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11.3 EDM1 (External Device Monitor)

11.3.1 EDM1 Output Signal Specifications

11-8

11.3

EDM1 (External Device Monitor)

The EDM1 (External Device Monitor) signal is used to monitor failures in the HWBB. Connect
the monitor signal as a feedback signal, e.g., to the Safety Unit.

Note: To meet performance level e (PLe) in EN ISO 13849-1 and SIL3 in IEC 61508, the EDM1 signal must be mon-

itored by the host controller. If the EDM1 signal is not monitored by the host controller, the level will be safety
performance level c (PLc) and SIL1.

•

Failure Detection Signal for EDM1 Signal

The relationship between the EDM1, /HWBB1, and /HWBB2 signals is shown below.

Detection of failures in the EDM1 signal circuit can be achieved by using the status of the
/HWBB1, /HWBB2, and EDM1 signals 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 (/HWBB1 and /HWBB2)
when the safety function is operating normally, the EDM1 output signal will be turned ON within 8 ms.

Signal

Logic

/HWBB1

ON

ON

OFF

OFF

/HWBB2

ON

OFF

ON

OFF

EDM1

OFF

OFF

OFF

ON

WARNING



The EDM1 signal is not a safety output. Use it only for monitoring for failures.

8 ms max.

/HWBB1
/HWBB2

EDM1

OFF (motor current shut-OFF request)

ON

(normal operation)

OFF

ON

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397
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Содержание E-7S SERVOPACK SGD7S

Страница 1: ...tion Selecting a SERVOPACK Installation Wiring and Connecting Application Functions Trial Operation Tuning Monitoring Fully Closed Loop Control Safety Functions Settings for the INDEXER Module Operation with Digital I O Maintenance Parameter Lists Appendices Basic Functions That Require Setting before Operation Operation with Serial Command Communications 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 ...

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: ...unctions Describes the application functions that you can set before you start servo system operation It also describes the setting methods 7 Trial Operation Provides information on the flow and procedures for trial operation and convenient functions to use during trial operation 8 Tuning Provides information on the flow of tuning details on tuning functions and related operating procedures 9 Moni...

Страница 4: ...otors Other Documents Built in Function Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Product Manuals such as this manual Σ 7 Series Σ 7S Σ 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK FT EX Product Manuals Option Module User s Manual Σ 7 Series Servomotor Product Manuals Σ 7 Series Σ 7C SERVOPACK Product Manual Σ 7 Series Σ 7C SERVOPACK Trouble...

Страница 5: ...etailed information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and Σ 7 Series Σ 7C SERVO PACKs Option Module User s Manuals Machine Controller MP2000 Series Communication Module User s Manual SIEP C880700 04 Provide detailed information on the specifications and communica t...

Страница 6: ... procedures for installing the Safety Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for installing the INDEXER Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installin...

Страница 7: ...d Option Attachable Type with INDEXER Module Product Manual This manual SIEP S800001 64 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001 70 Σ 7 Series AC Servo Drive Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual SIEP S800001 29 Σ 7 Series Σ 7S Σ 7W SERVOPACK with Hardware Option Specifications ...

Страница 8: ...Manual SIEP S800001 95 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 Option Module User s Manual AC Servo Drives Σ V Series Σ V Series for Large Capacity Mo...

Страница 9: ...mmunications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a Σ 7 Series Servo System Σ 7 Series AC Servo Drive MECHATROLINK III Communications Standard Servo Profile Command Manual SIEP S800001 31 Provides detailed information on the MECHATROLINK III communi cations standard servo profile com mands that are used for a...

Страница 10: ...Series Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a Σ 7 Series Servo System Distributed I O Module User s Manual MECHATROLINK III Compatible I O Module User s Manual SIEP C880781 04 Describes the functions specifica tions operating methods and MECHATROLINK III communica tions ...

Страница 11: ...K Servo 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 i...

Страница 12: ...tion n indicates a parameter for selecting functions Each indicates the setting for one digit The notation shown here means that the third digit from the right is set to 2 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 unit setting increment that you can set for the parameter...

Страница 13: ...sed 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 ...

Страница 14: ...mation 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 ...

Страница 15: ...dify 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 External Dynamic Brake Resistors Servo motors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety measures such as installing covers so that hands and parts s...

Страница 16: ...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 17: ...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 or SERVOPACK in ...

Страница 18: ...ERVOPACK 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 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 r...

Страница 19: ...the SERVOPACK only after all wiring including 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 adjacen...

Страница 20: ...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 line breaks Do not change the polarity of this type of signal When overtravel occurs the power supply to the motor is turned OFF and the brake is released If you use the Servomotor to drive a vertical load set the Servomotor to enter a zero clamped state after the...

Страница 21: ... 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 at least six minutes after turning OFF the ...

Страница 22: ...lways insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply If a magnetic contactor is not connected when the SERVOPACK fails a large current may flow possibly resulting in fire If an alarm occurs shut OFF the main circuit power supply There...

Страница 23: ... of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without notice for product improvements specifications changes and improvements to the manual itself We will update the document number of the document and issue revisions when changes are made Any and all qua...

Страница 24: ...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 25: ...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 26: ...27 Direct Drive Servomotors SGM7E 1 SGM7F 2 SGMCV UL 1004 1 UL 1004 6 E165827 Linear Servomotors SGLGW SGLFW SGLFW2 1 SGLTW UL 1004 E165827 Product Model EU Directive Harmonized Standards SERVOPACKs SGD7S Machinery Directive 2006 42 EC EN ISO13849 1 2015 EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Category C2 Second environment Low Voltage Directive 2014 ...

