YASKAWA E-7-Series SGD7S Скачать руководство пользователя страница 295 | Manualshive

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YASKAWA E-7-Series SGD7S Скачать руководство пользователя страница 295

7.6 Convenient Function to Use during Trial Operation

7.6.3 Test without a Motor

7-26

2.

Read the warnings and then click the

OK

Button.

3.

Click the

Servo ON

Button.

4.

Click the

Forward

Button or the

Reverse

Button.

An origin search will be performed only while you hold down the mouse button. The motor will stop
when the origin search has been completed.

This concludes the origin search procedure.

7.6.3

Test without a Motor

A test without a motor is used to check the operation of the host controller and peripheral
devices by simulating the operation of the Servomotor in the SERVOPACK, i.e., without actually
operating a Servomotor. This test allows you to check wiring, debug the system, and verify
parameters to shorten the time required for setup work and to prevent damage to the machine
that may result from possible malfunctions. The operation of the motor can be checked with
this test regardless of whether the motor is actually connected or not.

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Содержание E-7-Series SGD7S

Страница 1: ...tallation Application Functions Tuning Monitoring Fully closed Loop Control Safety Functions Maintenance Parameter Lists Appendices Basic Functions That Require Setting before Operation Wiring and Connecting SERVOPACKs Trial Operation and Actual Operation Basic Information on SERVOPACKs Panel Displays and Panel Operator Procedures 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

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

Страница 3: ...Functions That Require Set ting before Operation Describes the basic functions that must be set before you start servo system operation It also describes the setting methods 6 Application Functions Describes the application functions that you can set before you start servo system operation It also describes the setting methods 7 Trial Operation and Actual Operation Provides information on the flow...

Страница 4: ...ervo Drives Servomotors Σ 7 Series Rotary Servomotor Product Manual Σ 7 Series Linear Servomotor Product Manual Σ 7 Series Direct Drive Servomotor Product Manual Σ 7 Series Peripheral Device Selection Manual Σ 7 Series Σ 7W SERVOPACK Product Manual Σ 7 Series Σ 7S SERVOPACK Product Manuals such as this manual Σ 7 Series MECHATROLINK Communications Command Manuals Σ 7 Series Operation Interface Ope...

Страница 5: ...ion on selecting Σ 7 Series SERVO PACKs and information on install ing connecting setting performing trial operation for tuning and mon itoring the Servo Drives Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with MECHATROLINK II Communications References Product Manual SIEP S800001 27 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual This manual SIEP S800...

Страница 6: ...ion on the MECHATROLINK III communi cations standard servo profile com mands that are used for a Σ 7 Series Servo System Σ 7 Series Operation Interface Operating Manuals Σ 7 Series AC Servo Drive Digital Operator Operating Manual SIEP S800001 33 Describes the operating proce dures for a Digital Operator for a Σ 7 Series Servo System AC Servo Drives Engineering Tool SigmaWin Online Manual Σ 7 Compo...

Страница 7: ...o System A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices servo ON Supplying power to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A state in which the motor is stopped and is in a po...

Страница 8: ...etting for one digit The notation shown here means that the third digit from the right is set to 2 Position Torque The control methods for which the parameters apply are given Speed Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification This is the minimum u...

Страница 9: ...ed to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in machine damage Indicates definitions of difficult terms or terms that have not been previously explained in this manual Indicates operating or setting examples Indicates supplemental information to d...

Страница 10: ...ation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss of life serious injury or fire WARNING Indicates precautions that if not heeded could result in loss of life serious injury or fire CAUTION Indicates precautions that if not heeded could result in r...

Страница 11: ...ble repair or modify the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors Servomotors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety mea sures such as installing covers so that hands and parts such as cables do ...

Страница 12: ...ny of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Loc...

Страница 13: ...s may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts the tapped holes may be damaged CAUTION Install the Servomotor...

Страница 14: ...d A SERVOPACK or Servomotor is a precision device Do not drop it or subject it to strong shock There is a risk of failure or damage Always install a SERVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure DANGER Do not change any wiring while power i...

Страница 15: ...cluding the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER VOPACK before you wire it Insert only one wire per insertion hole in the main circuit terminals When you insert a wire make sure that the conductor wire e g whiskers does not come into con tact with adjacent wires Install molded case circuit br...

Страница 16: ...ne Do not enter the machine s range of motion during operation There is a risk of injury Do not touch the moving parts of the Servomotor or machine during operation There is a risk of injury CAUTION Design the system to ensure safety even when problems such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal lin...

Страница 17: ...parameter settings normal operation may not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a risk of electric shock or product failure CAUTION Wait for six ...

Страница 18: ... fault detector There is a risk of SERVOPACK failure or fire if a ground fault occurs The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter nal force including gravity may move the current position and create a hazardous situation when power is interrupted or an error occurs If an external force may cause movement install an external braking mechanism t...

Страница 19: ...ered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that aris...

Страница 20: ...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 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 wit...

Страница 21: ...SGLGW SGLFW SGLFW2 3 SGLTW UL 1004 E165827 Product Model European Directive Harmonized Standards SERVOPACKs SGD7S Machinery Directive 2006 42 EC EN ISO13849 1 2008 AC 2009 EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Low Voltage Directive 2006 95 EC EN 50178 EN 61800 5 1 Rotary Servomotors SGM7A SGM7J SGM7P SGM7G EMC Directive 2004 108 EC EN 55011 group 1...

Страница 22: ...IEC 61800 5 2 EMC IEC 61326 3 1 Item Standards Performance Level Safety Integrity Level IEC 61508 SIL3 IEC 62061 SILCL3 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg Medium Stop Categ...

Страница 23: ... 8 1 5 1 Combinations of Rotary Servomotors and SERVOPACKs 1 8 1 5 2 Combinations of Direct Drive Servomotors and SERVOPACKs 1 8 1 5 3 Combinations of Linear Servomotors and SERVOPACKs 1 9 1 6 Functions 1 11 Selecting a SERVOPACK 2 2 1 Ratings and Specifications 2 2 2 1 1 Ratings 2 2 2 1 2 Specifications 2 3 2 2 Block Diagrams 2 7 2 2 1 SGD7S R70A R90A and 1R6A 2 7 2 2 2 SGD7S 2R8A 2 7 2 2 3 SGD7S...

Страница 24: ...s and Terminal Names 4 11 4 3 2 Wiring Procedure for Main Circuit Connector 4 12 4 3 3 Power ON Sequence 4 13 4 3 4 Power Supply Wiring Diagrams 4 14 4 3 5 Wiring Regenerative Resistors 4 17 4 3 6 Wiring DC Reactors 4 18 4 4 Wiring Servomotors 4 19 4 4 1 Terminal Symbols and Terminal Names 4 19 4 4 2 Pin Arrangement of Encoder Connector CN2 4 19 4 4 3 Wiring the SERVOPACK to the Encoder 4 20 4 4 4...

Страница 25: ... Keep the Servo ON and Supply Power to the Motor Continuously 5 17 5 6 Motor Direction Setting 5 18 5 7 Setting the Linear Encoder Pitch 5 19 5 8 Writing Linear Servomotor Parameters 5 20 5 9 Selecting the Phase Sequence for a Linear Servomotor 5 24 5 10 Polarity Sensor Setting 5 26 5 11 Polarity Detection 5 27 5 11 1 Restrictions 5 27 5 11 2 Using the S ON Servo ON Signal to Perform Polarity Dete...

Страница 26: ...6 6 1 I O Signal Allocations 6 4 6 1 1 Input Signal Allocations 6 4 6 1 2 Output Signal Allocations 6 6 6 1 3 ALM Servo Alarm Signal 6 8 6 1 4 ALO1 to ALO3 Alarm Code Signals 6 8 6 1 5 WARN Warning Signal 6 9 6 1 6 TGON Rotation Detection Signal 6 10 6 1 7 S RDY Servo Ready Signal 6 10 6 2 Operation for Momentary Power Interruptions 6 12 6 3 SEMI F47 Function 6 13 6 4 Setting the Motor Maximum Spe...

Страница 27: ...que Limit Detection Signal 6 69 6 12 Absolute Encoders 6 70 6 12 1 Connecting an Absolute Encoder 6 71 6 12 2 Structure of the Position Data of the Absolute Encoder 6 71 6 12 3 Output Ports for the Position Data from the Absolute Encoder 6 71 6 12 4 Reading the Position Data from the Absolute Encoder 6 72 6 12 5 Transmission Specifications 6 76 6 12 6 Calculating the Current Position in Machine Co...

Страница 28: ... 7 11 7 4 2 Trial Operation for Speed Control 7 13 7 4 3 Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control 7 14 7 4 4 Trial Operation for Position Control 7 15 7 5 Trial Operation with the Servomotor Connected to the Machine7 17 7 5 1 Precautions 7 17 7 5 2 Preparations 7 17 7 5 3 Operating Procedure 7 18 7 6 Convenient Function to Use during T...

Страница 29: ... 8 7 2 Restrictions 8 35 8 7 3 Applicable Tools 8 36 8 7 4 Operating Procedure 8 36 8 7 5 Troubleshooting Problems in Autotuning with a Host Reference 8 40 8 7 6 Automatically Adjusted Function Settings 8 40 8 7 7 Related Parameters 8 41 8 8 Custom Tuning 8 42 8 8 1 Outline 8 42 8 8 2 Preparations 8 42 8 8 3 Applicable Tools 8 43 8 8 4 Operating Procedure 8 43 8 8 5 Automatically Adjusted Function...

Страница 30: ...orms 9 6 9 3 1 Items That You Can Monitor 9 6 9 3 2 Using the SigmaWin 9 7 9 3 3 Using a Measuring Instrument 9 8 9 4 Monitoring Product Life 9 14 9 4 1 Items That You Can Monitor 9 14 9 4 2 Operating Procedure 9 14 Fully Closed Loop Control 10 10 1 Fully Closed System 10 2 10 2 SERVOPACK Commissioning Procedure 10 3 10 3 Parameter Settings for Fully Closed Loop Control 10 5 10 3 1 Control Block D...

Страница 31: ... Device Monitor 11 9 11 3 1 EDM1 Output Signal Specifications 11 9 11 4 Applications Examples for Safety Functions 11 10 11 4 1 Connection Example 11 10 11 4 2 Failure Detection Method 11 10 11 4 3 Procedure 11 11 11 5 Validating Safety Functions 11 12 11 6 Connecting a Safety Function Device 11 13 Maintenance 12 12 1 Inspections and Part Replacement 12 2 12 1 1 Inspections 12 2 12 1 2 Guidelines ...

Страница 32: ...orque Reference Offset Fn009 13 17 13 4 9 Manually Adjust Speed Reference Offset Fn00A 13 17 13 4 10 Manually Adjust Torque Reference Offset Fn00B 13 18 13 4 11 Adjust Analog Monitor Output Offset Fn00C 13 18 13 4 12 Adjust Analog Monitor Output Gain Fn00D 13 19 13 4 13 Autotune Motor Current Detection Signal Offset Fn00E 13 20 13 4 14 Manually Adjust Motor Current Detection Signal Offset Fn00F 13...

Страница 33: ...ogawa Electric s F3YP2 0P Positioning Module for Position Control 15 4 15 1 3 Example of Connections to Yokogawa Electric s F3NC3 0N Positioning Module for Position Control 15 5 15 1 4 Example of Connections to an OMRON Position Control Unit 15 6 15 1 5 Example of Connection to Mitsubishi s QD75D Positioning Module for Position Control 15 7 15 2 Corresponding SERVOPACK and SigmaWin Function Names ...

Страница 34: ...Model Designations 1 6 1 4 1 Interpreting SERVOPACK Model Numbers 1 6 1 4 2 Interpreting Servomotor Model Numbers 1 6 1 5 Combinations of SERVOPACKs and Servomotors 1 8 1 5 1 Combinations of Rotary Servomotors and SERVOPACKs 1 8 1 5 2 Combinations of Direct Drive Servomotors and SERVOPACKs 1 8 1 5 3 Combinations of Linear Servomotors and SERVOPACKs 1 9 1 6 Functions 1 11 Basic Information on SERVO...

Страница 35: ... require frequent high speed and high precision positioning The SERVOPACK will make the most of machine performance in the shortest time possible thus contributing to improving productivity The Σ 7 series SERVOPACKs include Σ 7S SERVOPACKs for single axis control and Σ 7W SERVOPACKs for two axis control ...

Страница 36: ...Information on SERVOPACKs 1 2 Interpreting the Nameplate The following basic information is provided on the nameplate Protection class SERVOPACK model Order number Serial number Surrounding air temperature 䠵䠝䠯䠧䠝䠳䠝䚷䠡䠨䠡䠟䠰䠮䠥䠟䚷䠟䠫䠮䠬䠫䠮䠝䠰䠥䠫䠪 S_Ana log ...

Страница 37: ...als to prevent electric shock Always connect this terminal QR Code The QR code that is used by the MechatroCloud service Serial Communications Con nector CN3 Connects to the Digital Operator a peripheral device or a computer RS 422 page 4 43 Computer Connector CN7 A USB connector to connect a computer page 4 43 Safety Option Module Con nector Connects to a Safety Option Module I O Signal Connector...

Страница 38: ...K status alarm numbers and parameters page 13 3 Panel Operator Keys Used to set parameters Panel Operator Analog Monitor Connector CN5 You can use a special cable peripheral device to monitor the motor speed torque reference or other values page 4 43 No Name Description Reference 18 19 20 21 ...

Страница 39: ...Interface 2 Code Code Specification Code None Specification Without options Rack mounted Varnished All models Applicable Models Specification Analog voltage pulse train reference Design Revision Order Hardware Options Specification Voltage Code Specification Three Phase 200 VA 1st 2nd 3rd digits 4th digit 5th 6th digits 7th digit 8th 9th 10th digits Σ 7 Series Σ 7S SERVOPACKs 4th digit 1st 2nd 3rd...

Страница 40: ...3rd digit 4th digit 5th digit 6th digit 7th digit 3rd digit 4th digit 5th digit 7th digit 6th digit 1st 2nd digits Series Code Specification 3 D E I 20 bit single turn absolute encoder 20 bit incremental encoder 22 bit single turn absolute encoder 22 bit multiturn absolute encoder Code Specification Σ 7 Series Servomotors Servomotor Type 1st digit 3rd digit on SGL 30 A 050 C P SGLG SGLF SGLT SGLC ...

Страница 41: ...SGM7A 15A 1 5 kW SGM7A 20A 2 0 kW 180A SGM7A 25A 2 5 kW 200A SGM7A 30A 3 0 kW SGM7J Models Medium Inertia Small Capacity 3 000 min 1 SGM7J A5A 50 W R70A SGM7J 01A 100 W R90A SGM7J C2A 150 W 1R6A SGM7J 02A 200 W SGM7J 04A 400 W 2R8A SGM7J 06A 600 W 5R5A SGM7J 08A 750 W SGM7G Models Medium Inertia Medium Capacity 1 500 min 1 SGM7G 03A 300 W 3R8A SGM7G 05A 450 W SGM7G 09A 850 W 7R6A SGM7G 13A 1 3 kW ...

Страница 42: ...el Rated Torque N m Instantaneous Maximum Torque N m SERVOPACK Model SGD7S Linear Servomotor Model Rated Torque N Instantaneous Maximum Torque N SERVOPACK Model SGD7S SGLG Coreless Models Used with Stan dard Force Mag netic Way SGLGW 30A050C 12 5 40 R70A SGLGW 30A080C 25 80 R90A SGLGW 40A140C 47 140 SGLGW 40A253C 93 280 1R6A SGLGW 40A365C 140 420 2R8A SGLGW 60A140C 70 220 1R6A SGLGW 60A253C 140 44...

Страница 43: ...LFW2 90A380A 1120 3360 200A SGLFW2 1DA380A 1680 5040 SGLT Models with T type Iron Cores SGLTW 20A170A 130 380 3R8A SGLTW 20A320A 250 760 7R6A SGLTW 20A460A 380 1140 120A SGLTW 35A170A 220 660 5R5A SGLTW 35A170H 300 600 SGLTW 35A320A 440 1320 120A SGLTW 35A320H 600 1200 SGLTW 35A460A 670 2000 180A SGLTW 40A400B 670 2600 SGLTW 50A170H 450 900 5R5A SGLTW 50A320H 900 1800 120A SGLC Cylinder Models SGL...

Страница 44: ... Setting the Origin of the Absolute Encoder page 5 54 Setting the Regenerative Resistor Capacity page 5 57 Operation for Momentary Power Interruptions page 6 12 SEMI F47 Function page 6 13 Setting the Motor Maximum Speed page 6 15 Multiturn Limit Setting page 6 79 Adjustment of Motor Current Detection Signal Offset page 6 97 Current Control Mode Selection page 8 64 Current Gain Level Setting page ...

Страница 45: ...age 6 60 Vibration Detection Level Initialization page 6 93 Alarm Reset page 12 40 Replacing the Battery page 12 3 Setting the Position Deviation Overflow Alarm Level page 8 8 Function Reference Speed Control page 6 16 Soft Start Settings page 6 22 Position Control page 6 27 Smoothing Settings page 6 32 Torque Control page 6 37 Tuning less Function page 8 11 Automatic Adjustment without a Host Ref...

Страница 46: ...ad page 7 7 Program Jogging page 7 20 Origin Search page 7 25 Test without a Motor page 7 26 Monitoring Machine Operation Status and Signal Waveforms page 9 6 Function Reference Write Prohibition Setting for Parameters page 5 7 Initializing Parameter Settings page 5 10 Automatic Detection of Connected Motor page 5 16 Monitoring Product Information page 9 2 Monitoring Product Life page 9 2 Alarm Hi...

Страница 47: ...fications 2 3 2 2 Block Diagrams 2 7 2 2 1 SGD7S R70A R90A and 1R6A 2 7 2 2 2 SGD7S 2R8A 2 7 2 2 3 SGD7S 3R8A 5R5A and 7R6A 2 8 2 2 4 SGD7S 120A 2 9 2 2 5 SGD7S 180A and 200A 2 10 2 3 External Dimensions 2 11 2 3 1 Front Cover Dimensions and Connector Specifications 2 11 2 3 2 SERVOPACK External Dimensions 2 11 2 4 ExamplesofStandardConnectionsbetweenSERVOPACKsandPeripheralDevices 2 14 Selecting a...

Страница 48: ... 17 17 17 17 17 22 22 22 Built in Regenerative Resis tor Power Loss W 8 8 8 10 16 16 Total Power Loss W 22 1 24 3 30 5 41 0 45 1 68 8 78 6 97 8 149 9 151 8 Regen erative Resistor Built In Regenera tive Resistor Resistance Ω 40 40 40 20 12 12 Capacity W 40 40 40 60 60 60 Minimum Allowable External Resistance Ω 40 40 40 40 40 40 40 20 12 12 Overvoltage Category III Model SGD7S R70A R90A 1R6A 2R8A 5R...

Страница 49: ...no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 000 m or less With derating usage is possible between 1 000 m and 2 000 m Refer to the following section for derating specifications 3 6 Derating Specifications on page 3 7 Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electromagnetic magnetic field...

Страница 50: ...T Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Reference Pulse Input Multiplication Switch Signal SEN Absolute Data Request signal A signal can be allocated and the positive and negative logic can be changed Sequence Output Signals Fixed Output Allowable voltage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal O...

Страница 51: ... Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs or when the power supply to the main circuit or servo is OFF Regenerative Processing Built in Overtravel OT Prevention Stopping with dynamic brake deceleration to a stop or coasting to a stop for the P OT Forward Drive Prohibit or N OT Reverse Drive Pro ...

Страница 52: ...t Signal Posi tioning Completed Width Setting 0 to 1 073 741 824 reference units Inpu t Sig nals Ref eren ce puls es Refer ence Pulse Form One of the following is selected Sign pulse train CW CCW pulse trains and two phase pulse trains with 90 phase differential Input Form Line driver or open collector Maxi mum Input Fre quency Line Driver Sign pulse train or CW CCW pulse trains 4 Mpps Two phase p...

Страница 53: ...istor Varistor M Relay drive CHARGE Gate drive overcurrent protection Temperature sensor Safety function signals CN8 Main circuit power supply Control power supply S_Ana log L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W CN3 CN11 CN12 CN7 CN2 ENC A D I O CN1 CN5 M CHARGE CN8 Processor PWM control position speed calculations etc Control power supply Digital Operator Computer Option Module Option Module Curren...

Страница 54: ...ital Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Gate drive Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Gate drive overcurrent protection Temperature sensor Safety function signals Main circuit power supply Control power supply Reference pulse input Referenc...

Страница 55: ...perator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Gate drive Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan Panel Operator Reference pulse input Reference voltage input I O s...

Страница 56: ...l Operator Computer Option Module Option Module Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Relay drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan Gate drive Overheat overcurrent protection Reference pulse input Reference...

Страница 57: ... used for the SERVOPACKs 2 3 2 SERVOPACK External Dimensions Three phase 200 VAC SGD7S R70A R90A and 1R6A Connec tor No Model Number of Pins Manufacturer CN1 10250 59A3MB 50 Sumitomo 3M Ltd CN2 3E106 0220KV 6 Sumitomo 3M Ltd CN3 HDR EC14LFDTN SLD PLUS 14 Honda Tsushin Kogyo Co Ltd CN7 2172034 1 5 Tyco Electronics Japan G K CN8 1981080 1 8 Tyco Electronics Japan G K Front cover CN3 CN7 CN1 CN8 CN2 ...

Страница 58: ... pitch Mounting Hole Diagram Unit mm Approx mass 1 0 kg Two sets of terminals S_Analog 160 168 8 70 180 18 70 6 168 3 M4 5 75 4 Ground terminals 2 M4 160 0 5 mounting pitch Exterior 58 0 5 mountingpitch Mounting Hole Diagram Unit mm Approx mass 1 6 kg Two sets of terminals S_Analog 160 168 8 90 180 18 168 5 3 M4 90 12 5 5 75 4 Two sets of terminals Ground terminals 2 M4 160 0 5 mounting pitch Exte...

Страница 59: ...ERVOPACK Three phase 200 VAC SGD7S 180A and 200A 3 M4 Exterior 180 8 100 180 100 12 5 4 75 188 188 5 180 0 5 mounting pitch 82 5 0 5 mounting pitch 75 0 5 mounting pitch Mounting Hole Diagram Ground terminals 2 M4 Terminals 14 M4 Terminal Details Unit mm Approx mass 2 7 kg S_Analog ...

Страница 60: ...pply is shared the I O signals may malfunction CN8 Servomotor Main Circuit Cable Encoder Cable Battery Case Holding brake power supply unit 2 Magnetic Contactor Wires required for a Servomotor with a Brake External Regenerative Resistor 1 Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable SERVOPACK Rotary Servomotor Direct Drive Servomotor Power supply Three phase 200 VAC...

Страница 61: ...ear Encoder Cable Serial Converter Unit Serial Converter Unit Cable R S T External Regenerative Resistor Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable SERVOPACK Power supply Three phase 200 VAC Computer Computer Cable External Regenerative Resistor Cable Control Power Supply Cable Digital Operator Digital Operator cable Host controller Analog Monitor Cable Safety Fun...

Страница 62: ... and Orientation 3 3 3 3 Mounting Hole Dimensions 3 4 3 4 Mounting Interval 3 5 3 4 1 Installing One SERVOPACK in a Control Panel 3 5 3 4 2 Installing More Than One SERVOPACK in a Control Panel 3 5 3 5 Monitoring the Installation Environment 3 6 3 6 Derating Specifications 3 7 3 7 EMC Installation Conditions 3 8 SERVOPACK Installation 3 ...

Страница 63: ...heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions Installation Near Sources of Vibration Install a vibration absorber on the installation surface of the SERVOPACK so that the SERVO PACK will not be subjected to vibration Other Precautions Do not install the SERVOPACK in a location subject to high temperatures high humidity water drops cutting oil ...

Страница 64: ...ERVOPACK vertically as shown in the following figures Also mount the SERVOPACK so that the front panel is facing toward the operator Note Prepare two to four mounting holes for the SERVOPACK and mount it securely in the mounting holes The number of mounting holes depends on the capacity of the SERVOPACK Base mounted SERVOPACK Rack mounted SERVOPACK Duct ventilated SERVOPACK Airflow SERVOPACK Base ...

Страница 65: ...sed for the Σ V Series SERVOPACK Refer to the following table SERVOPACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S R70A R90A 1R6A 168 5 160 0 5 40 35 25 M4 2 2R8A 168 5 160 0 5 40 5 25 M4 2 3R8A 5R5A 7R6A 168 5 160 0 5 70 6 58 0 5 64 M4 3 120A 168 5 160 0 5 90 5 80 0 5 12 5 M4 3 180A 200A 188 5 180 0 5 100 95 12 5 75 0 5 M4 3 SERVOPACK Model Dimensions mm Screw Size Numb...

