Possible to clear error counter only with CLR signal 2 Clea...

Страница 328: ...Sets signal OFF 9 Inputs the reverse signal from the SI0 CN1 40 input terminal A Inputs the reverse signal from the SI1 CN1 41 input terminal B Inputs the reverse signal from the SI2 CN1 42 input term...

Страница 329: ...bove 8 OFF 1 INHIBIT Signal Mapping Disabling Reference Pulse 0 to F Same as above 8 OFF 2 G SEL Signal Mapping Gain Switching 0 to F Same as above 8 OFF Pn50D 3 Reserved 0 to F Same as above 8 OFF Wh...

Страница 330: ...Not used 2 Not used 0 0 Pn510 3 Not used 0 0 0 Output signal is not reversed 0 Output Signal Reversal for SO1 CN 25 and 26 1 Output signal is reversed 0 Output signal is not reversed 1 Output Signal R...

Страница 331: ...l display Fn012 Software version display Fn013 Multi Turn Limit Setting Change when a Multi Turn Limit Disagreement Alarm A CC occurs Fn014 Clear Option Unit Detection Alarm A E7 D 6 Monitor Modes The...

Страница 332: ......

Страница 333: ...ayin 48091 Littleton MA 01460 ISRAEL USA Tel 972 3 9004114 Tel 1 866 YET 8080 Fax 972 3 9030412 Fax 1 978 952 6821 info yetmotion com USinfo yetmotion com For more information refer to our web site w...

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