Страница 27: ...Linear Servomotors SGLG SGLF SGLFW2 SGLT EMC Directive 2004 108 EC EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 Low Voltage Directive 2006 95 EC EN 60034 1 Product Model Safety Standards Standards SERVOPACKs SGD7S Safety of Machinery EN ISO13849 1 2015 IEC 60204 1 Functional Safety IEC 61508 series IEC 62061 IEC 61800 5 2 EMC IEC 61326 3 1 Item Standards Performance Level Safety Integrity Le...

Страница 28: ...lays 1 10 1 5 1 Panel Display 1 10 1 5 2 Indicators 1 11 1 6 Model Designations 1 12 1 6 1 Interpreting SERVOPACK Model Numbers 1 12 1 6 2 Interpreting INDEXER Module Model Numbers 1 13 1 6 3 Interpreting Servomotor Model Numbers 1 14 1 7 Combinations of SERVOPACKs and Servomotors 1 15 1 7 1 Combinations of Rotary Servomotors and SERVOPACKs 1 15 1 7 2 Combinations of Direct Drive Servomotors and S...

Страница 29: ...tor Specifications 2 26 2 4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices 2 27 Installation 3 3 1 Installation Precautions 3 2 3 2 Attaching the INDEXER Module to the SERVOPACK 3 3 3 3 Mounting Types and Orientation 3 4 3 4 Mounting Hole Dimensions 3 5 3 5 Mounting Interval 3 7 3 5 1 Installing One SERVOPACK in a Control Panel 3 7 3 5 2 Installing More Than One SERVOPA...

Страница 30: ...les 4 44 4 6 4 Wiring Precautions 4 45 4 7 Connecting Safety Function Signals 4 46 4 7 1 Pin Arrangement of Safety Function Signals CN8 4 46 4 7 2 I O Circuits 4 46 4 8 Connecting the Other Connectors 4 48 4 8 1 Serial Communications Connector CN3 4 48 4 8 2 Computer Connector CN7 4 48 4 8 3 Analog Monitor Connector CN5 4 48 Basic Functions That Require Setting before Operation 5 5 1 Manipulating ...

Страница 31: ...opping Methods for Servo OFF and Alarms 5 35 5 12 1 Stopping Method for Servo OFF 5 36 5 12 2 Servomotor Stopping Method for Alarms 5 36 5 13 Motor Overload Detection Level 5 39 5 13 1 Detection Timing for Overload Warnings A 910 5 39 5 13 2 Detection Timing for Overload Alarms A 720 5 40 5 14 Electronic Gear Settings 5 41 5 14 1 Electronic Gear Ratio Settings 5 42 5 14 2 Electronic Gear Ratio Set...

Страница 32: ...ing Procedure 6 33 6 10 4 Related Parameters 6 35 6 11 Adjusting the Motor Current Detection Signal Offset 6 36 6 11 1 Automatic Adjustment 6 36 6 11 2 Manual Adjustment 6 38 6 12 Overheat Protection 6 40 6 12 1 Connecting the Overheat Protection Input TH Signal 6 40 6 12 2 Overheat Protection Selection 6 41 Trial Operation 7 7 1 Flow of Trial Operation 7 2 7 1 1 Flow of Trial Operation for Rotary...

Страница 33: ...rms 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 Related Parameters 8 14 8 5 Estimating the Moment of Inertia 8 15 8 5 1 Outline 8 15 8 5 2 Restrictions 8 16 8 5 3 Applicable Tools 8 16 8 5 4 Operating Procedure 8 17 8 6 Autotuning without Host Reference 8 23 8 6 1 Outline 8 23 8 6 2 Restrictions 8 24 8 6 3 Applicable Tools 8 ...

Страница 34: ... 10 2 Preparations 8 55 8 10 3 Applicable Tools 8 55 8 10 4 Operating Procedure 8 55 8 10 5 Related Parameters 8 57 8 11 Speed Ripple Compensation 8 58 8 11 1 Outline 8 58 8 11 2 Setting Up Speed Ripple Compensation 8 58 8 11 3 Setting Parameters 8 62 8 12 Additional Adjustment Functions 8 64 8 12 1 Automatic Gain Switching 8 64 8 12 2 Friction Compensation 8 67 8 12 3 Gravity Compensation 8 69 8 ...

Страница 35: ...ve Maintenance 9 16 9 5 Alarm Tracing 9 17 9 5 1 Data for Which Alarm Tracing Is Performed 9 17 9 5 2 Applicable Tools 9 17 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 Diagram for Fully Closed Loop Control 10 5 10 3 2 Setting the Motor Direction and the Machine...

Страница 36: ...ions Examples for Safety Functions 11 9 11 4 1 Connection Example 11 9 11 4 2 Failure Detection Method 11 9 11 4 3 Procedure 11 10 11 5 Validating Safety Functions 11 11 11 6 Connecting a Safety Function Device 11 12 Settings for the INDEXER Module 12 12 1 Moving Mode and Coordinate Settings 12 2 12 1 1 When the Coordinates are the Linear Type 12 2 12 1 2 When the Coordinates are the Rotary Type 1...