Страница 66: ...he SERVOPACK from the front depends on the SERVOPACK models Refer to the following table 30 mm min 30 mm min 40 mm min 40 mm min SERVOPACK Install cooling fans above the SERVOPACKs so that hot spots do not occur around the SERVO PACKs Provide sufficient intervals and spaces as shown in the following figure to enable cooling by the fans and natural convection SERVOPACK Model Space on Right Side Coo...

Страница 67: ...VOPACK Panel Operator or Digital Operator Un025 Installation Environment Monitor Implement one or more of the following actions if the monitor value exceeds 100 Lower the surrounding temperature Decrease the load The value of the SERVOPACK Installation Environment Monitor parameter will increase by about 10 for each 10 C increase in the ambient temperature Always observe the surrounding air temper...

Страница 68: ...90 1R6 2R8 SGD7S 3R8 5R5 7R6 120 180 200 100 80 2000 m 100 1000 m 80 0 0 0 m 2000 m 1000 m 0 m 100 0 64 5 C 55 C 60 C 5 C 55 C 60 C Effective torque Surrounding air temperature Altitude Surrounding air temperature and altitude Effective torque Effective torque 80 2000 m 1000 m 0 m 2000 m 1000 m 0 m 5 C 55 C 60 C 5 C 55 C 60 C Surrounding air temperature Altitude Surrounding air temperature and alt...

Страница 69: ... EMC measures and confirm compliance for the final equipment The applicable standards are EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 and EN 61800 3 category C2 second environment Three Phase 200 VAC Symbol Cable Name Specification I O Signal Cable Shielded cable Safety Signal Cable Shielded cable Servomotor Main Circuit Cable Shielded cable Encoder Cable Shielded cable Main Circuit Power C...

Страница 70: ...ector 4 12 4 3 3 Power ON Sequence 4 13 4 3 4 Power Supply Wiring Diagrams 4 14 4 3 5 Wiring Regenerative Resistors 4 17 4 3 6 Wiring DC Reactors 4 18 4 4 Wiring Servomotors 4 19 4 4 1 Terminal Symbols and Terminal Names 4 19 4 4 2 Pin Arrangement of Encoder Connector CN2 4 19 4 4 3 Wiring the SERVOPACK to the Encoder 4 20 4 4 4 Wiring the SERVOPACK to the Holding Brake 4 25 4 5 I O Signal Connect...

Страница 71: ... 4 6 1 Pin Arrangement of Safety Function Signals CN8 4 41 4 6 2 I O Circuits 4 41 4 7 Connecting the Other Connectors 4 43 4 7 1 Serial Communications Connector CN3 4 43 4 7 2 Computer Connector CN7 4 43 4 7 3 Analog Monitor Connector CN5 4 43 ...

Страница 72: ...the precautions and instructions for wiring and trial operation precisely as described in this document Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail damage the equipment or cause an accident resulting in death or injury Check the wiring to be sure it has been performed correctly Connectors and pin layouts are sometimes di...

Страница 73: ...tions may occur due to noise affecting the low current lines Install a battery at either the host controller or on the Encoder Cable If you install batteries both at the host controller and on the Encoder Cable at the same time you will create a loop circuit between the batteries resulting in a risk of damage or burning When connecting a battery connect the polarity correctly There is a risk of ba...

Страница 74: ...cuit Cables and Encoder Cables Do not share the power supply with an electric welder or electrical discharge machine If the SERVOPACK is placed near a high frequency generator install Noise Filters on the input side on the Main Circuit Power Supply Cable and Control Power Supply Cable even if the same power supply is not shared with the high frequency generator Refer to the following section for i...

Страница 75: ...f at least 2 0 mm2 preferably flat braided copper wire 2 Whenever possible use twisted pair wires to wire all connections marked with 3 Refer to the following section for precautions when using Noise Filters Noise Filter Wiring and Connection Precautions on page 4 7 U W V L2 L1 L3 L2C L1C CN2 CN1 SERVOPACK Servomotor Operation relay sequence User signal generators DC power supply Grounding plate E...

Страница 76: ...er ground wire output lines and other signal lines in the same duct or bundle them together Connect the Noise Filter ground wire directly to the grounding plate Do not connect the Noise Filter ground wire to other ground wires Noise Filter Noise Filter Noise Filter Noise Filter Separate the circuits Correct Incorrect Grounding plate Grounding plate Grounding plate Grounding plate It is OK if the g...

Страница 77: ...Servomotor is insulated from the machine Motor Frame Ground or Motor Ground If you ground the Servomotor through the machine switching noise current can flow from the main circuit of the SERVOPACK through the stray capacitance of the Servomotor To prevent this always connect the motor frame terminal FG or ground terminal FG of the Servomotor to the ground terminal on the SERVOPACK Also be sure to ...

Страница 78: ...ose sequence input 4 Alarm Reset input ON to reset alarm General purpose sequence input 6 Reverse External Torque Limit input ON to limit General purpose sequence input 5 Forward External Torque Limit input ON to limit Frame ground General purpose sequence input 3 Proportional Control input ON for proportional action General purpose sequence output 2 Rotation Detection output ON at setting or high...

Страница 79: ...ation 5 Refer to the following chapter if you use a safety function device Chapter 11 Safety Functions If you do not use the safety function insert the Safety Jumper Connector provided as an accessory into CN8 when you use the SERVOPACK 6 Always use line receivers to receive the output signals Note 1 If you use a 24 V brake install a separate power supply for the 24 VDC power supply from other pow...

Страница 80: ...15 to 10 50 Hz 60 Hz B1 B2 B3 Regenerative Resistor termi nals 4 3 5 Wiring Regenerative Resistors on page 4 17 For SGD7S R70A R90A 1R6A and 2R8A If the regenerative capacity is insufficient connect an Exter nal Regenerative Resistor between B1 and B2 The External Regenerative Resistor is not included Pur chase it separately For SGD7S 3R8A 5R5A 7R6A 120A 180A and 200A If the internal regenerative ...

Страница 81: ...n Exter nal Regenerative Resistor between B1 and B2 The External Regenerative Resistor is not included Pur chase it separately For SGD7S 5R5A If the internal regenerative resistor is insufficient remove the lead or short bar between B2 and B3 and connect an Exter nal Regenerative Resistor between B1 and B2 The External Regenerative Resistor is not included Pur chase it separately 1 2 DC Reactor te...

Страница 82: ... to the SERVOPACK 4 3 3 Power ON Sequence Consider the following points when you design the power ON sequence The ALM Servo Alarm signal is output for up to five seconds when the control power supply is turned ON Take this into consideration when you design the power ON sequence and turn ON the main circuit power supply to the SERVOPACK when the ALM signal is OFF alarm cleared Using a Spring Opene...

Страница 83: ... main circuit power supply first and then turn OFF the control power supply WARNING Even after you turn OFF the power supply a high residual voltage may still remain in the SERVOPACK To prevent electric shock do not touch the power supply terminals after you turn OFF the power When the voltage is discharged the CHARGE indicator will turn OFF Make sure the CHARGE indicator is OFF before you start w...

Страница 84: ...ERVOPACK For servo alarm display Servo power ON Servo power OFF 1QF Molded case circuit breaker 1FLT Noise Filter 1KM Magnetic Contactor for control power supply 2KM Magnetic Contactor for main circuit power supply 1Ry Relay 1PL Indicator lamp 1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode S_Analog SERVOPACK For servo alarm display Servo power ON Servo power OFF 1QF Mol...

Страница 85: ...acity of all the SERVOPACKs Be sure to consider the load conditions R S T 1QF 2KM 1Ry 24 V L1 L2 L3 L1C 0 V L2C Power supply SERVOPACK Servomotor Servomotor M Servomotor L1 L2 L3 SERVOPACK L1 L2 L3 L1C 1D L2C SERVOPACK M M Relay terminal Relay terminal Relay terminal Relay terminal L1C L2C 3SA For servo alarm display 1PL 1KM 2KM 1SA 2SA 31 32 CN1 1KM 1Ry 1KM ALM ALM 31 32 CN1 ALM 31 32 CN1 ALM 1Ry...

Страница 86: ...R90A 1R6A and 2R8A 1 Connect the External Regenerative Resistor between the B1 and B2 terminals on the SERVOPACK 2 Set Pn600 Regenerative Resistor Capacity and Pn603 Regenerative Resistor Resis tance Refer to the following section for details on the settings 5 19 Setting the Regenerative Resistor Capacity on page 5 57 SERVOPACK Models SGD7S 3R8A 5R5A 7R6A 120A 180A and 200A 1 Remove the lead from ...

Страница 87: ...he following section for details on the settings 5 19 Setting the Regenerative Resistor Capacity on page 5 57 4 3 6 Wiring DC Reactors You can connect a DC Reactor to the SERVOPACK when power supply harmonic suppression is required Connection terminals 1 and 2 for a DC Reactor are connected when the SER VOPACK is shipped Remove the lead wire and connect a DC Reactor as shown in the follow ing diag...

Страница 88: ...Name Remarks U V and W Servomotor terminals Refer to the following section for the wiring proce dure 4 3 2 Wiring Procedure for Main Circuit Connector on page 4 12 Ground terminal CN2 Encoder connector Pin No Signal Function 1 PG5V Encoder power supply 5 V 2 PG0V Encoder power supply 0 V 3 BAT Battery for absolute encoder 4 BAT Battery for absolute encoder 5 PS Serial data 6 PS Serial data Shell S...

Страница 89: ...ontroller 1 The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use 2 represents a shielded twisted pair cable Wiring Example When Using an Encoder Cable with a Battery Case 1 The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you use 2 represents a shielded twisted pair cable ENC 3 4 21 22 BAT BAT CN2 CN1 2 2 1 5 6 1 2 P...

Страница 90: ... twisted pair cable When Using an Absolute Linear Encoder The wiring depends on the manufacturer of the linear encoder Connections to Linear Encoder from Mitutoyo Corporation represents a shielded twisted pair cable 1 2 5 6 CN2 ENC 2 1 PS PS PG5V PG0V U V W M Incremental encoder Shell Connector shell SERVOPACK Shield S PS PS PG5V PG0V 2 6 1 5 5 6 1 2 CN2 U V W M Absolute linear encoder from Mituto...

Страница 91: ...coder 4 22 Connections to Absolute Linear Encoder from Magnescale Co Ltd SR77 and SR87 represents a shielded twisted pair cable PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Absolute linear encoder from Magnescale Co Ltd Shield Connector shell Connector shell SERVOPACK S ...

Страница 92: ...a shielded twisted pair cable Serial Converter Unit Linear encoder from Heidenhain Corporation 1 9 3 7 4 2 11 14 1 PG5V PG0V 2 6 1 5 5 6 1 2 CN2 9 3 7 4 2 11 14 Shield Shield Connector shell Connector shell Connector shell Connector shell SERVOPACK CN2 CN1 COS SIN REF REF 5V 0V SIN COS PS PS U V W M S Serial Converter Unit Linear encoder from Renishaw PLC 9 1 10 11 4 12 2 3 9 1 10 11 4 12 2 3 COS ...

Страница 93: ...r SR75 and SR85 represents a shielded twisted pair cable SL700 SL710 SL720 and SL730 PL101 RY Head with Interpolator represents a shielded twisted pair cable PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Linear encoder from Magnescale Co Ltd Shield Connector shell Connector shell SERVOPACK S PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Interpolator Linear encoder Shield Connector shell Head Cable from Magnescale Co ...

Страница 94: ...eries Peripheral Device Selection Manual Manual No SIEP S800001 32 After the Surge Absorber is connected check the time required to brake in your application The Surge Absorber may affect the time required to brake Configure the relay circuit to activate the holding brake for an emergency stop The BK Brake signal cannot be used with the default settings You must allocate the output signal Refer to...

Страница 95: ...all the surge absorber near the brake terminals on the Servomotor Servomotor with Holding Brake SERVOPACK Surge Absorber Power supply BK RY Brake control relay 1D Flywheel diode M BK ENC U V W CN2 AC DC BK RY BK RY 24 V L1 L2 L3 L1C L2C BK BK CN1 Brake power supply DC side 1D 0 V S ...

Страница 96: ...achine exceeds the range of movement page 5 31 SI2 N OT 43 General purpose Sequence Input 2 Reverse Drive Prohibit Input SI5 P CL 45 General purpose Sequence Input 5 Forward Exter nal Torque Limit Input You can allocate the input signals to use with parameters Activates deactivates external torque limit ing page 6 61 SI6 N CL 46 General purpose Sequence Input 6 Reverse Exter nal Torque Limit Input...

Страница 97: ...cation does not satisfy the safety requirements add external safety circuits as required Position Control PULS PULS 7 8 Pulse Reference Input One of the following input pulse forms is set Sign pulse train CW CCW pulse trains 90 phase differential pulses page 6 28 SIGN SIGN 11 12 Sign of Reference Input CLR CLR 15 14 Position Deviation Clear Input Clears the position deviation during position contr...

Страница 98: ...fferential page 6 70 page 6 83 PAO 34 PBO 35 Encoder Divided Pulse Output Phase B PBO 36 PCO 19 Encoder Divided Pulse Output Phase C Outputs the origin signal once every encoder rotation PCO 20 PSO 48 Absolute Encoder Position Output Outputs the position data of the absolute encoder PSO 49 ALO1 37 1 Alarm Code Out put Output a 3 bit alarm code page 6 8 ALO2 38 1 ALO3 39 1 FG Shell Frame ground Con...

Страница 99: ...5 PBO Encoder Divided Pulse Output Phase B 11 SIGN Sign of Refer ence Input 36 PBO Encoder Divided Pulse Output Phase B 12 SIGN Sign of Refer ence Input 37 ALO1 Alarm Code Output 13 PL2 Open Collec tor Power Supply Out put for Refer ence Pulses 38 ALO2 Alarm Code Output 14 CLR Position Deviation Clear Input 39 ALO3 Alarm Code Output 15 CLR Position Devi ation Clear Input 40 SI0 S ON General purpos...

Страница 100: ...n ON Reverse Drive Prohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset when ON Reverse External Torque Limit input limit when ON Forward External Torque Limit input limit when ON Connect shield to connector shell Connector shell Proportional Control input Proportional action when ON Rotation Detection Output ON when the motor speed exceeds th...

Страница 101: ... Reverse Drive Prohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset when ON Reverse External Force Limit input limit when ON Forward External Force Limit input limit when ON Connect shield to connector shell Connector shell Proportional Control input Proportional action when ON Movement Detection Output ON when value exceeds the setting Servo ...

Страница 102: ...W Phase B 1 SG FG PULS SIGN SIGN PULS 1 1 0 kΩ 1 0 kΩ 1 0 kΩ CN1 Open collector power supply output for reference pulses 14 15 150 Ω CLR CLR 12 11 150 Ω 8 7 150 Ω PSO PSO 48 49 4 4 4 3 Signal ground Battery for absolute encoder 2 8 V to 4 5 V Servo ON input servo ON when ON Reverse Drive Prohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset whe...

Страница 103: ...H Positioning Completion ON for completion 3 Position Reference Phase A Phase B Open collector power supply output for reference pulses Servo ON input servo ON when ON Reverse Drive Prohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset when ON Reverse External Force Limit input limit when ON Forward External Force Limit input limit when ON Conn...

Страница 104: ...max input voltage 12 V T REF SG 9 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 External Speed Limit 3 max input voltage 12 V 1 SG FG CN1 D A D A 5 5 5 PSO PSO 48 49 4 3 Signal ground Battery for absolute encoder 2 8 V to 4 5 V Servo ON input servo ON when ON Reverse Drive Prohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset when ON Reverse Exter...

Страница 105: ...5 5 50 TH PSO PSO 48 49 4 Speed Limit Output speed limit when ON External Speed Limit max input voltage 12 V Servo ON input servo ON when ON Reverse Drive Prohibit input prohibited when OFF Forward Drive Prohibit input prohibited when OFF Alarm Reset input reset when ON Reverse External Force Limit input limit when ON Forward External Force Limit input limit when ON Connect shield to connector she...

Страница 106: ...n be either line driver outputs or open collector outputs The following diagrams show these by output type Analog Voltage Input Circuit Example for D A Analog Voltage Input Circuit Wiring Example for Forward Operation Line Driver Output Circuit Open Collector Output Circuits 12 V Power Supply in SERVOPACK 0 V SG Approx 14 kΩ min SERVOPACK V REF or T REF Host controller D A 1 8 kΩ 1 2 W min 25HP 10...

Страница 107: ...ution When Host Controller Uses Open Collector Output with User Supplied Power Sup ply The SERVOPACK may fail depending on the relationship between the pull up voltage Vcc and the pull up resistance R1 Before you wire the circuits confirm that the specifications of the host controller satisfy the values shown in the following table Examples for Relay Circuits Examples for Open Collector Circuits R...

Страница 108: ...rity Photocoupler Internal Signal Level Photocoupler Internal Signal Level ON Low level ON Low level OFF High level OFF High level Incorrect wiring or incorrect voltage application to the output circuits may cause short circuit fail ures If a short circuit failure occurs as a result of any of these causes the holding brake will not work This could damage the machine or cause an accident that may r...

Страница 109: ... 19 20 Phase C Signal and 48 49 Phase S Signal The serial data from the encoder is converted to two phase phases A and B pulses The resulting output signals PAO PAO and PBO PBO origin pulse signal PCO and PCO and the absolute encoder position output signals PSO and PSO are output with line driver output circuits Connect the line driver output circuits to line receiver circuits at the host controll...

Страница 110: ... is in effect when the signal is OFF 4 HWBB1 5 HWBB2 Hard Wire Base Block Input 2 6 HWBB2 7 EDM1 External Device Monitor Output Turns ON when the HWBB1 and the HWBB2 signals are input and the SER VOPACK enters a base block state 8 EDM1 For safety function signal connections the input signal is the 0 V common and the output signal is a source output This is opposite to other signals described in th...

Страница 111: ...ot activate the HWBB normal operation OFF open Activates the HWBB motor current shut OFF request Item Characteristics Remarks Internal Imped ance 4 7 kΩ Operating Voltage Range 24 V 20 Maximum Delay Time 8 ms Time from HWBB1 and HWBB2 signals turning OFF until HWBB is activated Type Signal Pin No Output Sta tus Meaning Output EDM1 CN8 8 CN8 7 ON Both the HWBB1 and HWBB2 signals are operat ing norm...

Страница 112: ...ring Tool connect the computer on which the SigmaWin is installed to CN7 on the SERVOPACK Refer to the following manual for the operating procedures for the SigmaWin Engineering Tool SigmaWin Online Manual Manual No SIEP S800001 48 4 7 3 Analog Monitor Connector CN5 To use an analog monitor connect CN5 on the SERVOPACK Wiring Example The measuring instrument is not provided by Yaskawa Refer to the...

Страница 113: ...ype Settings for the Main Circuit and Control Circuit 5 14 5 3 1 AC Power Supply Input DC Power Supply Input Setting 5 14 5 3 2 Single phase AC Power Supply Input Three phase AC Power Supply Input Setting 5 15 5 4 Automatic Detection of Connected Motor 5 16 5 5 Functions and Settings for the S ON Servo ON Signal 5 17 5 5 1 Function of the S ON Servo ON Signal 5 17 5 5 2 Setting to Keep the Servo O...

Страница 114: ... Signal 5 37 5 13 3 Output Timing of BK Brake Signal When the Servomotor Is Stopped 5 38 5 13 4 Output Timing of BK Brake Signal When the Servomotor Is Operating 5 39 5 14 Motor Stopping Methods for Servo OFF and Alarms 5 41 5 14 1 Stopping Method for Servo OFF 5 41 5 14 2 Servomotor Stopping Method for Alarms 5 42 5 15 Motor Overload Detection Level 5 44 5 15 1 Detection Timing for Overload Warni...

Страница 115: ...5 3 5 Basic Functions That Require Setting before Operation 5 19 Setting the Regenerative Resistor Capacity 5 57 ...

Страница 116: ...ters Parameters for the basic settings that are required for operation Tuning Parameters Parameters that are used to adjust servo performance The tuning parameters are not displayed by default when you use the Panel Operator or Digital Operator To display and set the tuning parameters set Pn00B to n 1 Display all parame ters We recommend that you use the Setup Wizard of the SigmaWin to easily set ...

Страница 117: ...ion Parameters for Numeric Settings Pn100 Speed Loop Gain Setting Range 10 to 20 000 0 1 Hz 400 Immediately Setting Unit Default Setting When Enabled Classification Tuning default setting Use the encoder according to encoder specifications Use the encoder as an incremental encoder Use the encoder as a single turn absolute encoder This is the setting range for the parameter Parameter number This co...

Страница 118: ...ters from the menu bar of the Main Window of the Sig maWin 2 Select the cell of the parameter to edit If the parameter to edit is not displayed in the Parameter Editing Dialog Box click the or Button to display the parameter to edit 3 Click the Edit Button 4 Change the setting of the parameter 5 Click the OK Button 1 For a parameter for a numeric setting input the numeric setting 2 For a parameter...

Страница 119: ...ith the Panel Operator Refer to the following section for information on setting the parameters with the Panel Operator 13 2 Parameter Pn Operations on the Panel Operator on page 13 6 5 1 4 Write Prohibition Setting for Parameters You can prohibit writing parameters from the Panel Operator or the Digital Operator Even if you do you will still be able to change parameter settings from the SigmaWin ...

Страница 120: ...most digit and set one of the following 0000 Writing is permitted default setting 0001 Writing is prohibited 3 Click the Setting Button 4 Click the OK Button The setting will be written to the SERVOPACK 5 To enable the new setting turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to prohibit or permit writing parameter settings Restrictions If you prohibit writin...

Страница 121: ...t Option Module Config uration Error Cannot be executed page 12 43 Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Level Cannot be executed page 6 93 Setting the Origin of the Absolute Linear Encoder Fn020 Set Absolute Linear Encoder Origin Cannot be executed page 5 54 Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Cannot be executed page 5 16 Software Reset Fn030 So...

Страница 122: ...re Use the following procedure 1 Select Parameters Edit Parameters from the menu bar of the Main Window of the Sig maWin Test Opera tion Jogging Fn002 Jog Cannot be executed page 7 7 Program Jogging Fn004 Jog Program Cannot be executed page 7 20 Alarm Alarm History Display Fn000 Display Alarm History Can be executed page 12 41 Alarm History Clear Fn006 Clear Alarm History Cannot be executed page 1...

Страница 123: ...g before Operation 2 Click the Initialize Button 3 Click the OK Button Click the Cancel Button to cancel initialization The Parameter Editing Dialog Box will return 4 Click the Initialize Button Click the Cancel Button to cancel initialization The Parameter Editing Dialog Box will return 5 Click the OK Button S ...

Страница 124: ...ers Pn 5 1 5 Initializing Parameter Settings 5 12 6 Turn the power supply to the SERVOPACK OFF and ON again after the parameter set tings have been initialized This concludes the procedure to initialize the parameter settings ...

Страница 125: ...e reference Use torque control to output the required torque for operations such as pressing page 6 37 n 3 Internal set speed control Three internal set speeds that are preset in the SERVOPACK are used as references to perform speed control An analog reference is not neces sary for this control method page 6 44 n 4 Switching between internal set speed control and speed control with analog referenc...

Страница 126: ...ecified Pn001 n 0 An AC power supply is input to the L1 L2 and L3 terminals but a DC power supply is specified Pn001 n 1 Parameter Meaning When Enabled Classification Pn001 n 0 default set ting Use an AC power supply input After restart Setup n 1 Use a DC power supply input WARNING Connect the AC or DC power supplies to the specified SERVOPACK terminals Connect an AC power supply to the L1 L2 and ...

Страница 127: ...PACK Wiring Example for Single Phase 200 VAC Power Supply Input on page 4 15 Parameter Meaning When Enabled Classification Pn00B n 0 default setting Use a three phase power supply input After restart Setup n 1 Use a three phase power supply input and as a single phase power supply input 1 If you use a single phase power supply input without specifying a signal phase AC power sup ply Pn00B n 1 an A...

Страница 128: ... an encoder is not connected e g for a test without a motor you can specify a Rotary Ser vomotor or a Linear Servomotor in Pn000 n X Rotary Linear Startup Selection When Encoder Is Not Connected If you specify either a Rotary or Linear Servomotor only the parameters monitors alarms and functions for the specified motor type will be enabled Information Parameter Meaning When Enabled Classification ...

Страница 129: ... input the S ON signal before you input a speed position or torque reference to start the Servomotor Never input the reference first and then use the S ON signal or turn ON the AC power supply to start the Servomotor Doing so will degrade internal elements and may cause an accident 2 Input the S ON signal while the Servomotor is stopped You cannot turn ON the servo while the Servomotor is operatin...