Страница 37: ...eed Table Operation 13 44 13 4 1 Input Signals Related to Jog Operation 13 44 13 4 2 Jog Speeds 13 44 13 4 3 Jog Speed Table and Speed Selection Signals 13 45 13 4 4 SigmaWin Procedures 13 45 13 4 5 Jog Speed Table Operation Example 13 50 13 4 6 Timing of Signal Changes 13 51 13 5 ZONE Outputs 13 52 13 5 1 ZONE Table and ZONE Signals 13 52 13 5 2 Parameters Related to ZONE Signals 13 54 13 5 3 Sig...

Страница 38: ...y 15 3 15 2 Alarm Displays 15 5 15 2 1 List of Alarms 15 5 15 2 2 Troubleshooting Alarms 15 12 15 2 3 INDEXER Module Alarm Displays and Troubleshooting 15 44 15 2 4 Resetting Alarms 15 48 15 2 5 Displaying the Alarm History 15 48 15 2 6 Clearing the Alarm History 15 49 15 2 7 Resetting Alarms Detected in Option Modules 15 50 15 2 8 Resetting Motor Type Alarms 15 52 15 3 Warning Displays 15 53 15 3...

Страница 39: ... Utility Function Names 17 2 17 1 2 Corresponding SERVOPACK Monitor Display Function Names 17 4 17 2 Operation of Digital Operator 17 8 17 2 1 Overview 17 8 17 2 2 Operation of Utility Functions 17 10 17 3 Alphabetical List of Serial Commands 17 31 17 4 Corresponding Parameter Numbers 17 34 Index Revision History ...

Страница 40: ... 4 1 2 2 Serial Commands 1 6 1 3 Interpreting the Nameplate 1 7 1 3 1 SERVOPACK Nameplate 1 7 1 3 2 INDEXER Module Nameplate 1 7 1 4 Part Names 1 8 1 5 Interpreting Panel Displays 1 10 1 5 1 Panel Display 1 10 1 5 2 Indicators 1 11 1 6 Model Designations 1 12 1 6 1 Interpreting SERVOPACK Model Numbers 1 12 1 6 2 Interpreting INDEXER Module Model Numbers 1 13 1 6 3 Interpreting Servomotor Model Num...

Страница 41: ...s and Servomotors 1 15 1 7 1 Combinations of Rotary Servomotors and SERVOPACKs 1 15 1 7 2 Combinations of Direct Drive Servomotors and SERVOPACKs 1 16 1 7 3 Combinations of Linear Servomotors and SERVOPACKs 1 18 1 8 Functions 1 20 ...

Страница 42: ... will make the most of machine performance in the shortest time possible thus contributing to improving productivity The Σ 7 Series Command Option Attachable Type SERVOPACKs can be combined with Σ V Series Option Modules to achieve the required control capabilities This manual describes the application of a Command Option Attachable type SERVOPACK used in combination with an INDEXER Module Note ...

Страница 43: ... I O signal patterns binary format If the jog speed table mode 1 is being used the jog speed selected with the input signal pattern binary format can be executed Program Table An INDEXER Module with a firmware version of 3 or higher is required to use the INDEXER Module with a Σ 7 Series SERVOPACK An INDEXER Module can be attached only to a Command Option Attachable type SERVO PACK Note PGMSTEP PO...

Страница 44: ...se operation at the jog speed is performed while the JOGN signal is ON JSPD JOG3 JOG2 JOG1 JOG0 Jog Speed 0 0 0 0 0 1000 1 0 0 0 1 2000 2 0 0 1 0 4000 15 1 1 1 1 5500 Note 1 Signal is ON active 0 Signal is OFF inactive 16 combi nations JOGP 1 JOGN 2 JOG0 JOG1 JOG2 JOG3 JSPD0 JSPD1 JSPD3 JSPD2 JSPD6 JSPD7 JSPD5 JSPD4 JSPD12 JSPD13 JSPD15 JSPD14 JSPD10 JSPD11 JSPD9 JSPD8 JSPD8 Speed ...

Страница 45: ...pose serial communications RS422 RS485 to perform indepen dent control of up to 16 axes from one host controller e g PC or HMI Computer RS 422 RS 485 16 axes max Positioning speed SPD Path when an S curve filter is set Acceleration rate ACC Deceleration rate DEC Target position POS Speed Time 1SVON Servo turned ON 1POSI 400000 Set relative position to 400 000 1SPD 2000 Set speed to 2 000 1ACC 200 ...

Страница 46: ...ing the Nameplate The following basic information is provided on the nameplate 1 3 1 SERVOPACK Nameplate 1 3 2 INDEXER Module Nameplate Degree of protection SERVOPACK model Order number Serial number Surrounding air temperature BTO information Name Option Module model number Manufacturing number ...

Страница 47: ...rs Light according to the status of the INDEXER Module page 1 13 Serial Communications Con nector CN3 Connects to the Digital Operator a peripheral device or a computer RS 422 page 4 48 I O Signal Connector CN11 Connects to sequence I O signals page 4 38 Computer Connector CN7 A USB connector to connect a computer page 4 48 Serial Command Communi cations Connector CN12 Used for serial command comm...

Страница 48: ...supplied COM Not used Always not lit Analog Monitor Connector CN5 You can use a special cable peripheral device to monitor the motor speed torque reference or other values page 4 48 Panel Display Displays the servo status with a seven segment display Continued from previous page No Name Description Reference 21 22 23 24 25 26 ...