Страница 130: ...ard reference P OT For ward Drive Prohibit sig nal Reverse reference N OT Reverse Drive Pro hibit signal n 1 Use CW as the forward direc tion Reverse Rota tion Mode Forward reference P OT For ward Drive Prohibit sig nal Reverse reference N OT Reverse Drive Pro hibit signal Parameter Forward Reverse Reference Motor Moving Direction and Encoder Divided Pulse Outputs Applicable Overtravel Signal OT P...

Страница 131: ...turn the power supply OFF and ON again Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK Scale Pitch A linear encoder has a scale for measuring lengths positions The length of one division on this scale is the scale pitch Pn282 Linear Encoder Pitch Setting Range Setting Unit Default Setting When Enabled Classif...

Страница 132: ... Error A 710 Instantaneous Overload A 720 Continuous Overload and A C90 Encoder Communications Error Applicable Tools The following table lists the tools that you can use to write the parameters to the Linear Servo motor and the applicable tool functions WARNING Check the motor and linear encoder information before you write the motor parameters If you do not write the correct motor parameters the...

Страница 133: ...our web site http www e mechatronics com 2 Select Setup Motor Parameter Scale Write from the menu bar of the Main Window of the SigmaWin 3 Click the OK Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return If the write is completed normally the Motor Parameter Scale Write File Select Dialog Box will be displayed 4 Click the Ref But...

Страница 134: ...t is displayed is suitable for your motor and then click the Next Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return 7 Click the Write Button 8 Click the Yes Button Displays an exterior view of the motor Click the image to enlarge it ...

Страница 135: ...lete Button 10 Click the OK Button 11 Turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to write the motor parameters Confirming If the Motor Parameters Have Been Written After you write the motor parameters you can use a monitor function to confirm that the motor parameters are in the encoder If the motor parameters have not been written no information on the Se...

Страница 136: ...ne end to the other of the stroke and confirm that only the correct number of feedback pulses is returned If the correct number and only the correct number of pulses is returned the signal is being received correctly from the linear encoder Note The actual monitor display will be offset by the error in the travel distance There is no problem as long as the above value is close to the calculated va...

Страница 137: ... following condi tions may exist Check the situation and correct any problems The linear encoder pitch is not correct If the scale pitch that is set in Pn282 does not agree with the actual scale pitch the expected number of feedback pulses will not be returned Check the specifications of the linear encoder The linear encoder is not adjusted properly If the linear encoder is not adjusted properly t...

Страница 138: ... Use polarity sensor default setting If the Linear Servomotor does not have a polarity sensor set Pn080 to n 1 Do not use polarity sensor Turn the power supply OFF and ON again to enable the new setting Parameter Meaning When Enabled Classification Pn080 n 0 default setting Use polarity sensor After restart Setup n 1 Do not use polarity sensor If you set Pn080 to n 0 Use polarity sensor and the Li...

Страница 139: ...here must be friction equivalent to a few percent of the rated force applied to the guides Air sliders cannot be used Preparations Check the following settings before you execute polarity detection Not using a polarity sensor must be specified Pn080 n 1 The servo must be OFF The main circuit power supply must be ON There must be no hard wire base block HWBB Encoder Specification Polarity Detection...

Страница 140: ...put the S ON Servo ON signal or if you want to perform polarity detection at times other than when the S ON signal turns ON On the rising edge of the P DET signal the servo will turn ON and polarity detection will be performed once As soon as polarity detection is completed the servo will turn ON and the S RDY Servo Ready signal will turn ON After polarity detection has been completed it will not ...

Страница 141: ...the motor and enables operation OFF open Turns OFF the servo stops power supply to the motor and disables operation P DET Must be allocated ON closed Executes polarity detection but only on the first rising edge of the signal after the power supply is turned ON OFF open When the P DET Polarity Detection signal is set to be always active polarity detection will auto matically start when the main ci...

Страница 142: ...erform Polarity Detection 5 30 2 Click the Continue Button Click the Cancel Button to cancel polarity detection The Main Window will return 3 Click the Start Button Polarity detection will be executed This concludes the procedure to execute polarity detection ...

Страница 143: ...e parameters settings related to overtravel CAUTION To prevent accidents that may result from contact faults or disconnections use normally closed limit switches Do not change the default settings of the polarity of the overtravel signals P OT and N OT If you use a Servomotor for a vertical axis the BK Brake signal will remain ON i e the brake will be released when overtravel occurs This may resul...

Страница 144: ...nput P OT CN1 42 ON Forward drive is enabled actual operation OFF Forward drive is prohibited forward overtravel N OT CN1 43 ON Reverse drive is enabled actual operation OFF Reverse drive is prohibited reverse overtravel When the Servomotor stops due to overtravel during position control the position deviation is held You must input the CLR Clear signal to clear the position deviation Refer to the...

Страница 145: ...setting is 800 This setting is large enough to allow you to operate the Servomo tor at the maximum torque However the maximum emergency stop torque that you can actu ally use is the maximum torque of the Servomotor Set a percentage of the motor rated torque Stopping the Servomotor by Setting the Deceleration Time To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn3...

Страница 146: ...ext motion or command can be executed even if an overtravel warning exists However depending on the processing specifications and programming for warnings in the host controller operation may be affected when an overtravel warning occurs e g motion may stop or not stop Confirm the specifications and programming in the host controller 2 When overtravel occurs the SERVOPACK will perform stop process...

Страница 147: ... direction from the reference Example A warning will not be output for a forward reference even if the N OT signal turns ON 3 A warning can be detected in either the forward or reverse direction if there is no refer ence 4 A warning will not be detected when the servo is turned ON even if overtravel status exists 5 The warning status will be held for one second after the overtravel status no longe...

Страница 148: ... actual equipment before using the applica tion The brake built into a Servomotor with a Brake is a de energization brake It is used only to hold the Servomotor and cannot be used for braking Use the holding brake only to hold a Servomotor that is already stopped z z Vertical Axis Servomotor Holding brake Prevents the moving part from falling due to gravity when the power supply is OFF Moving part...

Страница 149: ...tput signal that controls the brake The BK Brake signal is not allocated by default To use the brake change the setting of Pn50F n X BK Brake Output Signal Allocation The BK signal is turned OFF to operate the brake when the servo is turned OFF or when an alarm is detected You can adjust the timing of brake operation i e the timing of turning OFF the BK signal with the servo OFF delay time Pn506 A...

Страница 150: ...or pin a logical OR of the sig nals is output Allocate the BK signal to its own output connector pin i e do not use the same output terminal for another signal For example never allocate the TGON Rotation Detection signal and BK signal to the same output connector pin If you did so the TGON signal would be turned ON by the falling speed on a vertical axis and the brake would not operate Important ...

Страница 151: ...or a Rotary Servomotor or in Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped Brake Reference Output Speed Level Pn507 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 100 Immediately Setup Servo OFF Brake Reference Waiting Time Pn508 Setting Range Setting Unit Default Setting When Enabled Classification 10 to 100 10 ms 50 Immed...

Страница 152: ...maximum speed even if the brake reference output speed level Rotary Servomotor Pn507 Linear Servomotor Pn583 is higher than the maximum speed ON OFF Rotary Servomotor Pn507 Linear Servomotor Pn583 Motor stopped with dynamic brake or by coasting Pn001 n X Power supplied Power not supplied OFF Brake applied Motor speed Motor power status BK signal S ON input alarm or power OFF Pn508 ON Brake release...

Страница 153: ... will move in response to a force from the load Zero Clamping A position loop is created and the Servomotor remains stopped at a position reference of 0 The current stop position is held The dynamic brake is used for emergency stops The dynamic brake circuit will operate fre quently if the power supply is turned ON and OFF or the servo is turned ON and OFF while a reference input is applied to sta...

Страница 154: ...s 5 14 1 Stopping Method for Servo OFF on page 5 41 Motor Stopping Method for Group 2 Alarms When a group 2 alarm occurs the Servomotor will stop according to the settings of the follow ing three parameters The default setting is for zero clamping Pn001 n X Servo OFF or Alarm Group 1 Stopping Method Pn00A n X Motor Stopping Method for Group 2 Alarms Pn00B n X Motor Stopping Method for Group 2 Alar...

Страница 155: ...on Time for Servo OFF and Forced Stops Stopping the Servomotor by Setting the Deceleration Time on page 5 33 Parameter Servomotor Stopping Method Status after Servomotor Stops When Enabled Classification Pn00B Pn00A Pn001 n 0 default setting n 0 default setting Zero speed stop ping Dynamic brake After restart Setup n 1 Coasting n 2 n 1 n 0 default setting Dynamic brake Dynamic brake n 1 Coasting n...

Страница 156: ...ed in 20 of the time required to detect an overload alarm You can change the time required to detect an over load warning by changing the setting of the overload warning level Pn52B You can increase safety by using overload warning detection as an overload protection function matched to the system The following graph shows an example of the detection of overload warnings when the over load warning...

Страница 157: ...fer to the relevant manual given below for a diagram that shows the relationships between the motor heat dissipation conditions heat sink size surrounding air temperature and derat ing You can protect the motor from overloads more effectively by setting this derating value in Pn52C Σ 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 Σ 7 Series Linear Servomotor Product Manual Man...

Страница 158: ...ifference between using and not using the electronic gear is shown below Rotary Servomotors In this example the following machine configuration is used to move the workpiece 10 mm Linear Servomotors In this example the following machine configuration is used to move the load 10 mm We ll assume that the resolution of the Serial Converter Unit is 256 and that the linear encoder pitch is 20 μm Workpi...

Страница 159: ...ad 10 mm If we set the reference unit to 1 μm the travel distance is 1 μm per pulse To move the load 10 mm 10 000 μm 10 000 1 10 000 pulses so 10 000 pulses would be input as the reference Calculating the number of reference pulses for each reference is trouble some Calculating the number of reference pulses for each reference is not necessary Set the electronic gear ratio within the following ran...

Страница 160: ...1 256 0 016 μm JZDP G003 E 1 4 096 0 00098 μm Renishaw PLC RGH22B 20 JZDP D005 E 1 256 0 078 μm JZDP G005 E 1 4 096 0 0049 μm Magnescale Co Ltd SR75 LF 4 80 8 192 0 0098 μm SR75 MF 80 1 024 0 078 μm SR85 LF 4 80 8 192 0 0098 μm SR85 MF 80 1 024 0 078 μm SL700 4 SL710 4 SL720 4 SL730 4 800 PL101 RY 2 8 192 0 0977 μm MJ620 T13 3 SGM7A SGM7J SGM7G 7 16 777 216 F 16 777 216 SGMCS 3 1 048 576 D 1 048 5...

Страница 161: ...5 μm ST783 ST783AL 51 2 512 0 1 μm ST784 ST784AL 51 2 512 0 1 μm ST788A ST788AL 51 2 512 0 1 μm ST789A ST789AL 25 6 512 0 05 μm Magnescale Co Ltd SR77 LF 4 80 8 192 0 0098 μm SR77 MF 80 1 024 0 078 μm SR87 LF 4 80 8 192 0 0098 μm SR87 MF 80 1 024 0 078 μm Resolution You can calculate the resolution that is used inside the SERVOPACK i e the travel distance per feedback pulse with the following form...

Страница 162: ...rence Unit 0 001 mm 1 μm 0 01 0 005 mm 5 μm 4 Travel Distance per Load Shaft Revolution Reference Units 6 mm 0 001 mm 6 000 360 0 01 36 000 314 mm 0 005 mm 62 800 5 Electronic Gear Ratio 6 Parameters Pn20E 16 777 216 Pn20E 1 677 721 600 Pn20E 838 860 800 Pn210 6 000 Pn210 36 000 Pn210 62 800 Step Description Machine Configuration 1 Linear encoder pitch 0 02 mm 20 μm 2 Reference Unit 0 001 mm 1 μm ...

Страница 163: ...er to clear these alarms If an A 8 alarm Internal Encoder Monitoring Alarm occurs turn OFF the power supply to reset the alarm 5 17 2 Applicable Tools The following table lists the tools that you can use to reset the absolute encoder and the appli cable tool functions CAUTION The multiturn data will be reset to a value between 2 and 2 rotations when the absolute encoder is reset The reference posi...

Страница 164: ...Encoder from the menu bar of the Main Window of the SigmaWin 3 Click the Continue Button Click the Cancel Button to cancel resetting the absolute encoder The Main Window will return 4 Click the Execute setting Button The current alarm code and name will be displayed in the Alarm name Box 5 Click the Continue Button Click the Cancel Button to cancel resetting the absolute encoder The previous dialo...

Страница 165: ...VOPACK the fol lowing dialog box will be displayed and processing will be cancelled Click the OK Button The Main Window will return Turn OFF the servo and repeat the procedure from step 1 When Resetting Is Successful The following dialog box will be displayed when the absolute encoder has been reset The Main Window will return 7 To enable the change to the settings turn the power supply to the SER...

Страница 166: ...he following procedure 1 Select Setup Set Origin from the menu bar of the Main Window of the SigmaWin Click the Cancel Button to cancel setting the origin of the absolute linear encoder The Main Window will return 1 After you set the origin the S RDY Servo Ready signal will become inactive because the system position data was changed Always turn the SERVOPACK power supply OFF and ON again 2 After ...

Страница 167: ...e Linear Encoder 5 55 5 Basic Functions That Require Setting before Operation 2 Click the Continue Button 3 Click the Execute setting Button 4 Click the Continue Button Click the Cancel Button to cancel setting the origin of the absolute linear encoder The previous dia log box will return ...

Страница 168: ...Turn the power supply to the SERVOPACK OFF and ON again 7 If you use a Linear Servomotor that does not have a polarity sensor perform polarity detection Refer to the following section for details on the polarity detection 5 11 Polarity Detection on page 5 27 This concludes the procedure to set the origin of the absolute linear encoder ...

Страница 169: ...esistor or Yaskawa s Regen erative Resistor Unit is being used WARNING If you connect an External Regenerative Resistor set Pn600 and Pn603 to suitable values If a suitable value is not set A 320 alarms Regenerative Overload will not be detected cor rectly and the External Regenerative Resistor may be damaged or personal injury or fire may result When you select an External Regenerative Resistor m...

Страница 170: ...Servo Ready Signal 6 10 6 2 Operation for Momentary Power Interruptions 6 12 6 3 SEMI F47 Function 6 13 6 4 Setting the Motor Maximum Speed 6 15 6 5 Speed Control 6 16 6 5 1 Basic Settings for Speed Control 6 16 6 5 2 Soft Start Settings 6 22 6 5 3 Speed Reference Filter 6 23 6 5 4 Zero Clamping 6 23 6 5 5 V CMP Speed Coincidence Detection Signal 6 25 6 6 Position Control 6 27 6 6 1 Basic Settings...

Страница 171: ...thods 6 55 6 10 1 Setting Pn000 n X Control Method Selection to 4 5 or 6 6 55 6 10 2 Setting Pn000 n X Control Method Selection to 7 8 or 9 6 58 6 10 3 Setting Pn000 n X Control Method Selection to A or B 6 58 6 11 Selecting Torque Limits 6 60 6 11 1 Internal Torque Limits 6 60 6 11 2 External Torque Limits 6 61 6 11 3 Limiting Torque with an Analog Reference 6 64 6 11 4 Limiting Torque with an Ex...

Страница 172: ...Transmission Specifications 6 88 6 13 6 Calculating the Current Position in Machine Coordinates 6 89 6 13 7 Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder 6 90 6 14 Software Reset 6 91 6 14 1 Preparations 6 91 6 14 2 Applicable Tools 6 91 6 14 3 Operating Procedure 6 91 6 15 Initializing the Vibration Detection Level 6 93 6 15 1 Preparations 6 93 6 15 2 A...

Страница 173: ... the P CON signal CN1 41 will be allocated as the SPD D signal the P CL signal CN1 45 as the SPD A signal and the N CL signal CN1 46 as the SPD B signal Parameter Description When Enabled Classification Pn50A n 0 default set ting Use the sequence input signal terminals with the default allocations After startup Setup n 1 Change the individual sequence input signal allocations Pn000 n X Control Met...

Страница 174: ...gnal Name Parameter S ON Servo ON Pn50A n X P CON Proportional Control Pn50A n X P OT Forward Drive Prohibit Pn50A n X N OT Reverse Drive Prohibit Pn50B n X ARM RST Alarm Reset Pn50B n X P CL Forward External Torque Limit Pn50B n X N CL Reverse External Torque Limit Pn50B n X SPD D Motor Direction Pn50C n X SPD A Internal Set Speed Selection Pn50C n X SPD B Internal Set Speed Selection Pn50C n X C...

Страница 175: ...3 Pn514 and Pn517 Output signals are allocated as shown in the following table Refer to Interpreting the Output Signal Allocation Tables and change the allocations accord ingly 9 40 A reverse signal a signal with before the signal abbreviation such as the S ON signal is active when the contacts are OFF open A signal that does not have before the signal abbreviation such as the P OT signal is activ...

Страница 176: ...ation Detection Pn50E n X TGON 1 2 3 4 5 6 0 Servo Ready Pn50E n X S RDY 1 2 3 4 5 6 0 Torque Limit Detection Pn50F n X CLT 1 2 3 4 5 6 0 Speed Limit Detection Pn50F n X VLT 1 2 3 4 5 6 0 Brake Pn50F n X BK 1 2 3 4 5 6 0 Warning Pn50F n X WARN 1 2 3 4 5 6 0 Near Pn510 n X NEAR 1 2 3 4 5 6 0 Reference Pulse Input Multiplication Switch ing Output Pn510 n X PSELA 1 2 3 4 5 6 0 Preventative Mainte nan...

Страница 177: ... to the following section for information on the alarm reset methods 12 2 3 Resetting Alarms on page 12 40 6 1 4 ALO1 to ALO3 Alarm Code Signals The ALO1 to ALO3 Alarm Code signals report alarms and warnings that occur in the SERVO PACK Use the alarm code output signals as required to display the contents of the alarm at the host controller e g HMI Refer to the following sections for the relations...

Страница 178: ...RN signal to use it Use Pn50F n X WARN Warning Output Signal Allo cation to allocate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 Setting the Warning Code Output You can use the ALO1 to ALO3 Alarm Code Output signals to output warning codes Use Pn001 n X Warning Code Output Selection to set the output Refer to the following se...

Страница 179: ... sensor is used polarity detection has been completed If an absolute encoder is used the SERVOPACK must be ready to accept the S ON Servo ON signal and if the SEN signal is ON high level the output of the position data from the absolute encoder to the host controller must have been completed Do not include this condition if the S ON Servo ON signal is input for the first time after the control pow...

Страница 180: ...ector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 2 Refer to the following section for information on the hard wire base block and the S RDY signal 11 2 7 S RDY Servo Ready Output Signal on page 11 7 Type Signal Connector Pin No Signal Status Meaning Output S RDY CN1 29 and CN1 30 default setting ON closed Ready to receive the S ON Servo ON signal OFF...

Страница 181: ...ply the SERVOPACK can withstand a power interruption that lasts longer than 50 000 ms 3 The holding time of the SERVOPACK control power supply is approximately 100 ms If control operations become impossible during a momentary power interruption of the con trol power supply the setting of Pn509 will be ignored and the same operation will be per formed as for when the power supply is turned OFF norm...

Страница 182: ...torque in response to an A 971 warning Undervoltage The host controller removes the torque limit after the Undervoltage warning is cleared Execution with the SERVOPACK Pn008 n 2 The torque is limited in the SERVOPACK in response to an Undervoltage warning The SERVOPACK controls the torque limit for the set time after the Undervoltage warning is cleared 280 V 200 V 0 0 Torque limit ends The torque ...

Страница 183: ...ge Setting Unit Default Setting When Enabled Classification 20 to 50 000 1 ms 20 Immediately Setup This function handles momentary power interruptions for the voltage and time ranges stipu lated in SEMI F47 An uninterruptible power supply UPS is required as a backup for momen tary power interruptions that exceed these voltage and time ranges Set the host controller or SERVOPACK torque limit so tha...

Страница 184: ...et speed is reached or exceeded To limit the speed so that the load is not driven beyond the allowable moment of inertia Refer to relevant manual from the following list for the relationship between the speed and the allowable moment of inertia Σ 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 Σ 7 Series Direct Drive Servomotor Product Manual Manual No SIEP S800001 38 Σ 7 Serie...

Страница 185: ...al speed reference input gain and speed reference offset adjustment in speed control with analog voltages V REF Speed Reference Input Signal Input the V REF Speed Reference Input signal to the SERVOPACK to operate the Servomotor at a speed that is proportional to the input voltage Maximum input voltage 12 VDC Rotary Servomotors Linear Servomotors Parameter Meaning When Enabled Classification Pn000...

Страница 186: ... is set for the speed reference input gain Pn300 to define the relationship between the position reference voltage and the motor speed Pn300 Speed Reference Input Gain Setting Range Setting Unit Default Setting When Enabled Classification 150 to 3 000 0 01 V 600 rated speed for 6 00 V Immediately Setup SG CN1 6 V REF 5 D A 0 V Host controller Approx 14 k SERVOPACK Analog Speed Position Torque 6 6 ...

Страница 187: ...set The parameters must not be write prohibited The servo must be OFF There must not be a position loop in the host controller Applicable Tools The following table lists the tools that you can use to automatically adjust the speed reference offset and the applicable tool functions Operating Procedure Use the following procedure to automatically adjust the speed reference offset 1 Confirm that the ...

Страница 188: ...fset Adjust the Speed and Torque Reference Offset from the menu bar of the Main Window of the SigmaWin 4 Click the Automatic Adjustment Tab 5 Click the Adjust Button The value that results from automatic adjustment will be displayed in the New Box Slight rotation when servo is ON Servomotor SERVOPACK Servo OFF 0 V speed reference or 0 V torque reference Host controller Analog Analog Analog ...

Страница 189: ...manually adjust the speed reference offset and the applicable tool functions Operating Procedure Use the following SigmaWin procedure to manually adjust the reference offset 1 Input a 0 V reference voltage from the host controller or an external circuit 2 Select Setup Adjust Offset Adjust the Speed and Torque Reference Offset from the menu bar of the Main Window of the SigmaWin 3 Click the Speed R...

Страница 190: ...6 5 Speed Control 6 5 1 Basic Settings for Speed Control 6 21 6 Application Functions 4 Use the 1 and 1 Buttons to adjust the value in the Speed Reference Box to 0 ...

Страница 191: ...me required for the Servomotor to decelerate from the maximum motor speed to a stopped state You can calculate the actual acceleration deceleration times with the following formulas Pn305 Soft Start Acceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Setup Pn306 Soft Start Deceleration Time Setting Range Setting Unit Default Setti...

Страница 192: ...ernally forms a position loop ignoring the speed reference Zero clamping is used for speed control in systems in which the host controller does not form a position loop The Servomotor is clamped within one pulse of the position where zero clamping was applied and will return to the zero clamping position even if it is moved by an external force Adjust Pn102 Position Loop Gain if the Servomotor osc...

Страница 193: ...Signal Connector Pin No Signal Status Meaning Input ZCLAMP Must be allocated ON closed Zero clamping is applied if the input voltage of the V REF Speed Reference Input signal is equal to or lower than the speed set for the zero clamping level Pn501 or Pn580 OFF open Zero clamping is disabled If you set the parameter to keep the ZCLAMP always active Pn50D n 7 for speed con trol zero clamping will b...

Страница 194: ...detection width for the V CMP signal in Pn503 Speed Coincidence Signal Detection Width for a Rotary Servomotor or in Pn582 Speed Coincidence Signal Detection Width for a Linear Servomotor Rotary Servomotors The signal is output when the difference between the reference speed and motor speed is equal or less than the setting Pn501 Zero Clamping Level Setting Range Setting Unit Default Setting When ...

Страница 195: ... Coincidence Signal Detection Width Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100 1 mm s 10 Immediately Setup If Pn582 is set to 100 and the speed reference is 2 000 mm s the signal would be output when the motor speed is between 1 900 and 2 100 mm s Speed Example Pn582 Speed reference The V CMP signal is output when the motor speed is in the area between the dott...

Страница 196: ...sition reference Refer ence pulse form Refer ence pulse input n Elec tronic gear B A Smo othing Deviation counter Speed control section Current control section Power amplifier Servomotor Current feedback Feedforward Feedforward filter time constant Clear signal input Encoder divided pulse output Divider Speed conversion Position feedback Pn522 Positioning Completed Width Speed feedback Position co...

Страница 197: ... 1 CW and CCW pulse trains positive logic n 2 90 phase differen tial pulses 1 n 3 2 n 4 4 n 5 Sign and pulse train negative logic n 6 CW and CCW pulse trains negative logic Parameter Meaning When Enabled Classification Pn200 n 0 default setting Use the reference input filter 1 for a line driver signal 1 Mpps max After restart Setup n 1 Use the reference input filter for an open col lector signal 2...

Страница 198: ...rks Sign and pulse train SIGN and PLUS signals Maximum reference frequency 4 Mpps maximum reference frequency for 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 is high for a forward refer ence and low for a reverse refer ence CW and CCW pulse trains Maximum reference frequency 4 Mpps maximum reference frequency for open collector output 200 kpps t...