Страница 49: ...oftware Limit Displays If overtravel has occurred or if a software limit has been reached the display will change in the following order Display Meaning Display Meaning Rotation Detection Display Lit if the Servomotor speed is higher than the setting of Pn502 or Pn581 and not lit if the speed is lower than the setting The default set ting is 20 min 1 or 20 mm s Reference Input Display Lit while a ...

Страница 50: ... Module Status Red indicator Green indicator Control Power Supply OFF Not lit Not lit Control Power Supply ON Not lit Flashing Normal Not lit Lit Overtravel Software Limit Activated Resetting Flashing Saving a Table Initializing a Table Initializing Parameters Error Flashing 2 seconds Warning Flashing Alarm Lit Not lit Red indicator Green indicator ...

Страница 51: ...Ks 4th digit 1st 2nd 3rd digits 5th 6th digits 8th 9th 10th digits 7th digit 000 B 11th 12th 13th digits 14th digit 001 000 002 SGD7S 120A 008 Single phase 200 VAC power supply input None 000 None Specification Code FT EX Specification None B None BTO specification Specification Code BTO Specification 5 SGD7S R70A to 2R8A 020 4 No dynamic brake External dynamic brake resistor SGD7S 3R8A to 780A SG...

Страница 52: ...les are used with Σ 7 Series SERVOPACKs 2 The same INDEXER Module is used for both Rotary Servomotors and Linear Servomotors A03 A Interface 2 Code Specification INDEXER Design Revision Order 6th digit OC Command option module SGDV OC A03 Module Type Code Specification Σ V Series 1 6th digit 1st 2nd digits 3rd 4th 5th digits 3rd 4th 5th digits 1st 2nd digits A ...

Страница 53: ...coder 24 bit absolute encoder 24 bit incremental encoder 1st 2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 1st 2nd digits 3rd digit 4th digit 5th digit 7th digit 6th digit Series Σ 7 Series Servomotors SGM 02 B 3 C 1 1 Rated Torque Servomotor Outer Diameter Serial Encoder Specification Flange Specification Cable drawn to load side Cable drawn to non load side Option Specification Hi...

Страница 54: ...7J 06A 600 W 5R5A SGM7J 08A 750 W SGM7A Low Inertia Small Capacity 3 000 min 1 SGM7A A5A 50 W R70A or R70F SGM7A 01A 100 W R90A or R90F SGM7A C2A 150 W 1R6A or 2R1F SGM7A 02A 200 W SGM7A 04A 400 W 2R8A or 2R8F SGM7A 06A 600 W 5R5A SGM7A 08A 750 W SGM7A 10A 1 0 kW 120A SGM7A 15A 1 5 kW SGM7A 20A 2 0 kW 180A SGM7A 25A 2 5 kW 200A SGM7A 30A 3 0 kW SGM7A 40A 4 0 kW 330A SGM7A 50A 5 0 kW SGM7A 70A 7 0 ...

Страница 55: ...E 35 105 SGM7F Small Capacity With Core Inner Rotor SGM7F 02A 2 6 2R8A or 2R1F SGM7F 05A 5 15 SGM7F 07A 7 21 2R8A or 2R8F SGM7F 04B 4 12 SGM7F 10B 10 30 SGM7F 14B 14 42 5R5A SGM7F 08C 8 24 2R8A or 2R8F SGM7F 17C 17 51 5R5A SGM7F 25C 25 75 7R6A SGM7F 16D 16 48 5R5A SGM7F 35D 35 105 7R6A or 120A SGM7F Medium Capacity With Core Inner Rotor SGM7F 45M 45 135 7R6A SGM7F 80M 80 240 120A SGM7F 80N 80 240 ...

Страница 56: ...eless Inner Rotor SGMCS 02B 2 6 2R8A or 2R1F SGMCS 05B 5 15 SGMCS 07B 7 21 SGMCS 04C 4 12 2R8A or 2R8F SGMCS 10C 10 30 SGMCS 14C 14 42 SGMCS 08D 8 24 SGMCS 17D 17 51 SGMCS 25D 25 75 SGMCS 16E 16 48 5R5A SGMCS 35E 35 105 SGMCS Medium Capacity With Core Inner Rotor SGMCS 45M 45 135 7R6A SGMCS 80M 80 240 120A SGMCS 80N 80 240 SGMCS 1AM 110 330 180A SGMCS 1EN 150 450 200A SGMCS 2ZN 200 600 Continued f...

Страница 57: ...GLGW 90A370C 550 2200 180A SGLGW 90A535C 750 3000 200A SGLG Coreless Used with High Force Magnetic Way SGLGW 40A140C 57 230 1R6A or 2R1F SGLGW 40A253C 114 460 2R8A or 2R8F SGLGW 40A365C 171 690 3R8A SGLGW 60A140C 85 360 1R6A or 2R1F SGLGW 60A253C 170 720 3R8A SGLGW 60A365C 255 1080 7R6A SGLF With F type Iron Cores SGLFW 20A090A 25 86 1R6A or 2R1F SGLFW 20A120A 40 125 SGLFW 35A120A 80 220 SGLFW 35A...

Страница 58: ...0A320A 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 40A600B 1000 4000 330A SGLTW 50A170H 450 900 5R5A SGLTW 50A320H 900 1800 120A SGLTW 80A400B 1300 5000 330A SGLTW 80A600B 2000 7500 550A Continued from previous page Linear Servomotor Model Rated ...

Страница 59: ...er page 5 50 Setting the Regenerative Resistor Capacity page 5 53 Operation for Momentary Power Interruptions page 6 11 SEMI F47 Function page 6 12 Setting the Motor Maximum Speed page 6 14 Multiturn Limit Setting page 6 25 Adjustment of Motor Current Detection Signal Offset page 6 36 Software Limits and Settings page 12 2 Overheat Protection page 6 40 Speed Ripple Compensation page 8 58 Current C...

Страница 60: ... Functions page 8 84 Mechanical Analysis page 8 88 Easy FFT page 8 89 Function Reference Software Reset page 6 30 Trial Operation for the Servomotor without a Load page 7 7 Program Jog Operation page 7 14 Origin Search page 7 20 Test without a Motor page 7 22 Monitoring Machine Operation Status and Signal Waveforms page 9 7 Function Reference Write Prohibition Setting for Parameters page 5 6 Initi...

Страница 61: ...ference Homing page 14 12 Positioning Jog Operation and Registration with Serial Commands page 14 15 Positioning with a Program Table page 14 24 Editing a Jog Speed Table page 14 29 Editing a ZONE Table page 14 29 Editing Parameters Monitoring and Utility Func tions page 14 30 ...

Страница 62: ...0A and 1R6A 2 11 2 2 2 SGD7S 2R8A 2 11 2 2 3 SGD7S 3R8A 5R5A and 7R6A 2 12 2 2 4 SGD7S 120A 2 13 2 2 5 SGD7S 180A and 200A 2 15 2 2 6 SGD7S 330A 2 16 2 2 7 SGD7S 470A and 550A 2 17 2 2 8 SGD7S 590A and 780A 2 18 2 2 9 SGD7S R70F R90F and 2R1F 2 19 2 2 10 SGD7S 2R8F 2 19 2 3 External Dimensions 2 20 2 3 1 Front Cover Dimensions and Connector Specifications 2 20 2 3 2 SERVOPACK External Dimensions 2...

Страница 63: ...50 Hz 60 Hz Input Current Arms 0 4 0 8 1 3 2 5 3 0 4 1 5 7 7 3 10 15 25 Con trol Power Supply 200 VAC to 240 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 0 2 0 2 0 2 0 2 0 2 0 2 0 2 0 2 0 25 0 25 0 3 Power Supply Capacity kVA 0 2 0 3 0 5 1 0 1 3 1 6 2 3 3 2 4 0 5 9 7 5 Power Loss Main Circuit Power Loss W 5 0 7 0 11 9 22 5 28 5 38 9 49 2 72 6 104 2 114 2 226 6 Control Circuit Power Loss W 12 12 12 ...

Страница 64: ...9 4 External Regen erative Resistor Unit External Regenerative Resistor Unit Resistance Ω 6 25 2 3 13 3 3 13 3 3 13 3 Capacity W 880 2 1760 3 1760 3 1760 3 Minimum Allowable External Resistance Ω 5 8 2 9 2 9 2 9 Overvoltage Category III Model SGD7S R70A R90A 1R6A 2R8A 5R5A 120A Maximum Applicable Motor Capacity kW 0 05 0 1 0 2 0 4 0 75 1 5 Continuous Output Current Arms 0 66 0 91 1 6 2 8 5 5 11 6 ...

Страница 65: ... 0 5 0 6 0 7 5 11 0 15 0 Continuous Output Current Arms 18 5 19 6 32 9 46 9 54 7 58 6 78 0 Instantaneous Maximum Output Current Arms 42 0 56 0 84 0 110 130 140 170 Main Circuit Power Supply 270 VDC to 324 VDC 15 to 10 Input Current Arms 14 20 34 36 48 68 92 Control Power Supply 270 VDC to 324 VDC 15 to 10 Input Current Arms 0 25 0 25 0 3 0 3 0 3 0 4 0 4 Power Supply Capacity kVA 4 0 5 9 7 5 10 7 1...

Страница 66: ...2 1 2 Power Loss in the INDEXER Module Power is supplied to the INDEXER Module from the control power supply of the SERVOPACK The power loss is given in the following table Item Specifications Min operating voltage 5 05 V Max operating voltage 5 25 V Max operating current 500 mA Max power loss 2 6 W ...

Страница 67: ...tion with an output of 100 or higher For a Yaskawa specified combination of SERVOPACK and Servomotor maintain the effective torque within the continuous duty zone of the torque motor speed characteristic of the Servomotor SGD7S 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A and 780A Note The above overload protection characteristics do not mean that you can perform continuous duty operation wit...

Страница 68: ... flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 000 m or less Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electromagnetic magnetic fields or radioactivity Applicable Standards Refer to the following section for details Compliance with UL Standards EU Directives and Othe...

Страница 69: ...le voltage range 24 VDC 10 Number of input points 11 MODE 0 1 Mode Switch Input signal Mode 0 Mode 1 START STOP Program Table Operation Start Stop Input sig nal PGMRES Program Table Oper ation Reset Input signal SEL0 Program Step Selection Input 0 signal SEL1 Program Step Selection Input 1 signal SEL2 Program Step Selection Input 2 signal SEL3 Program Step Selection Input 3 signal SEL4 Program Ste...