Страница 199: ...ccumulated pulses Type Signal Connector Pin No Name Input CLR CN1 15 Position deviation clear input CLR CN1 14 Parameter Reference Form Clear Timing When Enabled Classification Pn200 n 0 default setting Clear position deviation when the signal is at high level After restart Setup n 1 Clear position deviation on the rising edge of the signal n 2 Clear position deviation when the signal is at low le...

Страница 200: ...al to a terminal Pn50A n 1 Change the sequence input signal allocations Pn515 n X PSEL Reference Pulse Input Multiplication Switching Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 4 PSELA Reference Pulse Input Multiplication Switching Output Signal You can confirm if the reference pulse input multiplier was changed with the PSELA Refere...

Страница 201: ...othing Change the settings while there is no reference pulse input and the Servomotor is stopped CAUTION Always use the PSELA signal to confirm that the reference pulse input multiplier has been switched and make sure that there are no position reference pulses before you input a posi tion reference Unexpected operation may occur if position reference pulses are input before the reference pulse in...

Страница 202: ...ins Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 Pn216 Position Reference Acceleration Deceleration Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 0 1 ms 0 Immediately after the motor stops Setup Pn217 Average Position Reference Movement Time Setting Range Setting Unit Default Setting When Enabled Classific...

Страница 203: ...is always low and a narrow positioning completed width is used change the setting of Pn207 n X COIN Positioning Completion Output Signal Output Timing to change output timing for the COIN signal Pn522 Positioning Completed Width Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 073 741 824 1 reference unit 7 Immediately Setup Parameter Description When Enabled Classific...

Страница 204: ...he value of the deviation counter is equal to or less than the setting of the near signal width Pn524 Note Normally set Pn524 to a value that is larger than the setting of Pn522 Positioning Completed Width 6 6 7 Reference Pulse Inhibition Function You can stop the SERVOPACK from counting the reference input pulses during position con trol When this function is enabled the SERVOPACK will ignore the...

Страница 205: ...ignal Connector Pin No Signal Status Meaning Input INHIBIT CN1 41 default setting ON closed Counting the reference pulses is stopped OFF open The reference pulses are counted Type Signal Connector Pin No Signal Status Meaning Input INHIBIT Must be allocated ON closed Counting the reference pulses is stopped OFF open The reference pulses are counted Parameter Control Method Used Input Sig nals When...

Страница 206: ...rence Input Gain to define the relationship between the analog voltage reference and the motor output torque Parameter Meaning When Enabled Classification Pn000 n 2 Torque control After restart Setup Type Signal Connector Pin No Name Input T REF CN1 9 Torque reference input SG CN1 10 Signal ground for torque reference input Input Circuit Example Pn400 Torque Reference Input Gain is set to 3 settin...

Страница 207: ...r manually Automatically Adjusting the Torque Reference Offset To automatically adjust the torque reference offset the amount of offset is measured and the torque reference voltage is adjusted automatically The measured offset is saved in the SERVOPACK Preparations The following conditions must be met to automatically adjust the reference offset The parameters must not be write prohibited The serv...

Страница 208: ...t Adjust the Speed and Torque Reference Offset from the menu bar of the Main Window of the SigmaWin 4 Click the Automatic Adjustment Tab 5 Click the Adjust Button The value that results from automatic adjustment will be displayed in the New Box Tool Function Operating Procedure Reference Panel Operator Fn009 13 4 8 Autotune Analog Speed Torque Reference Off set Fn009 on page 13 17 Digital Operator...

Страница 209: ...conditions must be met to manually adjust the reference offset The parameters must not be write prohibited The servo must be in ready status Applicable Tools The following table lists the tools that you can use to manually adjust the torque reference off set and the applicable tool functions The offset does not use a parameter so it will not change even if the parameter settings are initialized To...

Страница 210: ...e from the host controller or an external circuit 2 Select Setup Adjust Offset Adjust the Speed and Torque Reference Offset from the menu bar of the Main Window of the SigmaWin 3 Click the Torque Reference Tab 4 Use the 1 and 1 Buttons to adjust the value in the Torque Reference Box to 0 Host controller 0 V speed reference or 0 V torque reference Servo OFF SERVOPACK Servomotor Slight rotation when...

Страница 211: ...nal Allo cation to allocate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 Selecting the Speed Limit You set the speed limit to use in Pn002 n X Torque Control Option If you set Pn 002 to n 1 Use V REF as an external speed limit input the smaller of the external speed limit and the internal speed limit will be used Note If you a...

Страница 212: ...ed by the analog voltage reference Parameter Meaning When Enabled Classification Pn408 n 0 default setting Use the smaller of the maximum motor speed and the setting of Pn407 or Pn480 as the speed limit After restart Setup n 1 Use the smaller of the overspeed alarm detec tion speed and the setting of Pn407 or Pn480 as the speed limit Pn407 Speed Limit during Torque Control Setting Range Setting Un...

Страница 213: ...s Output PAO CN1 33 Encoder Divided Pulse Output Phase A Rotary Servomotors These encoder divided pulse output pins output the number of pulses per motor resolution that is set in Pn212 Number of Encoder Output Pulses The phase difference between phase A and phase B is an electric angle of 90 Linear Servomotors These encoder divided pulse output pins output pulses at the resolution that is set in ...

Страница 214: ...ion of the origin signal Ref will depend on the direction of movement for some models of linear encoders from Renishaw PLC In that case the phase C pulse of the SERVOPACK is output at two positions For detailed specifications on the origin signal for the linear encoder refer to the manual for the Renishaw PLC linear encoder Forward rotation or movement phase B leads by 90 Reverse rotation or movem...

Страница 215: ...n position for the encoder s phase C pulse output position between when Pn081 n X is set to 0 Output phase C pulses only in the forward direction and when it is set to 1 Output phase C pulses in both the forward and reverse directions Machine position forward Origin detection position Origin detection position Power ON Origin signal Ref Phase C The second pulse is half as wide as the phase A pulse...

Страница 216: ...gnal in the Reverse Direction and Returning after Turning ON the Power Supply The encoder s phase C pulse CN1 19 and CN1 20 is not output when the origin detection position is passed for the first time in the reverse direction after the power supply is turned ON However after the origin detection position is passed in the forward direction and the encoder s phase C pulse is output it will then als...

Страница 217: ...first time in the reverse direction after the power supply is turned ON However after the origin detection position is passed in the forward direction and the encoder s phase C pulse it output it will then also be output when the origin detection point is passed in the reverse direction Encoder count up direction Origin 1 detection position Origin 2 detection position Power ON Phase C pulse output...

Страница 218: ... to 25 001 P Rev because the setting increment in the above table is not used 2 The upper limit of the pulse frequency is approximately 1 6 Mpps The Servomotor speed will be limited if the setting of the number of encoder output pulses is too high An A 511 alarm Encoder Output Pulse Overspeed will occur if the upper limit of the motor speed is exceeded Output example An output example is given bel...

Страница 219: ...it Setting of Pn282 Not Using a Serial Converter Unit when the lin ear encoder and SERVOPACK are connected directly or when a linear encoder that does not require a Serial Converter Unit is used The linear encoder pitch is automatically detected by the SERVO PACK so the setting of Pn282 is ignored You can use the monitor functions of the SigmaWin to check the linear encoder pitch that was automati...

Страница 220: ...tor Direction Signal Allocation Pn50C n X SPD A Internal Set Speed Selection Input Signal Allocation Pn50C n X SPD B Internal Set Speed Selection Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 4 41 45 46 Pn301 Pn302 Pn303 M CN1 Contact inputs SPD A signal SPD B signal SPD D signal SERVOPACK Parameters for Internal Set Speeds Motor direct...

Страница 221: ...r Meaning When Enabled Classification Pn000 n 3 Internal set speed control with contact commands After restart Setup Pn301 Internal Set Speed 1 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 100 Immediately Setup Pn302 Internal Set Speed 2 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 200 Immediately Setup Pn3...

Страница 222: ...Operates the motor with internal set speed 2 which is set in Pn302 ON OFF Operates the motor with internal set speed 3 which is set in Pn303 ON OFF OFF Reverse Stops the motor with an internal speed of 0 OFF ON Operates the motor with internal set speed 1 which is set in Pn301 ON ON Operates the motor with internal set speed 2 which is set in Pn302 ON OFF Operates the motor with internal set speed...

Страница 223: ... SPEED3 SPEED2 SPEED1 SPEED2 SPEED3 0 Speed 3 The acceleration deceleration rates are set in Pn305 and Pn306 Stopped Stopped Speed 1 Speed 2 Speed 3 SPD A signal SPD B signal OFF ON ON OFF OFF ON ON OFF OFF OFF ON OFF OFF OFF OFF ON ON ON ON ON OFF OFF ON ON OFF OFF SPD D signal Speed 1 Stopped Speed 2 Analog ...

Страница 224: ...ation Pn000 n 4 Internal set speed control Speed control with external references 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 with external references n 8 Position control Torque control n 9 Torque control Speed control with external references n A Speed control with external references Speed c...

Страница 225: ...e from the host computer After position control is started the COIN Positioning Completion signal is output Use the COIN signal to confirm that the con trol method has changed Input Pins Motor Direction Operation for Setting of Pn000 n X SPD D CN1 41 SPD A CN1 45 SPD B CN1 46 n 4 n 5 n 6 OFF OFF OFF Forward Speed control Position control Force control OFF ON Operates the motor with internal set sp...

Страница 226: ...trol Method for Setting of Pn000 n X n 4 n 5 n 6 Input C SEL Must be allocated ON closed Speed control Position control Torque control OFF open Internal set speed control Internal set speed control Internal set speed control Input Signals Motor Direction Motor Speed SPD D SPD A SPD B OFF OFF OFF Forward Stops the motor with an internal speed of 0 OFF ON Operates the motor with internal set speed 1...

Страница 227: ...tion to switch between the following control methods Switching between speed control with analog references and speed control with zero clamp ing Switching between normal position control and position control with reference pulse inhibition When Using the Default Input Signal Allocations Pn50A n 0 Type Signal Connector Pin No Signal Status Control Method for Setting of Pn000 n X n 7 n 8 n 9 Input ...

Страница 228: ...l to a terminal Pn50D n X ZCLAMP Zero Clamping Input Signal Allocation Pn50D n X INHIBIT Reference Pulse Inhibit Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 4 Type Signal Connector Pin No Signal Status Control Method for Setting of Pn000 n X n A n B Input ZCLAMP Must be allocated ON closed Speed control with zero clamping OFF open Spe...

Страница 229: ...orque is always limited with the setting of a parameter Speed control position control or torque control 6 11 1 External Torque Limits The torque is limited with an input signal from the host computer 6 11 2 Limiting Torque with an Analog Reference An analog reference is used to set the required torque limits Speed control or position control 6 11 3 Limiting Torque with an External Torque Limit an...

Страница 230: ...ard External Torque Limit Input Signal Allocation Pn50B n X N CL Reverse External Torque Limit Input Signal Allocation Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 4 Pn483 Forward Force Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 30 Immediately Setup Pn484 Reverse Force Limit Setting Range Setting Unit Default Setti...

Страница 231: ...rse Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 800 Immediately Setup Pn404 Forward External Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup Pn405 Reverse External Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup...

Страница 232: ...Use CCW as the forward direction Linear Servomotors In this example the Servomotor direction is set to Pn000 n 0 Use the direction in which the linear encoder counts up as the forward direction P CL signal OFF ON N CL signal OFF ON P CL signal OFF ON N CL signal OFF ON Pn402 Pn403 0 Speed Torque Pn403 0 Pn404 Pn402 Speed Torque 0 Pn403 Pn405 Pn402 Speed Torque 0 Pn403 Pn405 Pn404 Pn402 Speed Torqu...

Страница 233: ...or the input voltage of the analog voltage reference for the force limit The absolute value of a positive or negative voltage is input and a force limit that corresponds to the absolute value of the input voltage is applied in the forward and reverse directions Type Signal Connector Pin No Name Input T REF CN1 9 Torque reference input SG CN1 10 Signal ground for torque reference input Pn300 Pn400 ...

Страница 234: ...ately Setup Pn402 Forward Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 800 Immediately Setup Pn403 Reverse Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 800 Immediately Setup Pn415 T REF Filter Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 0 01 ms 0 ...

Страница 235: ...ntrol because the analog voltage is input with the T REF Torque Reference Input signal Pn300 T REF V REF Pn101 Pn100 Pn400 Pn415 SERVOPACK P CL signal N CL signal Torque limit Speed reference input Torque Reference Input Gain Speed Reference Input Gain SpeedLoopIntegral TimeConstant Speed feedback Torque reference T REF Filter Time Constant Speed loop gain Pn404 Forward External Torque Limit P CL ...

Страница 236: ...ault setting ON closed Applies the forward external torque limit The torque is limited to the smallest of the ana log reference or the setting of Pn402 or Pn404 OFF open Cancels the forward external torque limit The torque is limited to the setting of Pn402 Input N CL CN1 46 default setting ON closed Applies the reverse external torque limit The torque is limited to the smallest of the ana log ref...

Страница 237: ...nal Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 100 Immediately Setup Pn415 T REF Filter Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 0 01 ms 0 Immediately Setup Pn400 Force Reference Input Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 100 0 1 V 30 rated force ...

Страница 238: ...put torque Note You must allocate the CLT signal to use it Use Pn50F n X CLT Torque Limit Detection Signal Allo cation to allocate the signal to a connector pin Refer to the following section for details 6 1 2 Output Signal Allocations on page 6 6 Type Signal Connector Pin No Signal Status Meaning Output CLT Must be allocated ON closed The motor output torque is being limited OFF open The motor ou...

Страница 239: ... After restart Setup n 1 Use the encoder as an incremental encoder A battery is not required n 2 Use the encoder as a single turn absolute encoder A battery is not required Parameter Meaning When Enabled Classification Pn002 n 0 default setting Use the encoder as a single turn absolute encoder A battery is not required After restart Setup n 1 Use the encoder as an incremental encoder A battery is ...

Страница 240: ...ta The position number of pulses within one rotation The position data of the absolute encoder is as follows Position data of absolute encoder Multiturn data Number of pulses within one encoder rotation setting of Pn212 Position number of pulses within one rotation For a single turn absolute encoder the multiturn data is 0 6 12 3 Output Ports for the Position Data from the Absolute Encoder You can...

Страница 241: ...ls on line drivers 4 5 4 I O Circuits on page 4 37 PSO Absolute Encoder Position Output Port The PSO Absolute Encoder Position Output signal periodically outputs the position data from the absolute encoder according to the specified protocol after outputting the position data from the absolute encoder with the PAO and PBO signals has been completed There are two methods that you can use to output ...

Страница 242: ... Is Allocated to CN1 4 Allocating the SEN Signal to a General Purpose Input A circuit example for when the SEN signal is allocated to CN1 40 to CN1 46 on the I O signal connector is provided below Refer to the following section for the procedure to allocate input signals 6 1 1 Input Signal Allocations on page 6 4 To use the default allocation of the SEN signal and to change the default settings of...

Страница 243: ...e absolute encoder of a Rotary Servomotor is given below The multiturn data is sent according to the transmission specifications The position of the absolute encoder within one rotation is output as a pulse train Pull Up Voltage Vcc Pull Up Resistance R1 24 V 1 8 kΩ to 2 7 kΩ 12 V max 820 Ω to 1 5 kΩ 5 V max 180 Ω to 470 Ω Circuit Example for Open Collector Outputs SERVOPACK Host controller PL1 PL...

Страница 244: ...2 65 536 kpps 100 ms max 65 544 to 131 072 680 Pn212 131 072 kpps 200 ms max 131 088 to 262 144 680 Pn212 262 144 kpps 400 ms max 262 176 to 524 288 680 Pn212 524 288 kpps 800 ms max 524 352 to 1 048 576 680 Pn212 1 048 576 kpps 1 600 ms max 1 048 704 to 2 097 152 680 Pn212 2 097 152 kpps 3 200 ms max 2 097 408 to 4 194 304 680 Pn212 4 194 304 kpps 6 400 ms max Maintain the SEN signal at the high ...

Страница 245: ... Data Request Signal on page 6 74 Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN Absolute Data Request Signal on page 6 75 Setting of Pn212 Calculation of the Pulse Output Speed for the Position of the Absolute Encoder within One Rotation Calculation of the Pulse Output Time T for the Position of the Absolute Encoder within One Rotation 16 to 16 384 680 Pn21...

Страница 246: ... system The host controller must record the value of coordinate Ps This section describes the reference position in the machine coordinate system The method to calculate the coordinate value of the present position from the origin of the machine coordinate system is given below Item PAO signal PSO signal Synchronization Method Start stop synchronization ASYNC Baud Rate 9 600 bps Start Bits 1 bit S...

Страница 247: ...O Position of the current position within one rotation PS Position data of the absolute encoder when absolute encoder was reset MS Multiturn data of the absolute encoder when absolute encoder was reset PS Position of the absolute encoder within one rotation when absolute encoder was reset PM Current position in machine coordinate system R Pulses output per encoder rotation value after dividing set...

Страница 248: ... a machine with a gear ratio of n m as shown above the value of m minus 1 will be the set ting for the multiturn limit setting Pn205 Multiturn limit Pn205 m 1 The relationship between the number of turntable revolutions and the number of motor revolu tions is shown in the following graph for when m is 100 and n is 3 Set Pn205 to 99 Pn205 100 1 99 Note This parameter is enabled when you use an abso...

Страница 249: ...erating Procedure 1 Select Setup Multiturn Limit Setting from the menu bar of the Main Window of the SigmaWin Default Setting Not Default Setting The multiturn data will always be 0 in the following cases It is not necessary to reset the absolute encoder in these cases When you use a single turn absolute encoder When the encoder is set to be used as a single turn absolute encoder Pn002 n 2 Absolut...

Страница 250: ...hange the setting 4 Click the Writing into the Servopack Button 5 Click the OK Button 6 Turn the power supply to the SERVOPACK OFF and ON again An A CC0 alarm Multiturn Limit Disagreement will occur because setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK 7 Select Setup Multiturn Limit Setting from the menu bar of the Main...

Страница 251: ...olute Encoders 6 12 9 Multiturn Limit Disagreement Alarm A CC0 6 82 8 Click the Continue Button 9 Click the Writing into the Motor Button Click the Re change Button to change the setting 10 Click the OK Button ...

Страница 252: ...near Encoder Refer to the following sections for information on the connections between an absolute linear encoder the SERVOPACK and the host controller 4 4 3 Wiring the SERVOPACK to the Encoder on page 4 20 4 5 3 I O Signal Wiring Examples on page 4 31 6 13 2 Structure of the Position Data of the Absolute Linear Encoder The position data of the absolute linear encoder is the distance number of pu...

Страница 253: ...ition data from the absolute linear encoder The pulse counter at the host controller will not count pulses when the upper 16 bit data with sign communications message is input because only phase A is input The output circuits for the PAO PBO and PCO signals use line drivers Refer to the following section for details on line drivers 4 5 4 I O Circuits on page 4 37 PSO Absolute Encoder Position Outp...

Страница 254: ...cedure to allocate input signals 6 1 1 Input Signal Allocations on page 6 4 Reading the Position Data from the Absolute Linear Encoder without Using the SEN Signal Set Pn50A to n 1 and set Pn515 to n 7 The signal is always active Refer to the following sections for details on the parameters 14 1 List of Parameters on page 14 2 Connecting the SEN Absolute Data Request Signal Allocating the SEN Sign...

Страница 255: ... External Pull Up Power Supply Type Signal Connector Pin No Signal Status Meaning Input SEN CN1 40 to CN1 46 OFF open Does not request the position data from the absolute linear encoder This is the status after the power sup ply is turned ON ON closed Requests the position data from the absolute linear encoder Pull Up Voltage Vcc Pull Up Resistance R1 24 V 1 8 kΩ to 2 7 kΩ 12 V max 820 Ω to 1 5 kΩ...

Страница 256: ...r the control power supply to the SERVOPACK is turned ON the SERVOPACK will automatically read the position data from the absolute linear encoder The upper 16 bit position data with sign are sent according to the transmission specifications The lower 20 bit data is output as a pulse train Maintain the SEN signal at the high level for at least 1 3 seconds when you turn it OFF before you turn it ON ...

Страница 257: ...cuit power supply Control power supply S RDY signal ALM signal S ON signal PAO signal PBO signal PSO signal Motor power status Upper 16 bit position data with sign Lower 20 bit position data incremental pulses Lower 20 bit position data incremental pulses Incremental pulses Incremental pulses ON OFF OFF ON No alarm ON OFF ON OFF Power not supplied Undefined Undefined Undefined 5 s max 50 ms Approx...

Страница 258: ...s coordinate The method to calculate the coordinate value of the present position from the origin of the machine coordinate system is given below The position data from the absolute linear encoder is signed 36 bit data but the upper 16 bits with sign and the lower 20 bits are output separately For the upper 16 bit data with sign the upper bits 16 bits including the sign of the current position aft...

Страница 259: ...he current position of the absolute linear encoder MO Upper 16 bits with sign of the position data for the current position of the absolute linear encoder PO Lower 20 bits of the position data for the current position of the absolute linear encoder PS Position data of the origin MS Upper 16 bits with sign of the position data of the origin PS Lower 20 bits of the position data of the origin PM Cur...

Страница 260: ...re reset 1 Select Setup Software Reset from the menu bar of the Main Window of the Sig maWin 2 Click the Execute Button 1 Always confirm that the servo is OFF and that the motor is stopped before you start a soft ware reset 2 This function resets the SERVOPACK independently of the host controller The SERVO PACK carries out the same processing as when the power supply is turned ON and out puts the ...

Страница 261: ...software reset The Main Window will return 3 Click the Execute Button 4 Click the OK Button to end the software reset operation All settings including parameters will have been re calculated When you finish this operation discon nect the SigmaWin from the SERVOPACK and then connect it again ...

Страница 262: ...itialize the vibration detection level The parameters must not be write prohibited The test without a motor function must be disabled Pn00C n 0 Parameter Meaning When Enabled Classification Pn310 n 0 default setting Do not detect vibration Immediately Setup n 1 Output a warning A 911 if vibration is detected n 2 Output an alarm A 520 if vibration is detected Pn311 Vibration Detection Sensitivity S...

Страница 263: ...the menu bar of the Main Win dow of the SigmaWin 2 Select Pn311 Vibration Detection Sensitivity and Pn310 Vibration Detection Selec tions and then click the Detection Start Button A setting execution standby mode will be entered Tool Function Operating Procedure Reference Panel Operator Fn01B 13 4 20 Initialize Vibration Detection Level Fn01B on page 13 25 Digital Operator Fn01B Σ 7 Series Digital...

Страница 264: ...e Vibration Detection Level 6 15 3 Operating Procedure 6 95 6 Application Functions 3 Click the Execute setting Button The newly set vibration detection level will be displayed and the value will be saved in the SERVO PACK ...

Страница 265: ...gmaWin or other tool while this function is being executed Allowed The parameter can be changed using the SigmaWin or other tool while this func tion is being executed Automatic Changes after Function Execution Yes The parameter is automatically set or adjusted after execution of this function No The parameter is not automatically set or adjusted after execution of this function Parameter Name Set...

Страница 266: ... be OFF Applicable Tools The following table lists the tools that you can use to automatically adjust the offset and the applicable tool functions Operating Procedure Use the following procedure 1 Select Setup Adjust Offset Adjust the Motor Current Detection Offset from the menu bar of the Main Window of the SigmaWin 2 Click the Continue Button Execute the automatic offset adjustment if the torque...

Страница 267: ...l too large If the offset is incorrectly adjusted with this function the Servomotor characteristics may be adversely affected Observe the following precautions when you manually adjust the offset Operate 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 is minimized Adjust the offsets for the phase ...

Страница 268: ...tely 100 min 1 2 Select Setup Adjust Offset Adjust the Motor Current Detection Offset from the menu bar of the Main Window of the SigmaWin 3 Click the Continue Button 4 Click the Manual Adjustment Tab in the Adjust the Motor Current Detection Offset Dia log Box 5 Set the Channel Box in the Motor Current Detection Offset Area to U phase Tool Function Operating Procedure Reference Panel Operator Fn0...

Страница 269: ...12 to 511 7 Set the Channel Box in the Motor Current Detection Offset Area to V phase 8 Use the 1 and 1 Buttons to adjust the offset for phase V Change the offset by about 10 in the direction that reduces the torque ripple 9 Repeat steps 4 to 7 until the torque ripple cannot be improved any further regardless of whether you increase or decrease the offsets 10 Reduce the amount by which you change ...

Страница 270: ... 8 7 4 Trial Operation from the Host Controller for the Servomotor without a Load 7 10 7 4 1 Preparing the Servomotor for Trial Operation 7 11 7 4 2 Trial Operation for Speed Control 7 13 7 4 3 Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control 7 14 7 4 4 Trial Operation for Position Control 7 15 7 5 Trial Operation with the Servomotor Connected...

Страница 271: ...and Connecting SERVOPACKs 3 Confirmations before Trial Operation 7 2 Inspections and Confirmations before Trial Opera tion on page 7 6 4 Power ON 5 Resetting the Absolute Encoder This step is necessary only for a Servomo tor with an Absolute Encoder 5 17 Resetting the Absolute Encoder on page 5 51 Trial Operation 6 Trial Operation for the Servomotor without a Load 7 3 Trial Operation for the Servo...

Страница 272: ...the machine and connect the motor shaft to the load shaft with a coupling or other means S Step Meaning Reference Preparations for Trial Operation 1 Installation Install the Servomotor and SERVOPACK according to the installation conditions First operation is checked with no load Do not connect the Servomotor to the machine Chapter 3 SERVOPACK Installation 2 Wiring and Connections Wire and connect ...

Страница 273: ... Continued on next page Continued from previous page Step Meaning Reference Step No of Parameter to Set Description Remarks Reference 5 1 Pn282 Linear Encoder Pitch Set this parameter only if you are using a Serial Con verter Unit page 5 19 5 2 Writing Parameters to the Linear Servo motor Set this parameter only if you are not using a Serial Converter Unit page 5 20 5 3 Pn080 n X Motor Phase Seque...

Страница 274: ...or without a Load 7 4 Trial Operation from the Host Controller for the Ser vomotor without a Load on page 7 10 Trial Operation 9 Trial Operation with the Servomotor Connected to the Machine 7 5 Trial Operation with the Servomotor Connected to the Machine on page 7 17 Continued from previous page Step Meaning Reference To power supply CN1 to host controller S To power supply CN1 to host controller ...

Страница 275: ...seal is not damaged Also make sure that oil has been applied If you are performing trial operation on a Servomotor that has been stored for a long period of time make sure that all Servomotor inspection and maintenance procedures have been com pleted Refer to the manual for your Servomotor for Servomotor maintenance and inspection infor mation If you are using a Servomotor with a Holding Brake mak...

Страница 276: ...AUTION During jogging the overtravel function is disabled Consider the range of motion of your machine when you jog the Servomotor Pn304 Jogging Speed Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 500 Immediately Setup Pn305 Soft Start Acceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately...

Страница 277: ...bled Classification 0 to 10 000 1 mm s 50 Immediately Setup Pn305 Soft Start Acceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Setup Pn306 Soft Start Deceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Setup When an absolute encoder is used you do not need to in...

Страница 278: ...Button The display in the Operation Area will change to Servo ON 4 Click the Forward Button or the Reverse Button Jogging will be performed only while you hold down the mouse button 5 After you finish jogging turn the power supply to the SERVOPACK OFF and ON again This concludes the jogging procedure To change the speed click the Edit Button and enter the new speed Information ...

Страница 279: ... sequence for trial operation from the host controller for the Servomotor without a load is given below Preparations Trial Operation with Speed Control Trial Operation with Position Control Position Control from the Host Controller Trial Operation with the Machine and SERVOPACK Refer to the following section for details Trial Operation for Different Control Methods Check the connections and status...

Страница 280: ...ormation on the default I O signal set tings 4 2 Basic Wiring Diagrams on page 4 9 1 Wire the I O signals from the host controller Refer to the following section for details 4 2 Basic Wiring Diagrams on page 4 9 2 Check the following items Make sure that the S ON Servo ON signal can be input Make sure that the P OT Forward Drive Prohibit and N OT Reverse Drive Prohibit signals are ON closed Settin...

Страница 281: ...itor Wiring Check Using the Panel Operator or Digital Operator Un005 Input Signal Monitor The correct states of the input signals are given in the following table If the actual states do not agree with those given in the following table correct the I O signals 8 Input the S ON Servo ON signal The servo will turn ON 9 Confirm that the Panel Operator display is as shown below You can set Pn002 to n ...

Страница 282: ... input gain Pn300 The default setting of Pn300 is for the rated speed at 6 V If you want to use this setting do not adjust Pn300 and proceed to the next step To change the setting of Pn300 refer to the following section 6 5 Speed Control on page 6 16 2 Set the speed reference V REF SG voltage to 0 V from the host controller and check the rotation of the Servomotor shaft If the Servomotor shaft is ...

Страница 283: ... sure that the procedure described in 7 4 2 Trial Operation for Speed Control on page 7 13 has been completed Operating Procedure 1 Turn ON the power supplies to the SERVOPACK 2 Set Pn212 Encoder Output Pulses or Pn281 Encoder Output Resolution Refer to the following section for details 6 8 2 Setting for the Encoder Divided Pulse Output on page 6 49 3 Execute the following type of simple positioni...

Страница 284: ...check for example the number of pulses for one rotation For safety set the number of references pulses for approximately the following motor speeds Rotary Servomotors 100 min 1 Linear Servomotors 100 mm s 7 Check the number of reference pulses that are input to the SERVOPACK from the changes in the input reference pulse counter before and after the reference Using the SigmaWin Monitor Monitor Moti...

Страница 285: ...igital Operator Un008 Motor Speed Monitor 14 Confirm that the input reference pulse speed and the motor speed i e the values from steps 12 and 13 are the same 15 Stop the pulse reference from the host controller 16 Turn OFF the S ON Servo ON signal from the host controller The servo will turn OFF This concludes the procedure for trial operation with position control Proceed to the following sectio...

Страница 286: ...d in 7 4 Trial Operation from the Host Controller for the Servomotor without a Load on page 7 10 has been completed Make sure that the SERVOPACK is connected correctly to both the host controller and the peripheral devices Safety Function Wiring If you are not using the safety function leave the Safety Jumper Connector provided as an accessory with the SERVOPACK connected to CN8 If you are using t...

Страница 287: ...ol power supply and main circuit power supply to the SERVOPACK 7 Check the protective functions such overtravel and the brake to confirm that they operate correctly Note Enable activating an emergency stop so that the Servomotor can be stopped safely should an error occur during the remainder of the procedure 8 Input the S ON Servo ON signal from the host controller The servo will turn ON 9 Perfor...

Страница 288: ...ctual Operation 12 For future maintenance save the parameter settings with one of the following methods Use the SigmaWin to save the parameters as a file Use the Parameter Copy Mode of the Digital Operator Record the settings manually This concludes the procedure for trial operation with both the machine and Servomotor ...

Страница 289: ...hine motion and the safe movement speed of your machine must be con sidered when you set the travel distance and movement speed There must be no overtravel Additional Information The program jogging operation is performed with position control but a pulse reference is not input to the SERVOPACK You can use the functions that are applicable to position control such as the position refer ence filter...

Страница 290: ...r Pn585 Movement Speed Rotary Servomotor Pn533 Linear Servomotor Pn585 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Travel distance Pn531 Travel distance Pn531 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Travel distance Pn531 Speed 0 y y y y Number of movements Pn536 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn...

Страница 291: ...ly Setup Pn535 Program Jogging Waiting Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 100 Immediately Setup Pn536 Program Jogging Number of Movements Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 1 Immediately Setup Pn530 Program Jogging Related Selections Setting Range Setting Unit Default Setting When Enabled Cla...

Страница 292: ...nit 32 768 Immediately Setup Pn585 Program Jogging Movement Speed Setting Range Setting Unit Default Setting When Enabled Classification 1 to 10 000 1 mm s 50 Immediately Setup Pn534 Program Jogging Acceleration Deceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 2 to 10 000 1 ms 100 Immediately Setup Pn535 Program Jogging Waiting Time Setting Range Setting Uni...

Страница 293: ... Button The program jogging operation will be executed This concludes the program jogging procedure CAUTION Be aware of the following points if you cancel the program jogging operation while the motor is operating If you cancel operation with the Servo OFF Button the motor will stop according to setting of the Servo OFF stopping method Pn001 n X If you cancel operation with the Cancel Button the m...

Страница 294: ...t be no hard wire base block HWBB The servo must be OFF Applicable Tools The following table lists the tools that you can use to perform an origin search and the applica ble tool functions Operating Procedure Use the following procedure 1 Select Setup Origin Search from the menu bar of the Main Window of the SigmaWin The Origin Search Dialog Box will be displayed CAUTION Make sure that the load is...

Страница 295: ...igin search procedure 7 6 3 Test without a Motor A test without a motor is used to check the operation of the host controller and peripheral devices by simulating the operation of the Servomotor in the SERVOPACK i e without actually operating a Servomotor This test allows you to check wiring debug the system and verify parameters to shorten the time required for setup work and to prevent damage to...

Страница 296: ...atus Displays on page 13 4 An asterisk is displayed on the status display of the Digital Operator while a test without a motor is being executed Motor Connection Status Information That Is Used Source of Information Connected Motor information Information in the motor that is connected Encoder information Encoder resolution Encoder type Not connected Motor information Setting of Pn000 n X Rotary L...

Страница 297: ...rma tion Resolution Encoder pitch Encoder type Resolution 256 Encoder pitch Setting of Pn282 Linear Encoder Pitch Encoder type Setting of Pn00C n X Encoder Type Selection for Tests without a Motor Parameter Meaning When Enabled Classification Pn000 n 0 default setting When an encoder is not connected start as SERVOPACK for Rotary Servomotor After restart Setup n 1 When an encoder is not connected ...

Страница 298: ...Torque Reference Off set page 6 38 Analog Monitor Out put Adjustment Fn00C Adjust Analog Monitor Output Offset page 9 8 Fn00D Adjust Analog Monitor Output Gain page 9 8 Motor Current Detec tion Offset Adjust ment Fn00E Autotune Motor Cur rent Detection Signal Offset page 6 97 Fn00F Manually Adjust Motor Current Detection Sig nal Offset Parameter Write Pro hibition Setting Fn010 Write Prohibition S...

Страница 299: ...rol page 8 51 Vibration Suppres sion Fn205 Vibration Suppression page 8 55 Monitoring Product Information Fn011 Display Servomotor Model page 9 2 Fn012 Display Software Ver sion Fn01E Display SERVOPACK and Servomotor IDs page 9 2 Fn01F Display Servomotor ID from Feedback Option Module Test Oper ation Jogging Fn002 Jogging page 7 7 Program Jogging Fn004 Program Jogging page 7 20 Alarms Alarm Histor...

Страница 300: ...ation Overflow Alarm Level 8 8 8 3 4 Vibration Detection Level Setting 8 10 8 3 5 Setting the Position Deviation Overflow Alarm Level at Servo ON 8 10 8 4 Tuning less Function 8 11 8 4 1 Application Restrictions 8 11 8 4 2 Operating Procedure 8 12 8 4 3 Troubleshooting Alarms 8 13 8 4 4 Parameters Disabled by Tuning less Function 8 14 8 4 5 Automatically Adjusted Function Setting 8 14 8 4 6 Relate...

Страница 301: ...eparations 8 42 8 8 3 Applicable Tools 8 43 8 8 4 Operating Procedure 8 43 8 8 5 Automatically Adjusted Function Settings 8 48 8 8 6 Tuning Example for Tuning Mode 2 or 3 8 49 8 8 7 Related Parameters 8 50 8 9 Anti Resonance Control Adjustment 8 51 8 9 1 Outline 8 51 8 9 2 Preparations 8 51 8 9 3 Applicable Tools 8 52 8 9 4 Operating Procedure 8 52 8 9 5 Related Parameters 8 54 8 10 Vibration Supp...

Страница 302: ...rtional Control P Control 8 65 8 12 Manual Tuning 8 67 8 12 1 Tuning the Servo Gains 8 67 8 12 2 Compatible Adjustment Functions 8 77 8 13 Diagnostic Tools 8 83 8 13 1 Mechanical Analysis 8 83 8 13 2 Easy FFT 8 85 ...

Страница 303: ...r for the conditions of your machine The basic tuning procedure is shown in the following flowchart Make suitable adjustments considering the conditions and operating requirements of your machine End Start of Tuning Results acceptable Yes Results acceptable Yes End No No Results acceptable No End Yes End Perform the tuning less function Response acceptable Yes No Perform custom tuning Continuous V...

Страница 304: ...ference The following parameters are automatically adjusted with the position reference input from the host controller while the machine is in operation You can use this function for fine tuning after you perform autotuning without a host reference Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filters Friction compensation Anti resonance control Vibrati...

Страница 305: ...l Methods Reference Mechanical Analysis The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed as waveforms or numeric data Speed control position control or torque control page 8 83 Easy FFT The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed only as numeric data Speed control position con...

Страница 306: ...veform while you adjust the servo gains Check the adjustment results with the following response waveforms Position Control Speed Control Torque Control Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed min 1 mm s Position reference speed min 1 mm s Position deviation Reference units Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed min 1 mm ...

Страница 307: ...evel The position deviation overflow alarm is a protective function that is enabled when the SERVO PACK is used in position control If the alarm level is set to a suitable value the SERVOPACK will detect excessive position devi ation and will stop the Servomotor if the Servomotor operation does not agree with the refer ence The position deviation is the difference between the position reference va...

Страница 308: ...ry Servomotor with a maximum motor speed of 6 000 and an encoder resolution of 16 777 216 24 bits Pn102 is set to 400 If the acceleration deceleration rate required for the position reference exceeds the tracking capacity of the Servomotor the tracking delay will increase and the position deviation will no longer satisfy the above formulas If this occurs lower the acceleration deceleration rate so...

Страница 309: ...6 Position Deviation Overflow Alarm Level at Servo ON Setting Range Setting Unit Default Setting When Enabled Classification 1 to 1 073 741 823 1 reference unit 5 242 880 Immediately Setup Pn528 Position Deviation Overflow Warning Level at Servo ON Setting Range Setting Unit Default Setting When Enabled Classification 10 to 100 1 100 Immediately Setup Pn529 Speed Limit Level at Servo ON Setting Ra...

Страница 310: ...oad moment of inertia If that occurs set the tuning less load level to 2 Pn170 n 2 or reduce the Tuning less Rigidity Level Pn170 n X To ensure safety make sure that you can perform an emergency stop at any time when you execute the tuning less function Function Executable Remarks Vibration Detection Level Initialization Moment of Inertia Estimation Disable the tuning less function Pn170 n 0 befor...

Страница 311: ...ning less function must be enabled Pn170 n 1 The test without a motor function must be disabled Pn00C n 0 Step Use the following procedure to set the tuning less levels In addition to the following procedure you can also set the parameters directly Refer to Related Parameters below for the parameters to set 1 Select Setup Response Level Setting from the menu bar of the Main Window of the SigmaWin ...

Страница 312: ...rm occurs implement the following measures Resonant Sound Decrease the setting of Pn170 n X or the setting of Pn170 n X Excessive Vibration during Position Control Increase the setting of Pn170 n X or decrease the setting of Pn170 n X Response Level Setting Description Remarks 7 Response level High You cannot select these levels if tuning less type 1 or 2 Pn14F n 0 or n 1 is used 6 5 4 default set...

Страница 313: ...e the tuning less func tion Do not manually change the settings of these parameters after you have enabled the tuning less function Item Parameter Name Parameter Number Gain Related Parameters Speed Loop Gain Second Speed Loop Gain Pn100 Pn104 Speed Loop Integral Time Constant Second Speed Loop Integral Time Constant Pn101 Pn105 Position Loop Gain Second Position Loop Gain Pn102 Pn106 Moment of In...

Страница 314: ...echanical structures that are used these days With moment of inertia esti mation you can get an accurate load moment of inertia simply by operating the motor in the actual system in forward and reverse a few times The motor is operated with the following specifications Maximum speed 1 000 min 1 can be changed Acceleration rate 20 000 min 1 s can be changed Travel distance 2 5 rotations max can be ...

Страница 315: ...ing less function must be disabled Pn170 n 0 8 5 3 Applicable Tools The following table lists the tools that you can use to estimate the moment of inertia and the applicable tool functions 8 5 4 Operating Procedure Use the following procedure to set the moment of inertia ratio Tool Function Operating Procedure Reference Panel Operator You cannot estimate the moment of inertia from the Panel Operat...

Страница 316: ...Operating Procedure 8 17 8 Tuning 1 Select Tuning Tuning from the menu bar of the Main Window of the SigmaWin The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 2 Click the Execute Button 3 Click the Execute Button ...

Страница 317: ... of the start level Edit Buttons Click the button to display a dialog box to change the settings related to the speed loop or estimation start level Help Button Click this button to display guidelines for setting the reference conditions Make the fol lowing settings as required Operate the motor to measure the load moment of inertia of the machine in comparison with the rotor moment of inertia Set...

Страница 318: ... SERVOPACK A progress bar will show the progress of the transfer CAUTION The travel distance is the distance for one operation in the forward or reverse direction During multiple operations the operation starting position may move in one direction or the other Confirm the possible operating range for each measurement or operation Depending on the parameter settings and the moment of inertia of the...

Страница 319: ...it is completed Click the Next Button to display the Operation Measurement Dialog Box Cancel Button This button cancels processing and returns you to the Tuning Dialog Box 7 Click the Next Button The Operation Measurement Dialog Box will be displayed 8 Click the Servo On Button 9 Click the Forward Button The shaft will rotate in the forward direction and the measurement will start After the measur...

Страница 320: ...riting Results Button Identified Moment of Inertia Ratio Box The moment of inertia ratio that was found with operation and measurements is dis played here Writing Results Button If you click this button Pn103 Moment of Inertia Ratio in the SERVOPACK is set to the value that is displayed for the identified moment of inertia ratio Pn103 Moment of Inertia Ratio Box The value that is set for the param...

Страница 321: ... Identified Moment of Inertia Ratio Box and the Pn103 Moment of Inertia Ratio Box show the same value and then click the Finish Button 16 Click the OK Button 17 Click the Execute Button If the setting of the moment of inertia ratio Pn103 was changed the new value will be saved and the Tuning Dialog Box will be displayed again This concludes the procedure ...

Страница 322: ...function Pn170 n 0 before you execute autotuning without a host reference If you change the machine load conditions or drive system after you execute autotuning with out a host reference and then you execute autotuning without a host reference with moment of inertia estimation specified use the following parameter settings If you execute autotuning without a host reference for any other conditions...

Страница 323: ...uring moment of inertia estimation When mode switching is used Note If you specify moment of inertia estimation mode switching will be disabled and PI control will be used while the moment of inertia is being calculated Mode switching will be enabled after moment of inertia esti mation has been completed When speed feedforward or torque feedforward is input When the positioning completed width Pn5...

Страница 324: ...the moment of inertia ratio Pn103 is set correctly 2 Select Tuning Tuning from the menu bar of the Main Window of the SigmaWin The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning If you start autotuning without a host reference while the SERVOPACK is in speed control for mode 2 or 3 the SERVOPACK will change to position control automatically to perform autotuning witho...

Страница 325: ... OK Button 5 Select the No Reference Input Option in the Autotuning Area and then click the Auto tuning Button 6 Set the conditions in the Switching the load moment of inertia load mass identifica tion Box the Mode selection Box the Mechanism selection Box and the Distance Box and then click the Next Button ...

Страница 326: ...s Linear Servomotors Approx 90 mm Set the distance to the following values or higher To ensure tuning precision we rec ommend that you use approximately the default distance setting Rotary Servomotors 0 5 rotations Direct Drive Servomotors 0 05 rotations Linear Servomotors 5 mm Mode Selection Description 1 Standard Standard gain adjustment is per formed In addition to gain adjust ment notch filter...

Страница 327: ...d moving parts and click the Yes Button The motor will start operating and tuning will be executed Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration When the settings have been completed the indicators for the functions that were used will light at the lower left of the dialog box ...

Страница 328: ...utotuning without a Host Reference Was Not Performed Possible Cause Corrective Action Main circuit power supply is OFF Turn ON the main circuit power supply An alarm or warning occurred Remove the cause of the alarm or warning Overtraveling occurred Remove the cause of overtraveling The second gains were selected with the gain selection Disable automatic gain switching The HWBB was activated Relea...

Страница 329: ...g calculation of the moment of inertia Refer to the following section for troubleshooting information When an Error Occurs during Calculation of Moment of Inertia on page 8 30 Positioning was not completed within approximately 10 sec onds after position adjustment was com pleted The positioning completed width is too narrow or proportional control is being used Increase the setting of the position...

Страница 330: ...n Pn460 n 0 Do not adjust the first stage notch filter auto matically during execution of autotuning with out a host reference autotuning with a host reference and custom tuning Immediately Tuning n 1 default setting Adjust the first stage notch filter automatically during execution of autotuning without a host reference autotuning with a host reference and custom tuning n 0 Do not adjust the seco...

Страница 331: ...grease on the sliding parts of the machine Changes in the friction resistance resulting from variations in the machine assembly Changes in the friction resistance due to aging The conditions for applying friction compensation depend on the mode selection Refer to the following section for details Required Parameter Settings on page 8 62 Parameter Function When Enabled Classification Pn140 n 0 Do n...

Страница 332: ...del following control is used with the feedforward function it is used to make optimum feedforward settings in the SERVOPACK Therefore model following control is not normally used together with either the speed feedforward input V REF or torque feedforward input T REF from the host controller However model following control can be used with the speed feedforward input V REF or torque feedforward i...

Страница 333: ...160 Anti Resonance Control Related Selections Yes Pn161 Anti Resonance Frequency Yes Pn163 Anti Resonance Damping Gain Yes Pn531 Program Jogging Travel Distance No Pn533 Program Jogging Movement Speed for Rotary Servomotor No Pn585 Program Jogging Movement Speed for Linear Servomotor No Pn534 Program Jogging Acceleration Deceleration Time No Pn535 Program Jogging Waiting Time No Pn536 Program Jogg...

Страница 334: ...roller is equal to or lower than the setting of the positioning completed width Pn522 Rotary Servomotors When the movement speed for the reference from the host controller is equal to or lower than the setting of the rotation detection level Pn502 Linear Servomotors When the movement speed for the reference from the host controller is equal to or lower than the setting of the zero speed level Pn58...

Страница 335: ... must be no warnings The tuning less function must be disabled Pn170 n 0 The parameters must not be write prohibited 8 7 3 Applicable Tools The following table lists the tools that you can use to perform autotuning with a host reference and the applicable tool functions 8 7 4 Operating Procedure Use the following procedure to perform autotuning with a host reference 1 Confirm that the moment of in...

Страница 336: ...t Option in the Autotuning Area and then click the Autotuning Button 6 Set the conditions in the Mode selection Box and the Mechanism selection Box and then click the Next Button If you select the Start tuning using the default settings Check Box in the Tuning parameters Area the tuning parameters will be returned to the default settings before tuning is started ...

Страница 337: ...control and vibration suppression are auto matically adjusted 3 For positioning especially to pre vent overshooting Tuning is performed for positioning applications with emphasis on elimi nating overshooting In addition to gain adjustment notch filters anti resonance control and vibration sup pression are automatically adjusted Tuning parameters Box Specify the parameters to use for tuning If you ...

Страница 338: ...ting and tuning will be executed Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration When the settings have been completed the indicators for the functions that were used will light at the lower left of the dialog box 11 When tuning has been completed click the Finish Button The results of tuning will be set in the parameters and...

Страница 339: ...erence Refer to the following section 8 6 6 Automatically Adjusted Function Settings on page 8 31 Possible Cause Corrective Action Main circuit power supply is OFF Turn ON the main circuit power supply An alarm or warning occurred Remove the cause of the alarm or warning Overtraveling occurred Remove the cause of overtraveling The second gains were selected with the gain selection Disable automati...

Страница 340: ...quency Correction No Pn125 Friction Compensation Gain Correction Yes Pn401 First Stage First Torque Reference Filter Time Constant Yes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value Yes Pn40C Second Stage Notch Filter Frequency Yes Pn40D Second Stage Notch Filter Q Value Yes Pn140 Model Following Control Related Sele...

Страница 341: ...anti resonance control is provided if vibration is detected Manual anti resonance control adjustment is also possible during custom tuning Tuning Mode 2 Setting Servo Gains Giving Priority to Position Control Applications or 3 Setting Servo Gains Giving Priority to Preventing Overshooting in Position Con trol Applications Two tuning levels are manipulated to reduce positioning time even further an...

Страница 342: ...mation provided in the SigmaWin oper ating manual Observe the following precautions Make sure that you can perform an emergency stop at any time When custom tuning is started several parameters will be overwritten with the recommended settings which may greatly affect the response before and after execution Make sure that you can perform an emergency stop at any time Set the moment of inertia corr...

Страница 343: ...8 8 Custom Tuning 8 8 4 Operating Procedure 8 44 4 Click the Advanced adjustment Button 5 Click the Custom tuning Button ...

Страница 344: ...rshooting may occur because pri ority is given to response In addition to gain adjustment notch filters and anti resonance control except during torque control are automatically adjusted 2 Set servo gains for positioning application Tuning is performed for positioning applications In addition to gain adjust ment notch filters anti resonance control and vibration suppression are adjusted 3 Set serv...