Страница 70: ...ut signals INPOSITION Positioning Completion Output signal POUT0 Programmable Output 0 signal POUT1 Programmable Output 1 signal POUT2 Programmable Output 2 signal POUT3 Programmable Output 3 signal POUT4 Programmable Output 4 signal POUT5 Programmable Output 5 signal POUT6 Programmable Output 6 signal POUT7 Programmable Output 7 signal Communi cations Digital Opera tor Com municati ons CN3 Interf...

Страница 71: ...um 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 An external resistor must be connected to the SGD7S 470A to 780A Refer to the following manual for details Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 Overtr...

Страница 72: ...ive Gate drive overcurrent protection Temperature sensor Safety function signals Main circuit power supply Control power supply Status display INDEXER Module Feedback Module L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W CN3 CN7 CN2 ENC CN5 M CHARGE CN8 I O CN1 Processor PWM control position speed calculations etc Control power supply Digital Operator Computer Current sensor Dynamic brake circuit Servomotor ...

Страница 73: ...rol power supply Digital Operator Computer 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 Fan Status display I O signals INDEXER...

Страница 74: ...eed calculations etc Control power supply Digital Operator Computer 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 Gate drive Overheat overcurrent protection ...

Страница 75: ...igital Operator Computer Safety function signals Status display Analog voltage converter Control power supply I O Encoder divided pulse output Analog monitor output I O signals INDEXER Module Feedback Module L1 B1 B2 B3 L2 L3 1 2 U V W ENC M CHARGE Main circuit power supply Varistor Varistor Voltage sensor Current sensor Voltage sensor Relay drive Temperature sensor Gate drive Dynamic brake circui...

Страница 76: ...etc Control power supply Digital Operator Computer 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 Status display I O signals I...

Страница 77: ...gital Operator Computer Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Thyristor drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan 1 Gate drive Overheat overcurrent protection Status display I O signals Fan 2 INDEXER Module F...

Страница 78: ... power supply Digital Operator Computer Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Thyristor drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan 1 Gate drive Overheat overcurrent protection Status display I O signals Fan 2 ...

Страница 79: ...igital Operator Computer Current sensor Dynamic brake circuit Servomotor Analog voltage converter Encoder divided pulse output Analog monitor output Voltage sensor Voltage sensor Varistor Varistor Thyristor drive Temperature sensor Safety function signals Main circuit power supply Control power supply Fan 1 Gate drive Overheat overcurrent protection Status display I O signals Fan 2 Fan 3 Fan 4 IND...

Страница 80: ...upply Analog voltage converter CN1 CN5 Analog monitor output Safety function signals CN8 I O Encoder divided pulse output I O signals INDEXER Module Feedback Module Processor PWM control position speed calculations etc Control power supply B1 B2 L1C L2C U V W Current sensor Dynamic brake circuit CN2 Servomotor ENC Gate drive Varistor M Gate drive overcurrent protection Temperature sensor Control p...

Страница 81: ...RVOPACKs 2 3 2 SERVOPACK External Dimensions Base mounted SERVOPACKs Three phase 200 VAC SGD7S R70A R90A and 1R6A Connector No Model Number of Pins Manufacturer CN1 10226 59A3MB 26 3M Japan Limited CN2 3E106 0220KV 6 3M Japan Limited 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 CN3 CN1 CN8 CN2 Front c...

Страница 82: ...or 20 0 5 mounting pitch Mounting Hole Diagram Unit mm Approx mass 1 0 kg 160 168 8 40 170 18 4 75 168 5 2 M4 40 5 25 Two sets of terminals Ground terminals 2 M4 58 0 5 mounting pitch 160 0 5 mounting pitch Exterior Mounting Hole Diagram Unit mm Approx mass 1 6 kg Two sets of terminals 160 168 8 70 180 75 18 4 70 6 168 3 M4 5 25 Two sets of terminals Ground terminals 2 M4 160 0 5 mounting pitch Ex...

Страница 83: ... Mounting Hole Diagram Unit mm Approx mass 2 7 kg Terminals 14 M4 Terminal Details 3 M4 180 8 100 180 100 12 5 4 75 188 188 5 258 6 4 M5 13 110 210 5 75 8 250 258 110 Ground terminals 2 M4 250 0 5 mounting pitch Exterior 84 0 5 mounting pitch Unit mm Approx Mass 4 4 kg Mounting Hole Diagram Terminal Details Terminals 13 M4 Mounting Hole Diagram Unit mm Approx Mass 8 2 kg 302 5 0 5 mounting pitch 1...

Страница 84: ...ls 8 M6 Unit mm Approx Mass 15 5 kg 375 0 5 mounting pitch 200 0 5 mounting pitch Exterior Mounting Hole Diagram 260 210 75 30 260 390 390 7 5 4 M6 Unit mm Approx mass 0 8 kg Exterior Mounting Hole Diagram 180 0 5 mounting pitch Ground terminals 2 M4 Two sets of terminals 2 M4 25 168 160 40 18 75 140 195 17 5 2 36 24 5 2 20 7 5 166 min 7 195 40 Unit mm Approx mass 1 0 kg Exterior Mounting Hole Dia...

Страница 85: ... terminals 166 min 195 36 5 70 2 M4 7 5 7 25 75 180 18 24 5 2 160 168 70 195 18 5 36 17 5 Exterior 180 0 5 mounting pitch 50 0 5 mounting pitch Unit mm Approx mass 2 2 kg Mounting Hole Diagram Ground terminals 2 M4 Two sets of terminals 17 5 12 5 65 10 160 168 195 90 70 75 180 18 25 24 5 2 20 90 4 M4 195 7 7 5 166 min Exterior 200 0 5 mounting pitch 50 0 5 mounting pitch Unit mm Approx mass 2 7 kg...

Страница 86: ... mounting pitch 50 0 5 mounting pitch Unit mm Approx mass 4 9 kg Ground terminals 2 M4 Mounting Hole Diagram 4 M5 285 7 7 7 5 30 5 256 min 116 75 210 2 6 24 5 116 111 2 5 2 5 250 17 5 285 Approx mass 8 4 kg Unit mm Through hole 162 min mounting pitch 4 M6 145 0 5 170 8 5 4 320 min 335 0 5 mounting pitch 350 7 5 7 5 315 17 5 71 75 210 139 Terminals 4 M5 Terminals 8 M5 Ground terminals 2 M5 170 350 ...

Страница 87: ... or their equivalents are used for the SERVOPACKs Unit mm Approx mass 13 8 kg Terminals 4 M6 Terminals 8 M6 Ground terminals 2 M6 75 75 136 64 292 5 390 375 0 5 mounting pitch 330 min 7 5 30 390 4 M6 Through hole Exterior Mounting Hole Diagram 244 min mounting pitch 235 0 5 260 4 5 8 260 Connector No Model Number of Pins Manufacturer CN11 10236 52A2PL 36 3M Japan Ltd CN12 10214 52A2PL 14 3M Japan ...

Страница 88: ...signals may malfunction Servomotor Main Circuit Cable Encoder Cable Battery Case Holding brake power supply unit 3 Magnetic Contactor Wires required for a Servomotor with a Brake External Regenerative Resistor 2 Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable SERVOPACK Rotary Servomotor Direct Drive Servomotor Power supply Three phase 200 VAC 1 Used for an absolute enc...

Страница 89: ...ternal Regenerative Resistor 2 Noise Filter Molded case circuit breaker Magnetic Contactor I O Signal Cable SERVOPACK Power supply Three phase 200 VAC 1 Computer Computer Cable External Regenerative Resistor Cable Control Power Supply Cable Digital Operator Digital Operator cable Analog Monitor Cable SERVOPACK main circuit wires Sequence I O signal cable Host controller Serial command communicatio...

Страница 90: ...the INDEXER Module to the SERVOPACK 3 3 3 3 Mounting Types and Orientation 3 4 3 4 Mounting Hole Dimensions 3 5 3 5 Mounting Interval 3 7 3 5 1 Installing One SERVOPACK in a Control Panel 3 7 3 5 2 Installing More Than One SERVOPACK in a Control Panel 3 7 3 6 Monitoring the Installation Environment 3 8 3 7 EMC Installation Conditions 3 9 Installation 3 ...

Страница 91: ...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 92: ... 3 2 Attaching the INDEXER Module to the SERVOPACK Install the INDEXER Module correctly according to the installation procedures that are included with it Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide Command Option Module TOBP C720829 01 ...

Страница 93: ...rtically 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 Rack SERVOP...

Страница 94: ...s 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 R70F R90F 2R1F 168 5 160 0 5 40 5 25 M4 2 3R8A 5R5A 7R6A 2R8F 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 120AE0A008 188 5 180 0 5 100 95 12 5 75 0 5 M4 3 330A 258 6 250 0 5 110 5 100 0 5 13 84 0 5 M5 4 470A 550A 315 6 302 5 0 5 ...

Страница 95: ...RVOPACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S R70A R90A 1R6A 168 5 150 0 5 40 35 35 M4 2 2R8A R70F R90F 2R1F 168 5 150 0 5 40 5 35 M4 2 3R8A 5R5A 7R6A 2R8F 168 5 150 0 5 70 6 58 0 5 6 M4 3 120A 168 5 150 0 5 90 5 80 0 5 5 M4 3 180A 200A 120AE0A008 188 5 170 0 5 100 95 5 90 0 5 M4 3 330A 250 6 238 5 0 5 110 5 100 0 5 5 100 0 5 M5 4 470A 550A 590A 780A A special attac...

Страница 96: ... looking at the 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 R...

Страница 97: ...nitor SERVOPACK 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 temperature giv...

Страница 98: ...pplicable 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 Function Device Cable Shielded cable Servomotor Main Circuit Cable Shielded cable Encoder Cable Shielded cable Main Circuit Power Cable Shielded cable Cable for Serial Command Communicatio...

Страница 99: ...elded cable Main Circuit Power Cable Shielded cable Cable for Serial Command Communications Shielded cable CN1 CN2 L1C L2C PE PE Host controller Clamp INDEXER Module CN12 CN11 Safety device Clamp CN8 L1C and L2C L1 and L2 U V and W Noise filter Surge absorber Clamp Brake Servomotor Encoder Brake power supply SERVOPACK I O controller Shield box Power supply Single phase 200 VAC Clamp Clamp Clamp Cl...

Страница 100: ...r Cable Shielded cable Main Circuit Power Cable Shielded cable Cable for Serial Command Communications Shielded cable CN1 CN2 PE PE Host controller Clamp INDEXER Module CN12 CN11 Safety device Clamp CN8 L1C and L2C L1 and L2 U V and W Noise filter Surge absorber Clamp Brake Servomotor Encoder Brake power supply SERVOPACK I O controller Shield box Power supply Single phase 100 VAC Clamp Clamp Clamp...