Страница 345: ...tion notch filters automatic anti resonance setting vibration suppression and autotuning with a host reference as required Refer to the following section for details Vibration Suppression Functions on page 8 47 Tuning Mode 0 or 1 Tuning Mode 2 to 3 Tuning Mode 0 or 1 Increase the tuning level until overshooting occurs Tuning Mode 2 to 3 Increase the feedforward level until overshoot ing occurs and...

Страница 346: ... vibration frequency that occurs when you increase the servo gains is at 1 000 Hz or higher notch filters are effective to suppress vibration If the vibration is between 100 Hz and 1 000 Hz anti resonance control is effective Automatic Setting To set vibration suppression automatically use the parameters to enable notch filters and auto matic anti resonance control setting The notch filter frequen...

Страница 347: ...ted vibration You can also perform manual vibration detection even when the SERVOPACK does not detect vibration Anti res Ctrl Adj Button You can use the Anti res Ctrl Adj Button to execute the anti resonance control func tion if fine tuning is required Refer to the following section 8 9 Anti Resonance Control Adjustment on page 8 51 Vib Suppress Button Click the Vib Suppress Button to suppress low...

Страница 348: ...ications are met pro ceed to step 3 3 Overshooting will be reduced if the feedback level is increased If the overshooting is eliminated proceed to step 4 4 The graph shows overshooting that occurred when the feed forward level was increased even more after step 3 In this state overshooting occurs but the positioning settling time is shorter Tuning is completed if the specifications are met The tun...

Страница 349: ...ion Compensation Gain Correction Yes Pn401 First Stage First Torque Reference Filter Time Constant Yes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value Yes Pn40C Second Stage Notch Filter Frequency Yes Pn40D Second Stage Notch Filter Q Value Yes Pn140 Model Following Control Related Selections Yes Pn141 Model Following...

Страница 350: ...e following settings before you execute anti resonance control adjustment The tuning less function must be disabled Pn170 n 0 The test without a motor function must be disabled Pn00C n 0 The control method must not be set to torque control The parameters must not be write prohibited CAUTION Related parameters will be set automatically when anti resonance control adjustment is executed This may gre...

Страница 351: ...SigmaWin operating manual Observe the following precautions Make sure that you can perform an emergency stop at any time Parameters will be set automatically when anti resonance control adjustment is executed This may greatly affect the response before and after execution Make sure that you can perform an emergency stop to turn OFF the power supply at any time Set the moment of inertia correctly b...

Страница 352: ...t adjustment Button 5 Use the and Buttons in the Adjustment Area to change the settings Click the Reset Button during tuning to restore the setting to its original value The tuning level will return to the value from before when custom tuning was started To Automatically Detect the Vibration Frequency The frequency will be set To Manually Set the Vibration Frequency To Automatically Detect the Vib...

Страница 353: ...en you execute anti resonance control adjustment Do not change the settings while anti resonance control adjustment is being executed Yes The parameter is automatically set No The parameter is not automatically set but the setting is read during execution Parameter Name Automatic Changes Pn160 Anti Resonance Control Related Selections Yes Pn161 Anti Resonance Frequency Yes Pn162 Anti Resonance Gai...

Страница 354: ...dual vibration detection width Pn560 which is set as a percentage of the positioning completed width Pn522 Perform the detection of vibration frequencies again after adjusting the setting of Pn560 Note As a guideline change the setting 10 at a time If the setting of this parameter is lowered the detection sensitivity will be increased Vibration may not be detected accurately if the setting is too ...

Страница 355: ... 8 4 Operating Procedure on page 8 43 2 Click the Vib Suppress Button 3 Click the Import Button or click and Button to manually adjust the set frequency When you click the Import Button the residual vibration frequency in the motor is read as the set fre quency The frequency can be read only when the residual vibration frequency is between 1 0 and 100 0 The vibration frequencies that are automatic...

Страница 356: ...en eliminated click the Finish Button The updated value will be saved in the SERVOPACK Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies If a vibration frequency is not detected pro vide a means of measuring the vibration frequency No settings related to vibration suppression are changed during operation ...

Страница 357: ...ponse however will change when the Servomotor comes to a stop with no reference input Important Parameter Function When Enabled Classification Pn140 n 0 default setting Do not use model following control and speed torque feedforward together Immediately Tuning n 1 Use model following control and speed torque feedforward together When model following control is used with the feedforward function it...

Страница 358: ...ot met these parameters will not be changed even if the other param eters in the above table are changed There must be no reference The motor must be stopped Function Applicable Control Methods Reference Gain Switching Position control speed control or torque control page 8 59 Friction Compensation Position control or speed control page 8 62 Current Control Mode Selection Position control speed co...

Страница 359: ...ng Time 1 Pn131 Condition A not satisfied Gain settings 2 to gain set tings 1 Gain Switching Waiting Time 2 Pn136 Gain Switching Time 2 Pn132 Parameter Position Control Gain Switching Condition A For Control Methods Other Than Position Control No Switching When Enabled Classification Pn139 n 0 default setting COIN Positioning Com pletion signal ON Gain settings 1 used Immediately Tuning n 1 COIN P...

Страница 360: ... Setting When Enabled Classification 10 to 20 000 0 1 s 400 Immediately Tuning Pn401 First Stage First Torque Reference Filter Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 0 01 ms 100 Immediately Tuning Pn141 Model Following Control Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 500 Immediately Tuni...

Страница 361: ...ng Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 500 Immediately Tuning Pn149 Second Model Following Control Correction Setting Range Setting Unit Default Setting When Enabled Classification 500 to 2 000 0 1 1 000 Immediately Tuning Pn122 Second Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1 000 1 100 Immediately Tuni...

Страница 362: ...rtia vibration may occur Step Operation 1 Set the following parameters related to friction compensation to their default settings Friction compensation gain Pn121 100 Second friction compensation gain Pn122 100 Friction compensation coefficient Pn123 0 Friction compensation frequency correction Pn124 0 Friction compensation gain correction Pn125 100 Note Always use the default settings for the fri...

Страница 363: ... maintains the SERVOPACK response characteristic This function is always disabled during torque control Pn000 n 2 3 Effect of Adjustments The following graphs show the response with and without adjustment Step Operation Inconsistent response because of friction Position deviation High friction Position reference speed Before Friction Compensation After Friction Compensation Position reference spee...

Страница 364: ...ntrol The integral effect may cause the Servomotor to move To pre vent that you can change from PI control to P control P control is set using Pn000 n X and the P CON signal However if Pn000 is set to n A Switching between speed control with analog references and speed control with zero clamping a position loop will be formed Therefore there is no need to use this function P control is used while ...

Страница 365: ...n 3 Internal set speed control with contact commands You must allocate the P CON signal to CN1 40 to CN1 46 n 4 Switching between internal set speed control with contact commands and speed control with analog references n 5 Switching between internal set speed control with contact commands and position control with pulse train references n 6 Switching between internal set speed control with contac...

Страница 366: ...crease the response characteristic of the SERVOPACK For example you can reduce the positioning time for posi tion control Use manual tuning in the following cases When tuning with autotuning without a host reference or autotuning with a host reference does not achieve the desired results When you want to increase the servo gains higher than the gains that resulted from autotun ing without a host r...

Страница 367: ...ease the setting of the position loop gain you must increase the rigidity of the machine to increase the inherit vibration frequency of the machine Step Description 1 Adjust the first stage first torque reference filter time constant Pn401 so that vibration does not occur 2 Increase the position loop gain Pn100 and reduce the speed loop integral time constant Pn101 as far as possible within the ra...

Страница 368: ... independently The notch filters can be enabled and disabled with Pn408 n X X and Pn416 n XXX For machines for which a high position loop gain Pn102 cannot be set overflow alarms can occur during high speed operation If that is the case you can increase the setting of the fol lowing parameter to increase the level for alarm detection Use the following condition as a guideline for determining the s...

Страница 369: ...filtered for the notch filter frequency The width of the notch changes with the notch filter Q value The larger the notch filter Q value is the steeper the notch is and the narrower the width of frequen cies that are filtered is The notch filter frequency characteristics for different notch filter Q values are shown below Pn401 First Stage First Torque Reference Filter Time Constant Setting Range ...

Страница 370: ...n below Note The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics You can enable or disable the notch filter with Pn408 Set the machine vibration frequencies in the notch filter parameters Parameter Meaning When Enabled Classification Pn408 n 0 default setting Disable first stage notch filter Immediately Setup n 1 Enable f...

Страница 371: ...on 50 to 1 000 0 01 70 Immediately Tuning Pn419 Third Stage Notch Filter Depth Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 0 001 0 Immediately Tuning Pn41A Fourth Stage Notch Filter Frequency Setting Range Setting Unit Default Setting When Enabled Classification 50 to 5 000 1 Hz 5 000 Immediately Tuning Pn41B Fourth Stage Notch Filter Q Value Setting Range Set...

Страница 372: ...peration with a large amplitude Always stay within the critical gain conditions If you use the torque reference filter second torque reference filter and notch filters together the interference between the filters and the speed loop gain will be superimposed Allow lee way in the adjustments When Pn10B n 0 PI Control Guidelines are given below for gain settings 1 The same guidelines apply to gain s...

Страница 373: ...p Gain Pn100 40 0 is used to indicate a setting of 40 0 Hz In the following adjusted value guidelines the decimal places are also given Model Following Control You can use model following control to improve response characteristic and shorten position ing time You can use model following control only with position control Normally the parameters that are used for model following control are automa...

Страница 374: ... Set the moment of inertia ratio Pn103 as accurately as possible 2 Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loop gain Pn102 Guidelines for Manually Tuning Servo Gains on page 8 73 3 Increase the model following control gain Pn141 as much as possible within the range in which overshooting and vibration do not occur 4 If overshooting occurs o...

Страница 375: ...odel following control n 0 default setting Do not perform vibration suppression n 1 Perform vibration suppression for a specific frequency n 2 Perform vibration suppression for two specific frequencies Pn141 Model Following Control Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 500 Immediately Tuning For machines for which a high model following cont...

Страница 376: ...osition control It is sent from the host controller along with the speed reference Connect the speed refer ence from the host controller to the V REF CN1 5 and CN1 6 signal and the torque feedforward reference from the host controller to the T REF CN1 9 and CN1 10 signal Speed feedforward This is effective only for position control It is sent to the SERVOPACK from the host controller along with th...

Страница 377: ...0 Pn307 Pn30C Pn415 Pn426 ENC Speed feedforward average movement time Encoder divided pulse output Linear Servomotor Pn281 Rotary Servomotor Pn212 Divider Speed feedback Speed conversion Current feedback Current control section Speed control section Speed reference filter time constant Speed reference input gain Torquereference inputgain T REF filter time constant Torque feedforward average moveme...

Страница 378: ...celeration can be suppressed and the settling time can be reduced by setting the switching condition and switching levels Pn426 Torque feedforward average movement time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 5 100 0 1 ms 0 Immediately Setup Parameter Meaning When Enabled Classification Pn207 n 0 default setting Do not use V REF After restart Setup n 1 Use V REF...

Страница 379: ...on 0 to 800 1 200 Immediately Tuning Pn10D Mode Switching Level for Speed Reference Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 min 1 0 Immediately Tuning Pn10E Mode Switching Level for Acceleration Setting Range Setting Unit Default Setting When Enabled Classification 0 to 30 000 1 min 1 s 0 Immediately Tuning Pn10F Mode Switching Level for Position Deviat...

Страница 380: ...or exceeds the acceleration rate set for the mode switching level for acceleration Pn10E the speed loop is changed to P control Linear Servomotors When the speed reference equals or exceeds the acceleration rate set for the mode switching level for acceleration Pn182 the speed loop is changed to P control Pn10C Pn10C PI P P Speed reference Speed Motor speed Time Torque reference Torque reference 0...

Страница 381: ...s enabled only for position control Position Integral The position integral is the integral function of the position loop It is used for the electronic cams and electronic shafts when using the SERVOPACK with a Yaskawa MP3000 Series Machine Controller Pn11F Position Integral Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 50 000 0 1 ms 0 Immediately Tuning...

Страница 382: ...e in servo tuning and as reference for considering changes to the machine The performance of the servo cannot be completely utilized depend ing on the rigidity of the machine You may need to consider making changes to the machine The information can also be used as reference for servo tuning to help you adjust parameters such as the servo rigidity and torque filter time constant You can also use t...

Страница 383: ...lay phase in the response for each frequency Also the machine resonance frequency can be determined from the maximum frequency of the valleys anti resonance and peaks resonance of the gain and the phase delay For a motor without a load or for a rigid mechanism the gain and phase change gradually in the Bode plots Toolbar START Button Click the START Button to start analysis Measurement and Notch F...

Страница 384: ...ng settings before you execute Easy FFT The parameters must not be write prohibited The main circuit power supply must be ON The test without a motor function must be disabled Pn00C n 0 There must be no alarms There must be no hard wire base block HWBB The servo must be OFF There must be no overtravel An external reference must not be input Operating Procedure Use the following procedure 1 Select ...

Страница 385: ...Another EasyFFT Dialog Box will be displayed 3 Click the Servo ON Button 4 Select the instruction reference amplitude and the rotation direction in the Measure ment condition Area and then click the Start Button The motor shaft will rotate and measurements will start ...

Страница 386: ...een completed the measurement results will be displayed 5 Check the results in the Measurement result Area and then click the Measurement complete Button 6 Click the Result Writing Button if you want to set the measurement results in the param eters This concludes the procedure ...

Страница 387: ...f Easy FFT Yes The parameter is automatically set No The parameter is not automatically set but the setting is read during execution Parameter Name Automatic Changes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value No Pn40C Second Stage Notch Filter Frequency Yes Pn40D Second Stage Notch Filter Q Value No Pn456 Sweep T...

Страница 388: ...Monitoring SERVOPACK Status 9 3 9 2 1 System Monitor 9 3 9 2 2 Monitoring Status and Operations 9 3 9 2 3 I O Signal Monitor 9 5 9 3 Monitoring Machine Operation Status and Signal Waveforms 9 6 9 3 1 Items That You Can Monitor 9 6 9 3 2 Using the SigmaWin 9 7 9 3 3 Using a Measuring Instrument 9 8 9 4 Monitoring Product Life 9 14 9 4 1 Items That You Can Monitor 9 14 9 4 2 Operating Procedure 9 14...

Страница 389: ... version Encoder serial number Encoder manufacturing date Information on Option Modules Option Module model Option Module software version Option Module special specifications Option Module serial number Option Module manufacturing date With the Panel Operator you can use Fn011 and Fn012 to monitor this information Refer to the following sections for the differences in the monitor items compared w...

Страница 390: ...s Monitor or Monitor Monitor Motion Monitor from the menu bar of the Main Window of the SigmaWin The current status of the SERVOPACK is dis played The information that is displayed is the same as the information that is displayed on the panel display on the front of the SERVOPACK If this check box is selected this window will be displayed automatically when the SigmaWin starts The current signal s...

Страница 391: ...ference Input Signal CLR Position Deviation Clear Input Signal PSEL Reference Pulse Input Multi plication Input Signal FSTP Forced Stop Input Signal Output Signal Status ALM Servo Alarm Output Signal COIN Positioning Com pletion Output Signal V CMP Speed Coinci dence Detection Output Signal TGON Rotation Detec tion Output Signal S RDY Servo Ready Out put Signal CLT Torque Limit Detec tion Output S...

Страница 392: ...k wiring Checking Input Signal Wiring Change the signal status at the host controller If the input signal status on the window changes accordingly then the wiring is correct Checking Output Signal Wiring Click the Force Output Mode Button This will force the output signal status to change If the signal status at the host controller changes accordingly then the wiring is correct You cannot use the ...

Страница 393: ...rnal encoder speed Electronic gear Electronic gear Deviation counter Motor load position deviation Speed conversion Fully closed Deviation counter Completion of position reference distribution Positioningcompletion Position deviation Speed loop Speed conversion Current loop Load External encoder Reference pulse input multiplier n Position amplifier deviation Torque feedforward Speed reference Acti...

Страница 394: ...8 Operating Procedure Select Trace Trace from the menu bar of the Main Window of the SigmaWin Trace Objects You can trace the following items Data Tracing Trace Objects Torque Reference Feedback Speed Reference Speed Position Reference Speed Position Error Deviation Position Amplifier Error Deviation Motor Load Position Deviation Speed Feedforward Torque Feedforward Effective Active Gain Main Circ...

Страница 395: ...ibit Input Signal G SEL Gain Selection Input Signal P DET Polarity Detection Input Signal FSTP Forced Stop Input Signal SEN Absolute Data Request Input Signal PULS Pulse Reference Input Signal SIGN Sign Reference Input Signal CLR Position Deviation Clear Input Sig nal PSEL Reference Pulse Input Multiplica tion Input Signal HWBB1 Hard Wire Base Block Input 1 Signal HWBB2 Hard Wire Base Block Input ...

Страница 396: ...for speed or torque control n 04 Position Amplifier Devi ation 0 05 V encoder pulse unit Position deviation after electronic gear conversion n 05 Position Command Speed Rotary Servomotor 1 V 1 000 min 1 Linear Servomotor 1 V 1 000 mm s The input reference pulses will be multi plied by n to output the position com mand speed n 06 Reserved parameter Do not change n 07 Motor Load Position Deviation 0...

Страница 397: ... Default Setting When Enabled Classification 10 000 to 10 000 0 1 V 0 Immediately Setup Pn552 Analog Monitor 1 Magnification Setting Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 01 100 Immediately Setup Pn553 Analog Monitor 2 Magnification Setting Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 01 100 Immediately Setup Example ...

Страница 398: ...the monitor output voltage goes to 150 of the original value The adjustment values do not use parameters so they will not change even if the parame ter settings are initialized Adjust the offset with the measuring instrument connected so that the analog monitor out put value goes to zero The following setting example achieves a zero output While power is not supplied to the Servomotor set the moni...

Страница 399: ...n Window of the SigmaWin The Adjust the Analog Monitor Output Dialog Box will be displayed 2 Click the Zero Adjustment or Gain Adjustment Tab Tool Function Operating Procedure Reference Panel Operator Fn00D 13 4 12 Adjust Analog Monitor Output Gain Fn00D on page 13 19 Digital Operator Fn00D Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Setup Adjust Offset Operatin...

Страница 400: ...asuring Instrument 9 13 9 Monitoring 3 While watching the analog monitor use the 1 and 1 Buttons to adjust the offset There are two channels CH1 and CH2 If necessary click the down arrow on the Channel Box and select the channel This concludes adjusting the analog monitor output ...

Страница 401: ...stallation Environment Monitor or Life Monitor Service Life Prediction Monitor from the menu bar of the Main Window of the SigmaWin Monitor Items SERVOPACK Installation Environment Servomotor Installation Environment Built in Fan Service Life Prediction Capacitor Service Life Prediction Surge Prevention Circuit Service Life Prediction Dynamic Brake Circuit Service Life Prediction With the Panel Op...

Страница 402: ... 10 5 10 3 2 Setting the Motor Direction and the Machine Movement Direction 10 6 10 3 3 Setting the Number of External Encoder Scale Pitches 10 7 10 3 4 Setting the PAO PBO and PCO Encoder Divided Pulse Output Signals 10 7 10 3 5 External Absolute Encoder Data Reception Sequence 10 8 10 3 6 Electronic Gear Setting 10 8 10 3 7 Alarm Detection Settings 10 8 10 3 8 Analog Monitor Signal Settings 10 9...

Страница 403: ... oscillation resulting in unstable positioning The following figure shows an example of the system configuration The connected devices and cables depend on the type of external linear encoder that is used Note Refer to the following section for details on connections that are not shown above such as connections to power supplies and peripheral devices 2 4 Examples of Standard Connections between S...

Страница 404: ...16 Input Signal Selections Pn50E Pn50F Pn510 Pn514 and Pn517 Out put Signal Selections SERVO PACK or host con troller 2 Check operation with the Servomotor connected to the machine with semi closed loop control Items to Check Initial response of the system connected to the machine Movement direction travel distance and movement speed as specified by the refer ences from the host controller Connect...

Страница 405: ...rm program jog ging start from a low speed and gradually increase the speed Pn530 to Pn536 pro gram jogging related parameters SERVO PACK 5 Operate the SERVO PACK Items to Check Does the fully closed system operate correctly including the host con troller Input a position reference and con firm that the SERVOPACK oper ates correctly Start from a low speed and gradu ally increase the speed Host con...

Страница 406: ...n X Motor direction page 10 6 Pn002 n X External encoder usage method Pn20A Number of external scale pitches page 10 7 Pn281 Encoder divided pulse output signals PAO PBO and PCO from the SERVO PACK page 10 7 External absolute encoder data reception sequence page 6 85 Pn20E and Pn210 Electronic gear ratio page 5 46 Pn51B Excessive deviation level between Servo motor and load positions page 10 8 Pn5...

Страница 407: ...ference Reverse reference Motor direction CCW CW CCW CW External encoder Forward movement Reverse movement Reverse movement Forward movement n 1 Reference direction Forward reference Reverse reference Forward reference Reverse reference Motor direction CW CCW CW CCW External encoder Reverse movement Forward movement Forward movement Reverse movement Parameter Name Meaning When Enabled Classifi cat...

Страница 408: ...lse multiplied by 4 is output for 1 μm the setting would be 20 If a single pulse multiplied by 4 is output for 0 5 μm the setting would be 40 The encoder divided pulse output would have the following waveform if the setting is 20 indicates the edge positions In this example the set value is 20 and therefore the number of edges is 20 Note The upper limit of the encoder signal output frequency multi...

Страница 409: ...is setting is used to detect the difference between the feedback position of the motor encoder and the feedback load position of the external encoder for fully closed loop control If the detected difference exceeds the setting an A d10 alarm Motor Load Position Error Over flow will be output Note An A d10 alarm will not be output if this parameter is set to 0 Pn52A Multiplier per One Fully closed ...

Страница 410: ...otor and a high resolution external encoder set the param eter to specify using the speed of the external encoder Pn22A n 1 Note This parameter cannot be used if Pn002 is set to n 0 Do not use external encoder Pn52A Multiplier per One Fully closed Rotation Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100 1 20 Immediately Setup Pn52A 0 Pn52A 100 Pn52A 20 Deviation bet...

Страница 411: ... Signal Specifications 11 6 11 2 6 Operation without a Host Controller 11 6 11 2 7 S RDY Servo Ready Output Signal 11 7 11 2 8 BK Brake Output Signal 11 7 11 2 9 Stopping Methods 11 8 11 2 10 Settings to Clear the Position Deviation 11 8 11 2 11 ALM Servo Alarm Signal and ALO1 ALO2 and ALO3 Alarm Code Output Signals 11 8 11 3 EDM1 External Device Monitor 11 9 11 3 1 EDM1 Output Signal Specificatio...

Страница 412: ...11 2 11 6 Connecting a Safety Function Device 11 13 ...

Страница 413: ...s even when the HWBB function is operating Use a separate means such as a mechanical brake that satisfies the safety requirements Incorrect use of the safety function may cause injury While the HWBB function is operating the motor may move within an electric angle of 180 or less as a result of a SERVOPACK failure Use the HWBB function for an application only after confirming that movement of the m...

Страница 414: ...wing hazards exist even when the HWBB is operating These hazards must be included in the risk assessment The Servomotor will move if an external force is applied to it for example gravity on a vertical axis Implement measures to hold the Servomotor such as installing a separate mechanical brake If a failure occurs such as a Power Module failure the Servomotor may move within an elec tric angle of ...

Страница 415: ...and will be ready to acknowledge the S ON signal If the HWBB1 and HWBB2 signals are OFF and the S ON Servo ON Input signal is input the HWBB state will be maintained even after the HWBB1 and HWBB2 signals are turned ON Turn OFF the S ON signal to place the SERVOPACK in the BB state and then turn ON the S ON signal again Note 1 If the SERVOPACK is placed in the BB state while the main circuit power...

Страница 416: ...ion without a host controller However if the HWBB operates during execution of the following functions leave the execution mode for the function and then enter it again to restart operation Operation will not be restarted simply by turning OFF the HWBB1 and HWBB2 signals CAUTION The A Eb1 alarm Safety Function Signal Input Timing Error is not a safety related element Keep this in mind when you des...

Страница 417: ... signal will turn OFF At that time the setting in Pn506 Brake Reference Servo OFF Delay Time will be disabled Therefore the Servomotor may be moved by external force until the actual brake becomes effective after the BK signal turns OFF HWBB1 HWBB2 ON normal operation S ON Servo ON Input Signal SERVOPACK Status S RDY Servo Ready Output Signal ON OFF ON Operating Status HWBB state BB state ON OFF O...

Страница 418: ...may move for the accumulated position deviation Therefore stop the position reference from the host controller while in the HWBB state If you specify not clearing the position deviation during position control Pn200 n 1 input the CLR Position Deviation Clear signal during the HWBB or BB state to clear the position devia tion 11 2 11 ALM Servo Alarm Signal and ALO1 ALO2 and ALO3 Alarm Code Output S...

Страница 419: ...between the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 signal circuit can be achieved by using the four status of the EDM1 signal in the following table A failure can be detected by checking the failure status e g when the power supply is turned ON 11 3 1 EDM1 Output Signal Specifications If an HWBB is requested by turning OFF the two HWBB input signal channels H...

Страница 420: ...put Connect the EDM1 so that the current flows from EMD1 to EMD1 11 4 2 Failure Detection Method If a failure occurs e g the HWBB1 or the HWBB2 signal remains ON the Safety Unit is not reset when the guard is closed because the EDM1 signal remains OFF Therefore starting is not possible and a failure is detected In this case the following must be considered an error in the external device disconnec...

Страница 421: ...If the motor is operating a stop command is received from the host controller the motor stops and the servo is turned OFF The guard is opened The worker leaves the guarded area after completing work The guard is closed The servo is turned ON by the host controller The HWBB1 and HWBB2 signals turn OFF and the HWBB operates Working inside the guard is enabled S ...

Страница 422: ...motor does not operate Monitor the ON OFF status of the HWBB1 and HWBB2 signals If the ON OFF status of the signals do not coincide with the display the following must be considered an error in the external device disconnection of the external wiring short circuit ing in the external wiring or a failure in the SERVOPACK Find the cause and correct the problem Refer to the following sections for det...

Страница 423: ...ctor for the safety function device CN8 Note If you do not connect a safety function device leave the Safety Jumper Connector connected to the connec tor for the safety function device CN8 If the SERVOPACK is used without the Safety Jumper Connector connected to CN8 no current will be supplied to the Servomotor and no motor torque will be output In this case Hbb will be displayed on the Digital Op...

Страница 424: ...2 2 Alarm Displays 12 5 12 2 1 List of Alarms 12 5 12 2 2 Troubleshooting Alarms 12 11 12 2 3 Resetting Alarms 12 40 12 2 4 Displaying the Alarm History 12 41 12 2 5 Clearing the Alarm History 12 42 12 2 6 Resetting Alarms Detected in Option Modules 12 43 12 3 Warning Displays 12 45 12 3 1 List of Warnings 12 45 12 3 2 Troubleshooting Warnings 12 46 12 4 Troubleshooting Based on the Operation and ...

Страница 425: ...we will determine whether the part should be replaced Item Frequency Inspection Correction Exterior At least once a year Check for dust dirt and oil on the surfaces Clean with compressed air or a cloth Loose Screws Check for loose terminal block and connector screws and for other loose parts Tighten any loose screws or other loose parts Part Standard Replace ment Period Remarks Cooling Fan 4 to 5 ...

Страница 426: ...ow the specified value after these four seconds Pn008 n 1 The ALM Servo Alarm signal is output for up to five seconds when the control power supply is turned ON and then the battery voltage is monitored continuously Battery Replacement Procedure When Installing a Battery on the Host Controller 1 Turn ON only the control power supply to the SERVOPACK 2 Remove the old battery and mount a new battery...

Страница 427: ...urn OFF the power supply to the SERVOPACK to clear the A 830 alarm Absolute Encoder Battery Error 6 Turn ON the power supply to the SERVOPACK 7 Make sure that the alarm has been cleared and that the SERVOPACK operates normally If you remove the Battery or disconnect the Encoder Cable while the control power supply to the SERVOPACK is OFF the absolute encoder data will be lost Important Mount a Lit...

Страница 428: ...cause of the alarm has been removed No You cannot clear the alarm List of Alarms An alarm number flashes on the display Analog Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble Alarm Code Output ALO1 ALO2 ALO3 A 020 Parameter Checksum Error There is an error in the parameter data in the SER VOPACK Gr 1 No H H H A 021 Parameter Format Error There is an error i...

Страница 429: ... from the default setting Gr 1 No H H H A 0b0 Invalid Servo ON Com mand Alarm The S ON Servo ON signal was input from the host con troller after a utility function that turns ON the Servomo tor was executed Gr 1 Yes H H H A 100 Overcurrent Detected An overcurrent flowed through the power trans former or the heat sink over heated Gr 1 No L H H A 101 Motor Overcurrent Detected The current to the mot...

Страница 430: ... capacity of the dynamic brake resistor Gr 1 Yes L L L A 731 A 740 Inrush Current Limiting Resistor Overload The main circuit power sup ply was frequently turned ON and OFF Gr 1 Yes L L L A 7A1 Internal Temperature Error 1 Control Board Tempera ture Error The surrounding tempera ture of the control PCB is abnormal Gr 2 Yes L L L A 7A2 Internal Temperature Error 2 Power Board Tempera ture Error The...

Страница 431: ... overheating error occurred in the external encoder Gr 1 Yes H H H A b10 Speed Reference A D Error An error occurred in the A D converter for the speed refer ence input Gr 2 Yes H H H A b11 Speed Reference A D Data Error An error occurred in the A D conversion data for the speed reference Gr 2 Yes H H H A b20 Torque Reference A D Error An error occurred in the A D converter for the torque ref eren...

Страница 432: ...ion data of the encoder Gr 1 No L H L A C92 Encoder Communications Timer Error An error occurred in the com munications timer between the encoder and SERVO PACK Gr 1 No L H L A CA0 Encoder Parameter Error The parameters in the encoder are corrupted Gr 1 No L H L A Cb0 Encoder Echoback Error The contents of communica tions with the encoder are incorrect Gr 1 No L H L A CC0 Multiturn Limit Disagree ...

Страница 433: ...H L L A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No H L L A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No H L L A F10 Power Supply Line Open Phase The voltage was low for more than one second for phase R S or T when the main power supply was ON Gr 2 Yes H L H A F50 Servomotor Main Circuit Cable Disconnection The Servomotor did not operate...

Страница 434: ... drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SERVO PACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SERVO PACK A 021 Parameter For mat Er...

Страница 435: ...VOPACK and Servomotor capacities A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SERVO PACK A parameter setting is outside of the setting range Check the setting ranges of the parame ters that have been changed Set the parameters to val ues within the setting ranges The electronic gear ratio is outside of the setting range Check the electronic gear ratio The ratio must ...

Страница 436: ... X Make sure that the setting of the Fully closed Mod ule agrees with the setting of Pn002 n X page 10 6 A 050 Combination Error The capaci ties of the SER VOPACK and Servomotor do not match The SERVOPACK and Servomotor capaci ties do not match each other Check the capacities to see if they satisfy the following condition Select a proper combina tion of the SERVOPACK and Servomotor capaci ties A f...

Страница 437: ...ary Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again A 080 Linear Encoder Pitch Setting Error The setting of Pn282 Linear Encoder Pitch has not been changed from the default set ting Check the setting of Pn282 Correct the setting of Pn282 page 5 19 A 0b0 Invalid Servo ON Command Alarm The S ON Servo ON signal was input from the host controller...

Страница 438: ...he SER VOPACK or between the ground and termi nals U V or W The SERVOPACK may be faulty Replace the SERVO PACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring page 4 16 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor ...

Страница 439: ...s the SERVOPACK may be faulty Replace the SERVO PACK A 101 Motor Overcur rent Detected The current to the motor exceeded the allowable cur rent The Main Circuit Cable is not wired correctly or there is faulty contact Check the wiring Correct the wiring page 4 19 There is a short circuit or ground fault in a Main Circuit Cable Check for short circuits across cable phases U V and W or between the gr...

Страница 440: ...xter nal Regenerative Resis tor is connected and check the setting of Pn600 Connect an External Regenerative Resistor or set Pn600 Regenerative Resistor Capacity to 0 setting unit 10 W if no Regenerative Resistor is required page 5 57 The jumper between the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 3R8A SGD7S 5R5A SGD7S 7R6A SGD7S 120A SGD7...

Страница 441: ...g operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check it see if a Regen erative Resistor is con nected and check the setting of Pn600 Correct the setting of Pn600 page 5 57 The setting of Pn603 Regenerative Resis tor Capacity is smaller tha...

Страница 442: ...r supply setting to match the actual power supply page 5 14 AC power was sup plied when a DC power supply input was specified in the settings Check the power sup ply to see if it is an AC power supply Correct the power supply setting to match the actual power supply Pn600 Regenerative Resistor Capacity is not set to 0 and an External Regenerative Resistor is not con nected to one of the following ...

Страница 443: ... mass ratio exceeded the allow able value Check to see if the moment of inertia ratio or mass ratio is within the allowable range Increase the deceleration time or reduce the load A failure occurred in the SERVOPACK While the main circuit power supply is OFF turn the control power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVO PACK A...

Страница 444: ...check the speed and torque waveforms during oper ation Reduce the motor speed Or reduce the setting of Pn100 Speed Loop Gain The setting of Pn103 Moment of Inertia Ratio is greater than the actual moment of inertia or was greatly changed Check the moment of inertia ratio or mass ratio Set Pn103 Moment of Inertia Ratio to an appro priate value A 521 Autotuning Alarm Vibration was detected while exe...

Страница 445: ...731 Dynamic Brake Overload An excessive power consumption by the dynamic brake was detected The Servomotor was rotated by an external force Check the operation status Implement measures to ensure that the motor will not be rotated by an external force When the Servomo tor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capac ity of the dynamic brake resistor...

Страница 446: ...nal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions An overload alarm was reset by turning OFF the power sup ply too many times Ch...

Страница 447: ...lute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SERVO PACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm still occurs the Servomotor may be faulty Replace the Serv...

Страница 448: ... sensor failed Replace the polarity sen sor A 850 Encoder Over speed Detected at the encoder when the control power supply is turned ON Rotary Servomotor The Servomotor speed was 200 min 1 or higher when the control power supply was turned ON Check the motor speed when the power supply is turned ON Reduce the Servomotor speed to a value less than 200 min 1 and turn ON the control power supply Line...

Страница 449: ...tor is too high Measure the surround ing temperature around the Servomotor Reduce the surrounding air temperature of the Servomotor to 40 or less The motor load is greater than the rated load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the Sig maWin Operate the Servo Drive so that the motor load remains within the speci fied range A failure occurred in the Seri...

Страница 450: ... instruc tion manual for correc tions A 8A5 External Encoder Overspeed An overspeed error was detected in the external encoder Check the maximum speed of the external encoder Keep the external encoder below its maxi mum speed A 8A6 External Encoder Overheated An overheating error was detected in the external encoder Replace the external encoder A b10 Speed Reference A D Error Detected when the ser...

Страница 451: ...o tor s Main Circuit Cables Correct the Servomotor wiring A bF0 System Alarm 0 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVO PACK A bF1 System Alarm 1 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK m...

Страница 452: ...ale head Or replace the linear encoder The count up direc tion of the linear encoder does not match the forward direction of the Mov ing Coil in the motor Check the setting of Pn080 n X Motor Phase Selec tion Check the installa tion orientation for the linear encoder and Moving Coil Change the setting of Pn080 n X Cor rectly reinstall the linear encoder or Moving Coil page 5 24 The polarity sensor...

Страница 453: ...Cable An external force was applied to the Moving Coil of the motor The polarity cannot be properly detected if the detection reference is 0 and the speed feedback is not 0 because of an external force such as cable tension applied to the Moving Coil Imple ment measures to reduce the external force so that the speed feedback goes to 0 If the external force can not be reduced increase the setting o...

Страница 454: ...etection Range Or increase the setting of Pn481 Polarity Detection Speed Loop Gain A C54 Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increase the setting of Pn495 Polarity Detection Confirmation Force Refer ence Increase the setting of Pn498 Polarity Detec tion Allowable Error Range Increasing the allowable error will also increase the motor temperature A C80 Enc...

Страница 455: ...er by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder page 4 5 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVO PACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the signal lin...

Страница 456: ...der may be faulty Replace the Servomotor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVO PACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear en...

Страница 457: ... vibra tion Correctly install the Servomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may be faulty Replace the Servomotor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may...

Страница 458: ...Converter Unit Replace the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded by the position devia tion while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are ...

Страница 459: ...motor direction and external encoder installation orientation are backward Check the motor direc tion and the external encoder installation ori entation Install the external encoder in the opposite direction or change the setting of Pn002 n X External Encoder Usage to reverse the direction page 10 6 There is an error in the connection between the load e g stage and external encoder coupling Check ...

Страница 460: ...se power supply wiring is not correct Check the power sup ply wiring Make sure that the power supply is correctly wired page 4 11 The three phase power supply is unbalanced Measure the voltage for each phase of the three phase power sup ply Balance the power sup ply by changing phases A single phase power supply was input with out specifying a sig nal phase AC power supply input Pn00B n 1 Check th...

Страница 461: ...ert it again Or replace the cable A malfunction was caused by noise Keep the Digital Operator or the cable away from sources of noise CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If an alarm still occurs the Digital Operator may be faulty Replace the Digital Oper ator A failure occurred in the SE...

Страница 462: ...s are not stored in the alarm history They are only displayed on the panel display 1 3 10 Pn20E Pn210 Pn385 100 mm s Pn20E Pn210 Rated motor speed mm s Resolution of Serial Converter Unit Linear encoder pitch m Linear encoder pitch m Resolution of Serial Converter Unit Approx 6 10 105 ...

Страница 463: ...o other connector pins Refer to the following section for details 6 1 1 Input Signal Allocations on page 6 4 Resetting Alarms Using the Panel Operator Simultaneously press the UP and the DOWN Keys on the Panel Operator Resetting Alarms Using the Digital Operator Press the ALARM RESET Key on the Digital Operator Refer to the following manual for details on resetting alarms Σ 7 Series Digital Operat...

Страница 464: ...he Alarm History Tab The following display will appear and you can check the alarms that occurred in the past Tool Function Reference Panel Operator Fn000 13 4 1 Display Alarm History Fn000 on page 13 12 Digital Operator Fn000 Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Alarm Display Alarm Operating Procedure on page 12 41 1 If the same alarm occurs consecutivel...

Страница 465: ...able Tools The following table lists the tools that you can use to clear the alarm history and the applicable tool functions Operating Procedure Use the following procedure 1 Select Alarm Display Alarm from the menu bar of the Main Window of the SigmaWin The Alarm Display Dialog Box will be displayed 2 Click the Alarm History Tab 3 Click the Clear Button The alarm history will be cleared Tool Func...

Страница 466: ...f the SigmaWin The Reset Configuration Error of Option Module Dialog Box will be displayed This dialog box will be displayed automatically when you start the SigmaWin if there is an error in an Option Module 2 Select the Clear Check Box for the Option Modules from which to clear alarms and the click the Execute Button This operation is the only way to reset alarms for Option Modules The alarms are...

Страница 467: ...12 2 Alarm Displays 12 2 6 Resetting Alarms Detected in Option Modules 12 44 3 Click the OK Button 4 Click the OK Button 5 Turn the power supply to the SERVOPACK OFF and ON again S S ...

Страница 468: ...urrounding temperature of the control PCB is abnormal H L H A 913 Internal Temperature Warning 2 Power Board Temperature Error The surrounding temperature of the power PCB is abnormal H L H A 920 Regenerative Overload This warning occurs before an A 320 alarm Regenerative Overload occurs If the warning is ignored and operation is continued an alarm may occur H L H A 921 Dynamic Brake Over load Thi...

Страница 469: ...tion refer ence pulse is too high Reduce the reference pulse frequency and try operating the SERVO PACK Reduce the position refer ence pulse frequency or the reference acceleration rate or reconsider the electronic gear ratio page 5 47 The acceleration of the position ref erence is too high Reduce the reference acceleration and try operating the SERVO PACK Apply smoothing i e by using Pn216 Positi...

Страница 470: ...anged Check the moment of inertia ratio or mass ratio Set Pn103 Moment of Iner tia Ratio to an appropriate value A 912 Internal Tempera ture Warning 1 Control Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by ...

Страница 471: ...installation con ditions Install the SERVOPACK according to specifications page 3 3 page 3 5 A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 920 Regenerative Over load warning before an A 320 alarm occurs The power supply voltage exceeded the specified range Measure the power supply voltage Set the power supply volt age within the specified range There is ...

Страница 472: ...rror The absolute encoder battery voltage was lower than the spec ified level Detected only when an abso lute encoder is con nected The battery con nection is faulty or a battery is not connected Check the battery con nection Correct the battery connec tion page 4 20 The battery volt age is lower than the specified value 2 7 V Measure the battery voltage Replace the battery page 12 3 A failure occ...

Страница 473: ...re occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 9A0 Overtravel Over travel status was detected Overtravel was detected while the servo was ON Check the status of the overtravel signals on the input signal monitor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not ...

Страница 474: ...is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used page 6 70 No speed or position refer ence is input Check the allocation sta tus of the input signals Allocate an input signal so that the speed and position references are input c...

Страница 475: ...The safety input signals HWBB1 or HWBB2 were not turned ON Check the HWBB1 and HWBB2 input signals Turn ON the HWBB1 and HWBB2 input sig nals If you are not using the safety function con nect the Safety Jumper Connector provided as an accessory to CN8 The FSTP Forced Stop Input signal is still OFF Check the FSTP signal Turn ON the FSTP signal If you will not use the function to force the motor to ...

Страница 476: ...se ter minals or connectors and correct the wiring Servomotor Moves with out a Refer ence Input Speed control The speed reference input is not appro priate Check between the speed reference input V REF and signal ground SG to see if the control method and the input agree Correctly set the con trol method and input method Torque control The torque reference input is not appro priate Check between t...

Страница 477: ...Check the moment of inertia motor speed and dynamic brake frequency of use If the moment of inertia motor speed or dynamic brake frequency of use is excessive the dynamic brake resis tance may be discon nected Replace the SERVO PACK To prevent dis connection reduce the load There was a failure in the dynamic brake drive circuit There is a defective component in the dynamic brake circuit Replace th...

Страница 478: ... the I O signal cables to see if they sat isfy specifications Use shielded twisted pair wire cables or screened twisted pair cables with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m Noise interference occurred ...

Страница 479: ...n mounting sur face precision and secur ing method Reduce machine vibra tion Improve the mounting state of the Servomotor or linear encoder A failure occurred in the encoder Replace the Servomo tor A failure occurred in the Serial Converter Unit Replace the Serial Con verter Unit A failure occurred in the linear encoder Replace the linear encoder Servomotor Vibrates at Frequency of Approx 200 to 4...

Страница 480: ...der Cable specifications Check the Encoder Cable to see if it satisfies speci fications Use a shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because the Encoder Cable is too long Check the length of the Encoder Cable Rotary Servomotors The Encoder Cable length must be 50 m...

Страница 481: ...e Prohibit or Reverse Drive Prohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition of the overtravel limit switches Make sure that the overtravel limit switches operate correctly Check the wiring of the overtravel limit switches Correct the wiring of the overtra...

Страница 482: ... Cable is too long Check the length of the Encoder Cable Rotary Servomotors The Encoder Cable length must be 50 m max Linear Servomotors Make sure that the Serial Converter Unit cable is no longer than 20 m and that the Linear Encoder Cable and the Sensor Cable are no longer than 15 m each Noise interference occurred because the Encoder Cable is damaged Check the Encoder Cable to see if it is pinc...

Страница 483: ...PSELA to be falsely detected Check the I O signal cables to see if they sat isfy specifications Use a shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer t...

Страница 484: ...nitor Display Operations 13 8 13 3 2 Input Signal Monitor Un005 13 8 13 3 3 Output Signal Monitor Un006 13 9 13 3 4 Safety Input Signal Monitor Un015 13 10 13 3 5 Upper Limit Setting Monitor for Maximum Motor Speed Upper Limit Setting for Encoder Output Resolution Un010 13 11 13 3 6 Polarity Sensor Signal Monitor Un011 13 11 13 4 Utility Function Fn Operations on the Panel Operator 13 12 13 4 1 Di...

Страница 485: ...4 18 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm Fn013 13 24 13 4 19 Reset Option Module Configuration Error Fn014 13 24 13 4 20 Initialize Vibration Detection Level Fn01B 13 25 13 4 21 Display SERVOPACK and Servomotor IDs Fn01E 13 26 13 4 22 Display Servomotor ID from Feedback Option Module Fn01F 13 26 13 4 23 Set Absolute Linear Encoder Origin Fn020 13 26 13 4 24 Software Re...

Страница 486: ...erating procedures in each function mode c d e f Panel display Panel Operator Key No Key Name Function MODE SET Key Changes the display Confirms settings UP Key Increases the setting DOWN Key Decreases the setting DATA SHIFT Key Displays the setting To display the setting press the DATA SHIFT Key for approximately one second Moves to the next digit on the left when a digit is flashing Power ON Pre...

Страница 487: ...it on the Panel Operator display may flash Refer to the following section and implement countermeasures against noise 4 1 2 Countermeasures against Noise on page 4 5 During Position Control COIN Positioning Completion Signal Display Lit if the deviation between the position reference and actual motor position is equal to or less than the setting of Pn522 The default setting is 7 reference units No...

Страница 488: ...es that the P OT Forward Drive Prohibit signal is open Example Operation in Progress Status Test without Motor in Progress Indicates that the test without a motor is in progress The status display changes according to the status of Servomotor and SER VOPACK However tSt will not be dis played during a test without a motor even if an alarm occurs Reverse Drive Prohibited Indicates that the N OT Reve...

Страница 489: ... to display Pn100 2 Press the DATA SHIFT Key for approximately one second The current setting of Pn100 will be dis played 3 Press the DATA SHIFT Key to move the digit that is flashing to 4 You can change the value of the digit that is flashing 4 Press the UP Key six times to change the setting to 100 0 Refer to the following section for the operating proce dure for settings with more than five dig...

Страница 490: ...ress the DATA SHIFT Key Press the DATA SHIFT Key Lower four digits Press the DATA SHIFT Key Middle two digits Displayed for a negative number Analog Step Panel Display after Operation Keys Operation 1 Press the MODE SET Key to enter Parameter Setting Mode If Pn000 is not displayed press the UP Key or DOWN Key to display Pn000 2 Press the DATA SHIFT Key for approximately one second The current sett...

Страница 491: ...Interpreting the Display LED Segments If the input signal that corresponds to the display digit number is OFF the top LED segment will be lit If the input signal that corresponds to the display digit number is ON the bottom LED seg ment will be lit Analog Step Panel Display after Operation Keys Operation 1 Press the MODE SET Key to enter Monitor Display Mode 2 Press the UP Key or DOWN Key to selec...

Страница 492: ...nal that corresponds to the display digit number is OFF the top LED segment will be lit If the output signal that corresponds to the display digit number is ON the bottom LED seg ment will be lit Display Digit Number Input Pin Number Signal Name Default Setting 1 CN1 40 SI0 S ON 2 CN1 41 SI3 P CON 3 CN1 42 SI1 P OT 4 CN1 43 SI2 N OT 5 CN1 44 SI4 ALM RST 6 CN1 45 SI5 P CL 7 CN1 46 SI6 N CL 8 CN1 4 ...

Страница 493: ...er is OFF the bottom LED segment will be lit The allocations are given in the following table Display Digit Number Output Pin Numbers Signal Name Default Setting 1 CN1 31and CN1 32 ALM ÅCALM 2 CN1 25 and CN1 26 SO1 COIN or V CMP and SO1 COIN or V CMP 3 CN1 27 and CN1 28 SO2 TGON SO2 TGON 4 CN1 29 and CN1 30 SO3 S RDY SO3 S RDY 5 CN1 37 ALO1 6 CN1 38 ALO2 7 CN1 39 ALO3 8 Reserved The configuration ...

Страница 494: ...etting for the current encoder output resolution setting Select which signal to monitor with Pn080 n X Calculation Method for Maximum Speed or Divided Output Pulses If Pn080 n 0 the encoder output resolution Pn281 that can be set is displayed If Pn080 n 1 the maximum motor speed Pn385 that can be set is displayed in mm s 13 3 6 Polarity Sensor Signal Monitor Un011 You can use Un011 to monitor the ...

Страница 495: ...the DATA SHIFT Key for approximately one sec ond The most recent alarm will be displayed 3 Press the DOWN Key to display the next older alarm Press the UP Key to display the next newer alarm The higher the far left segment is the older the alarm is Refer to the following section for information on alarms 12 2 1 List of Alarms on page 12 5 4 Press the DATA SHIFT Key The lower four digits of the tim...

Страница 496: ...The Servomotor will operate at the speed set in Pn304 or Pn383 while the UP Key for forward operation or DOWN Key for reverse operation is pressed 6 Press the MODE SET Key to turn OFF the servo Additional Information You can turn OFF the servo by pressing the DATA SHIFT Key for approximately one second 7 Press the DATA SHIFT Key for approximately one sec ond to return the display to Fn002 8 Turn t...

Страница 497: ... search has been com pleted the display will flash At this time the Servomo tor is servo locked at the origin within one rotation of the encoder 7 Press the DATA SHIFT Key for approximately one sec ond to return the display to Fn003 8 Turn the power supply to the SERVOPACK OFF and ON again after you finish the origin search Continued from previous page Step Panel Display after Operation Keys Opera...

Страница 498: ...ional Information Press the MODE SET Key during operation to turn OFF the servo and return to the display shown for step 3 Press the DATA SHIFT Key for approximately one second during operation to return to the display shown for step 2 7 Turn the power supply to the SERVOPACK OFF and ON again after you finish program operation Step Panel Display after Operation Keys Operation MODE SET DATA Step Pa...

Страница 499: ...ter Operation Keys Operation 1 Press the MODE SET Key to enter Utility Function Mode 2 Press the UP Key or DOWN Key to display Fn008 3 Press the DATA SHIFT Key for approximately one second PGCL1 will be displayed 4 Continue pressing the UP Key until PGCL5 is dis played Note If you press the wrong key no oP will flash on the display for approximately one sec ond and the display will return to the o...

Страница 500: ...s the DATA SHIFT Key for approximately one second rEF_o will be displayed 5 Press the MODE SET Key donE will flash on the display for approximately one second and then the display shown on the left will appear 6 Press the DATA SHIFT Key for approximately one second to return the display to Fn009 MODE SET DATA MODE SET DATA MODE SET MODE SET DATA MODE SET Step Panel Display after Operation Keys Ope...

Страница 501: ...lay after Operation Keys Operation 1 Press the MODE SET Key to enter Utility Function Mode 2 Press the UP Key or DOWN Key to display Fn00b 3 Press the DATA SHIFT Key for approximately one second The display shown on the left will appear Note If write protection is set no_oP will flash on the display for approximately one second Change the setting of Fn010 to enable writ ing 4 Turn ON the servo The...

Страница 502: ...or DOWN Key to adjust the offset 10 Press the DATA SHIFT Key for approximately one sec ond Ch2 o will be displayed and then Fn00C will be displayed again Step Panel Display after Operation Keys Operation MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA Step Panel Display after Operation Keys Operation 1 Press the MODE SET...

Страница 503: ... SHIFT Key for approximately one sec ond The display shown at the left will appear 4 Press the MODE SET Key to perform automatic off set signal adjustment When the adjustment has been completed donE will flash on the display and then the display shown on the left will appear again 5 Press the DATA SHIFT Key for approximately one sec ond to return the display to Fn00E MODE SET DATA MODE SET DATA MO...

Страница 504: ...ipple to find the value that minimizes the torque ripple and set that value Adjustment range 512 to 511 10 Press the DATA SHIFT Key for approximately one sec ond Cu2 o will be displayed and then Fn00F will be displayed again 11 Reduce the amount by which you change the offsets each time and repeat steps 3 to 10 to fine tune the amounts of offset Step Panel Display after Operation Keys Operation MO...

Страница 505: ...Key to display Fn011 3 Example Press the DATA SHIFT Key for approximately one second to display the Servomotor voltage and model codes 4 Example Press the MODE SET Key The Servomotor capacity will be displayed MODE SET DATA MODE SET DATA MODE SET DATA 01 SGM7A SGM7P SGM7G SGM7J SGMCS C SGMCS D SGMCS B SGMCS E SGMCS L SGMCS M SGMCS N SGMCS R SGMCV C SGMCV D SGMCV B SGMCV E SGMCV L SGMCV M SGMCV N S...

Страница 506: ...tions will be displayed y 0000 indicates a standard model If anything other than y 0000 is displayed a customized SERVOPACK is being used 7 Press the DATA SHIFT Key for approximately one second to return the display to Fn011 Step Panel Display after Operation Keys Operation MODE SET DATA 00 01 02 20 22 24 Encoder Type Encoder Resolution No Resolution 20 bits 22 bits 24 bits No Type Incremental Sin...

Страница 507: ...IFT Key for approximately one second to return the display to Fn012 Step Panel Display after Operation Keys Operation MODE SET DATA MODE SET DATA Step Panel Display after Operation Keys Operation 1 Press the MODE SET Key to enter Utility Function Mode 2 Press the UP Key or DOWN Key to display Fn013 3 Press the DATA SHIFT Key for approximately one second PGSEt will be displayed 4 Press the MODE SET...

Страница 508: ...fter clearing detected Option Module alarms has been completed Step Panel Display after Operation Keys Operation MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA Step Panel Display after Operation Keys Operation 1 Press the MODE SET Key to enter Utility Function Mode 2 Press the UP Key or DOWN Key to display Fn01b 3 Press the DATA SHIFT Key for approximately one ...

Страница 509: ...DE SET Key to enter Utility Function Mode 2 Press the UP Key or DOWN Key to display Fn020 3 Press the DATA SHIFT Key for approximately one sec ond The display shown at the left will appear 4 Continue pressing the UP Key until 0SET5 is dis played Note If you make a mistake during key operations no_oP will flash on the display for approximately one second and then Fn000 will be displayed again 5 Pre...

Страница 510: ...e pressing the UP Key until the display shown on the left appears Note If you make a mistake during key operations no_oP will flash on the display for approximately one second 5 Press the MODE SET Key The panel display will go blank and then will change to the same initial status display as when the power supply is turned ON MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA MODE SET DATA Ste...

Страница 511: ...ge the load level to 2 4 Press the MODE SET Key to display The tuning less level setting display for the tuning less levels will appear 5 Press the UP Key or DOWN Key to set the rigidity level Set the rigidity level to between 0 and 4 The larger the value is the higher the gain is and the better response performance will be The default setting is 4 Note Vibration may occur if the rigidity level is...

Страница 512: ...e Servomotor input the S ON Servo ON from the host controller If the servo is ON go to step 6 6 Press the DATA SHIFT Key for less than one sec ond The one parameter gain will be displayed as shown on the left 7 Press the UP Key or DOWN Key to change the one parameter gain value and change the actual servo gains Pn100 Pn101 Pn102 and Pn401 at the same time You end this tuning function when you deci...

Страница 513: ...p operation moving in for ward and reverse several times for 1 4th of a rotation for a Rotary Servomotor and 10 mm or less for a Linear Servomotor The Servomotor performs this operation for approximately 2 seconds During this operation the display shown on the left will flash Note 1 Press the MODE SET Key to cancel the operation Return to step 5 2 The Servomotor will move slightly Also at the same...

Страница 514: ... set Pn408 n 1 the 2nd notch filter frequency will be auto matically set Pn40C Press the MODE SET Key to return to step 5 Note 1 If both the 1st and 2nd notch filter frequencies are already set Pn408 n 1 1 no more notch filter frequencies can be set 2 If the frequency detected by this function is not to be used set Pn408 to n 0 Disable notch filter 10 Press the DATA SHIFT Key for approximately one...

Страница 515: ...chapter provides information on the parameters 14 1 List of Parameters 14 2 14 1 1 Interpreting the Parameter Lists 14 2 14 1 2 List of Parameters 14 3 14 2 Parameter Recording Table 14 33 Parameter Lists 14 ...

Страница 516: ...pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed control with analog references 5 Switching between internal set speed control with contact refer ences and position control with pulse train references 6 Switching between internal set speed control with ...

Страница 517: ...peed control with contact refer ences and speed control with analog references 5 Switching between internal set speed control with contact refer ences and position control with pulse train references 6 Switching between internal set speed control with contact refer ences and torque control with analog references 7 Switching between position control with pulse train references and speed control wit...

Страница 518: ... then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A and then servo lock the motor 4 Decelerate the motor to a stop using the deceleration time set in Pn30A and then let the motor coast n X Main Circuit Power Supply AC DC Input Selection ...

Страница 519: ... torque limit input when P CL or N CL is ON page 6 66 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All page 6 42 1 Use V REF as an external speed limit input n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All page 6 70 1 Use the encoder as an incremental encoder 2 Use the encoder as a single tu...

Страница 520: ... deviation after electronic gear 0 05 V linear encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 Position reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0A Torque f...

Страница 521: ...erence unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0A Torque feedforward 1 V 100 rated torque Force feedforward 1 V 100 rated force 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D External encoder speed 1 V 1...

Страница 522: ...se the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A Use the setting of Pn001 n X for the status after stopping 4 Decelerate the motor to a stop using the deceleration time set in Pn30A and then let the moto...

Страница 523: ...tor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input page 5 14 1 Use a three phase power supply input and as a single phase power supply input n X Reserved parameter Do not change n X Function Selection for Test without a Motor Applicable Motors 0 Disable ...

Страница 524: ...e 8 59 Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Preventative Maintenance Warning Selection 0 Do not detect preventative maintenance warnings 1 Detect preventative maintenance warnings n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do ...

Страница 525: ...n123 2 Friction Compensation Coefficient 0 to 100 1 0 All Immedi ately Tuning page 8 62 Pn124 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning page 8 62 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning page 8 62 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning page 8 59 Pn132 2 Gain Switchin...

Страница 526: ...ically from the second gain to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near Output signal turns ON 3 NEAR Near Output signal turns OFF 4 Position reference filter output is 0 and reference pulse input is OFF 5 Position reference pulse i...

Страница 527: ...ted Selections 0000 to 0011 0010 All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control...

Страница 528: ... 0 to 10 000 1 mm s 0 Linear Immedi ately Tuning page 8 79 Pn182 2 Mode Switching Level for Acceleration 0 to 30 000 1 mm s2 0 Linear Immedi ately Tuning page 8 79 Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart...

Страница 529: ... deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block at servo OFF or when alarm occurs page 6 30 1 Do not clear position error cleared only with CLR Clear Position Deviation signal 2 Clear position deviation when an alarm occurs n X Filter Selection Reference 0 Use the refere...

Страница 530: ...dge pitch 20 All After restart Setup page 6 49 Pn282 4 Linear Encoder Scale Pitch 0 to 6 553 600 0 01 μm 0 Linear After restart Setup page 5 19 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 All Immedi ately Setup page 6 17 page 6 43 page 8 79 Pn301 2 Internal Set Speed 1 0 to 10 000 Rotary 1 min 1 Direct Drive 0 1 min 1 100 Rotary Immedi ately Setup page 6 51 Pn302 2...

Страница 531: ...di ately Setup page 6 51 Pn382 2 Internal Set Speed 3 0 to 10 000 1 mm s 30 Linear Immedi ately Setup page 6 51 Pn383 2 Jogging Speed 0 to 10 000 1 mm s 50 Linear Immedi ately Setup page 7 7 Pn384 2 Vibration Detection Level 0 to 5 000 1 mm s 10 Linear Immedi ately Tuning page 6 93 Pn385 2 Maximum Motor Speed 1 to 100 100 mm s 50 Linear After restart Setup page 6 15 Pn400 2 Torque Reference Input ...

Страница 532: ...di ately Tuning page 8 69 Pn412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 8 59 Pn415 2 T REF Filter Time Con stant 0 to 65 535 0 01 ms 0 All Immedi ately Setup page 6 42 Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Not...

Страница 533: ...23 2 Speed Ripple Compen sation Selections 0000 to 1111 0000 Rotary Setup Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 1 50 All Immedi ately Setup page 6 13 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup page 6 13 Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable ...

Страница 534: ...ately Tuning Pn48E 2 Polarity Detection Range 1 to 65 535 1 mm 10 Linear Immedi ately Tuning Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection Con firmation Force Refer ence 0 to 200 1 100 Linear Immedi ately Tuning Pn498 2 Polarity Detection Allow able Error Range 0 to 30 1 deg 10 Linear Immedi ately Tuning Pn49F 2 Speed Ripple Compen sa...

Страница 535: ...elay Time 0 to 50 10 ms 0 All Immedi ately Setup page 5 36 Pn507 2 Brake Reference Out put Speed Level 0 to 10 000 1 min 1 100 Rotary Immedi ately Setup page 5 36 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup page 5 36 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup page 6 12 Continued from previous page Paramete...

Страница 536: ... 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 n X P CON Proportional Control Signal Allocation Reference 0 to F The allocations are the same as the S ON Servo ON signal allo cations page 8 65 n X P OT Forward Drive Prohibit Signal Allocation Reference 0 Enable forward drive when CN1 40 input signa...

Страница 537: ...ce 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed page 12 40 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2 Active on signal edge when CN1 42 input signal changes from OFF open to ON closed 3 Active on signal edge when CN1 43 input signal changes from OFF open to ON closed 4 Active on signal edge when CN1 44 input signal c...

Страница 538: ...d 7 The signal is always active 8 The signal is always inactive 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 n X SPD A Inte...

Страница 539: ... signal is always active 8 The signal is always inactive 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 n X INHIBIT Reference...

Страница 540: ...ion Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 6 10 n X S RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 6 10 n X CLT Torque Limit Detection Output Signal Allocation Reference 0 Disabled the above signal output is not u...

Страница 541: ...from the CN1 38 output terminal 6 Output the signal from the CN1 39 output terminal n X Reserved parameter Do not change n X PSELA Reference Pulse Input Multiplication Switching Output Signal Allocation Reference 0 to 6 The allocations are the same as the NEAR Near signal alloca tions page 6 31 n X Reserved parameter Do not change n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The s...

Страница 542: ...X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 Output the signal from the CN1 25 or CN1 26 output terminal 2 Output the signal from the CN1 27 or CN1 28 output terminal 3 Output the signal from the CN1 29 or CN1 30 output terminal 4 Output the signal from the CN1 37 output terminal 5 Output the ...

Страница 543: ... 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 n X PSEL Reference Pulse Input Multiplication Switching Input Signal Allo cation Reference 0 Active when CN1 40 input signal is ON closed page 6 31 1 Active when CN1 41 input signal is ON closed 2...

Страница 544: ...to stop 8 Set the signal to always enable drive always disable forcing the motor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 input signal is OFF open D Enable drive when CN1 44 input signal is OFF open E Enable drive when CN1 45 input signal is OFF open...

Страница 545: ...ections 0000 to 0005 0000 All Immedi ately Setup page 7 20 Pn531 4 Program Jogging Travel Distance 1 to 1 073 741 824 1 refer ence unit 32768 All Immedi ately Setup page 7 20 Pn533 2 Program Jogging Move ment Speed 1 to 10 000 Rotary 1 min 1 Direct Drive 0 1 min 1 500 Rotary Immedi ately Setup page 7 20 Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting ...

Страница 546: ...y Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup page 8 55 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup page 8 23 page 8 35 Pn580 2 Zero Clamping Level 0 to 10 000 1 mm s 10 Linear Immedi ately Setup page 6 23 Pn581 2 Zero Speed Level 1 to 10 000 1 mm s 20 Linear Immedi ately Setup page 6 10 Pn582 2 Speed Coincidence Detection ...

Страница 547: ...on Function Selec tions D After restart Pn00F 0000 Application Function Selec tions F After restart Pn010 0001 Axis Address Selection for UART USB Communica tions After restart Pn080 0000 Application Function Selec tions 80 After restart Pn081 0000 Application Function Selec tions 81 After restart Pn100 400 Speed Loop Gain Immediately Pn101 2000 Speed Loop Integral Time Constant Immediately Pn102 ...

Страница 548: ...rection Immediately Pn143 1000 Model Following Control Bias in the Forward Direc tion Immediately Pn144 1000 Model Following Control Bias in the Reverse Direc tion Immediately Pn145 500 Vibration Suppression 1 Frequency A Immediately Pn146 700 Vibration Suppression 1 Frequency B Immediately Pn147 1000 Model Following Control Speed Feedforward Com pensation Immediately Pn148 500 Second Model Follow...

Страница 549: ...or stops Pn217 0 Average Position Refer ence Movement Time Immediately after the motor stops Pn218 1 Reference Pulse Input Mul tiplier Immediately Pn22A 0000 Fully closed Control Selec tions After restart Pn281 20 Encoder Output Resolution After restart Pn282 0 Linear Encoder Pitch After restart Pn300 600 Speed Reference Input Gain Immediately Pn301 100 Internal Set Speed 1 Immediately Pn302 200 I...

Страница 550: ...iately Pn407 10000 Speed Limit during Torque Control Immediately Pn408 0000 Torque Related Function Selections Pn409 5000 First Stage Notch Filter Fre quency Immediately Pn40A 70 First Stage Notch Filter Q Value Immediately Pn40B 0 First Stage Notch Filter Depth Immediately Pn40C 5000 Second Stage Notch Filter Frequency Immediately Pn40D 70 Second Stage Notch Filter Q Value Immediately Pn40E 0 Sec...

Страница 551: ... Immediately Pn480 10000 Speed Limit during Force Control Immediately Pn481 400 Polarity Detection Speed Loop Gain Immediately Pn482 3000 Polarity Detection Speed Loop Integral Time Con stant Immediately Pn483 30 Forward Force Limit Immediately Pn484 30 Reverse Force Limit Immediately Pn485 20 Polarity Detection Refer ence Speed Immediately Pn486 25 Polarity Detection Refer ence Acceleration Decel...

Страница 552: ...l Selections 6 After restart Pn516 8888 Input Signal Selections 7 After restart Pn517 0654 Output Signal Selections 5 After restart Pn51B 1000 Motor Load Position Devia tion Overflow Detection Level Immediately Pn51E 100 Position Deviation Over flow Warning Level Immediately Pn520 5242880 Position Deviation Over flow Alarm Level Immediately Pn522 7 Positioning Completed Width Immediately Pn524 107...

Страница 553: ...553 100 Analog Monitor 2 Magnifi cation Immediately Pn55A 1 Power Consumption Moni tor Unit Time Immediately Pn560 400 Residual Vibration Detec tion Width Immediately Pn561 100 Overshoot Detection Level Immediately Pn580 10 Zero Clamping Level Immediately Pn581 20 Zero Speed Level Immediately Pn582 10 Speed Coincidence Detec tion Signal Output Width Immediately Pn583 10 Brake Reference Output Spee...

Страница 554: ...0P Positioning Module for Position Control 15 4 15 1 3 Example of Connections to Yokogawa Electric s F3NC3 0N Positioning Module for Position Control 15 5 15 1 4 Example of Connections to an OMRON Position Control Unit 15 6 15 1 5 Example of Connection to Mitsubishi s QD75D Positioning Module for Position Control 15 7 15 2 Corresponding SERVOPACK and SigmaWin Function Names 15 8 15 2 1 Correspondi...

Страница 555: ...n must be connected at the connector 8 Set the parameters so that the servo can be turned ON and OFF with the S ON Servo ON signal AO_0 NREF PAL PCL AI_0 VTG 0 V for 24 V DO_2 PCON DO_3 24V DI_2 ZERO HOME LS SG PA PC SG AO_1 TREF 0 V for 24 V DO_4 DI_3 P OT DI_0 SVALM SEN 5 V DO_5 SEN for VS866 PBL AI GND 0 V for 24 V DO_1 ALMRST 24V DI_5 EXT DEC SG AI_1 TMON PB SG AO GND 0 V for 24 V DO_0 SV ON D...

Страница 556: ...safety functions to protect people from the hazardous operation of the moving parts of the machine In order to use the safety functions the required circuits must be configured for CN8 If the safety functions will not be used leave the enclosed Safety Jumper Connector connected to the SERVOPACK CN8 Refer to the following chapter for details Chapter 11 Safety Functions ...

Страница 557: ...t wire any unused signal lines i e leave them open 4 The above wiring diagram shows the connections for only one axis If you will use other axes performing wiring to the SERVOPACK in the same way 13a 14a 11a 12a 10a 9a 4a 3a 2a 1a 7 8 11 12 PULS CW PULS CW SIGN CCW SIGN CCW 14 15 CLR CLR 2 2 k 1 2 W 16a 15a 20 19 PCO PCO 1 17a 8a 8b CN1 42 43 40 47 S ON P OT N OT 24 V 024 V Yokogawa Electric s F3Y...

Страница 558: ...17a 8a 9a 10a 11a 12a 13a 1b 1a 7 8 11 12 34 33 36 35 PULS CW PULS CW SIGN CCW SIGN CCW PBO PBO PAO PAO 4 2 SEN 3 SG 3 14 15 CLR CLR 2 2 k 1 2 W 31 32 ALM ALM 20a 19a 20 19 PCO PCO 21 22 BAT 3 BAT 3 1 CN1 42 43 40 47 S ON P OT N OT 24 V 024 V Yokogawa Electric Positioning Module F3NC32 0N or F3NC34 0N SERVOPACK Pulse output A forward 2 Pulse output A forward 2 Pulse output B reverse 2 Pulse output...

Страница 559: ...way 6 All normally closed input terminals that are not used at the Position Control Unit s I O connector section must be connected at the connector 7 Set the parameters so that the servo can be turned ON and OFF with the S ON Servo ON signal 8 The SERVOPACK provides safety functions to protect people from the hazardous operation of the moving parts of the machine In order to use the safety functio...

Страница 560: ...open 5 The above wiring diagram shows the connections for only one axis If you will use other axes make con nections to the SERVOPACK in the same way 6 All normally closed input terminals that are not used at the Positioning Module s I O connector section must be connected at the connector 7 Set the parameters so that the servo can be turned ON and OFF with the S ON Servo ON signal 8 The SERVOPACK...

Страница 561: ...et Option Module Configura tion Error Fn014 Reset Option Module Configuration Error Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Level Set Absolute Linear Encoder Ori gin Fn020 Set Absolute Linear Encoder Origin Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Software Reset Fn030 Software Reset Polarity Detection Fn080 Polarity Detection Tuning less Level Setting F...

Страница 562: ...ncoder pulses from the polarity origin displayed in decimal Rotary Servomotors Rotational Angle 2 deg electrical angle from origin within one encoder rotation Linear Servomotors Electrical Angle 2 deg electrical angle from polarity ori gin Un004 Rotary Servomotors Rotational Angle 2 deg electrical angle from polarity origin Linear Servomotors Electrical Angle 2 deg electrical angle from polarity o...

Страница 563: ...er Multiturn Data Position within One Rotation of Absolute Encoder encoder pulses Un041 Position within One Rotation of Absolute Encoder encoder pulses Lower Bits of Absolute Encoder Position encoder pulses Un042 Lower Bits of Absolute Encoder Position encoder pulses Upper Bits of Absolute Encoder Position encoder pulses Un043 Upper Bits of Absolute Encoder Position encoder pulses Status Monitor P...

Страница 564: ... monitor with Pn080 n X Calculation Method for Maximum Speed or Divided Out put Pulses If Pn080 n 0 the encoder output resolution Pn281 that can be set is displayed If Pn080 n 1 the maximum motor speed Pn385 that can be set is displayed in mm s 2 This applies to the following motors The display will show 0 for all other models SGM7A SGM7J SGM7G SGM7P and SGMCV ...

Страница 565: ...t setting 5 14 additional adjustment functions 8 59 alarm code output 12 5 alarm reset possibility 12 5 ALM 6 8 ALM Servo Alarm signal 6 8 ALO1 6 9 ALO2 6 9 ALO3 6 9 analog input circuits 4 37 Analog Monitor Connector 4 43 analog monitor factors 9 10 anti resonance control 8 51 automatic detection of connected motor 5 16 automatic gain switching 8 60 automatic notch filters 8 31 autotuning with a ...

Страница 566: ... 5 detecting errors in HWBB signal 11 6 resetting 11 5 holding brake 5 36 HWBB 11 4 11 5 detecting errors in HWBB signal 11 6 HWBB input signal specifications 11 6 HWBB state resetting 11 5 I I O signals allocations 6 4 functions 4 27 monitoring 9 5 names 4 27 wiring example 4 31 initializing the vibration detection level 6 93 input signals allocations 6 4 internal set speed 6 53 internal set spee...

Страница 567: ...orward Drive Prohibit signal 5 32 program jogging 7 20 operation pattern 7 20 proportional control P control 8 65 PULS 4 28 Pulse Reference Input 4 28 R reference pulse form 6 28 reference pulse inhibition function 6 35 reference pulse input multiplication switching 6 31 reference pulse input multiplier 6 31 reference unit 5 46 Regenerative Resistor connection 4 17 regenerative resistor 5 57 regen...

Страница 568: ...nding air humidity 2 3 surrounding air temperature 2 3 switching condition A 8 60 System Monitor 9 3 T test without a motor 7 26 TH 4 27 three phase AC power supply input setting 5 15 three phase 200 VAC power supply input 4 11 wiring example 4 14 time required to brake 5 36 time required to release brake 5 36 torque control 6 37 automatic offset adjustment 6 38 manual offset adjustment 6 40 torqu...

Страница 569: ...the back cover Date of Publication Rev No Section Revised Contents May 2014 Front matter Change Safety Parameters 3 7 Newly added Chapter 12 Addition A EC8 and A EC9 April 2014 First edition MANUAL NO SIEP S800001 26B Published in Japan May 2014 14 4 Date of publication Date of original publication Rev No 1 S_Analog 1 ...

Страница 570: ...ct Shanghai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 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 ...

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