Страница 101: ... 2 Wiring Procedure for Main Circuit Connector 4 14 4 3 3 Power ON Sequence 4 15 4 3 4 Power Supply Wiring Diagrams 4 17 4 3 5 Wiring Regenerative Resistors 4 23 4 3 6 Wiring Reactors for Harmonic Suppression 4 25 4 4 Wiring Servomotors 4 26 4 4 1 Terminal Symbols and Terminal Names 4 26 4 4 2 Pin Arrangement of Encoder Connector CN2 4 26 4 4 3 Wiring the SERVOPACK to the Encoder 4 27 4 4 4 Wiring...

Страница 102: ... Examples 4 44 4 6 4 Wiring Precautions 4 45 4 7 Connecting Safety Function Signals 4 46 4 7 1 Pin Arrangement of Safety Function Signals CN8 4 46 4 7 2 I O Circuits 4 46 4 8 Connecting the Other Connectors 4 48 4 8 1 Serial Communications Connector CN3 4 48 4 8 2 Computer Connector CN7 4 48 4 8 3 Analog Monitor Connector CN5 4 48 ...

Страница 103: ...curs 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 result in death or injury Connect the AC and DC power supplies to the specified SERVOPACK terminals Connect an AC power supply to the L1 L2 and L3 terminals and the L1C and L2C terminals on the SERVOPACK Connect a DC power supply to the B1 and 2 terminals and the L1C ...

Страница 104: ...minals Turn ON the power supply to the SERVOPACK only after all wiring including the main circuit ter minals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SERVOPACK 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 n...

Страница 105: ...ACK connects directly to a commercial power supply it is not isolated through a transformer or other device Always use a molded case circuit breaker 1QF or fuse to protect the servo sys tem from accidents involving different power system voltages or other accidents Install an earth leakage breaker The SERVOPACK does not have a built in ground fault protec tive circuit To configure a safer system i...

Страница 106: ...ncoder 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 information on con...

Страница 107: ...a thickness of 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 8 U W V L2 L1 L3 L2C L1C CN2 CN1 SERVOPACK Servomotor Operation relay sequence User signal generators DC power supply Grou...

Страница 108: ...put 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 ground wire is clos...

Страница 109: ...ctly if the 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...

Страница 110: ... POUT5 POUT6 POUT7 CN11 EDM1 EDM1 FG HWBB1 HWBB1 HWBB2 HWBB2 0 V 6 3 4 5 8 7 1 2 5 6 ENC PS PS PG5V PG0V 2 4 1 3 CN5 L1 U V W M B2 B3 L2 L1C L3 L2C 1 2 B1 2KM 1KM 1QF R S T 1FLT 3SA 1PL 1KM 2KM 1SA 2SA 1KM 1Ry 1KM 1Ry CN2 SO1 WARN SO1 WARN SO2 BK SO2 BK SO3 S RDY ALM ALM 1 2 23 24 3 4 24VIN 24 V 4 7 kΩ 6 8 10 9 11 12 S ON ALM RST P OT N OT DEC RGRT BAT BAT 13 14 15 7 SO3 S RDY 25 26 16 SG 3 PBO PC...

Страница 111: ... 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 5 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 power supplies such...

Страница 112: ...hree phase 200 VAC to 240 VAC 15 to 10 50 Hz 60 Hz L1C L2C Control power supply termi nals Single phase 200 VAC to 240 VAC 15 to 10 50 Hz 60 Hz B1 B2 B3 Regenerative Resistor termi nals 4 3 5 Wiring Regenerative Resistors on page 4 23 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...

Страница 113: ... nals 4 3 5 Wiring Regenerative Resistors on page 4 23 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 Obtain it separately For SGD7S 5R5A and 120AE0A008 If the internal regenerative resistor is insufficient remove the lead or short bar between B2 and B3 an...

Страница 114: ...to 120 VAC 15 to 10 50 Hz 60 Hz L1C L2C Control power supply termi nals Single phase 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz B1 B2 Regenerative Resistor termi nals 4 3 5 Wiring Regenerative Resistors on page 4 23 If the regenerative capacity is insufficient connect an External Regenerative Resistor between B1 and B2 The External Regenerative Resistor is not included Obtain it separately Required I...

Страница 115: ... 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 Opener Using a Flat blade Screwdriver Open the insertion hole with the Spring Opener as shown in the figure Firmly insert a flat blade screwdriver into the screwdriver insertion hole to open the wire inser tion hole Wire Spring...

Страница 116: ...ply before the main circuit power supply Turn OFF the 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 Mak...

Страница 117: ...1KM 1Ry 1KM ALM ALM 1Ry SERVOPACK 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 2KM L1 0 V 1Ry 3 4 1D B2 L2 CN1 1KM L1C L3 L2C 1QF R S T...

Страница 118: ...not connect them 2KM L1 0 V 1Ry 3 4 1D B2 B3 L2 CN1 1KM L1C L3 L2C 1QF R T 1FLT 24 V 1 2 3SA B1 1PL 1KM 2KM 1SA 2SA 1KM 1Ry 1KM ALM ALM 1Ry SERVOPACK 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 Absor...

Страница 119: ...GD7S 2R8A Do not connect them SERVOPACK 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 1FU Fuse 2FU Fuse 1Ry Relay 1PL Indicator lamp 1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode 1PL 1KM 2KM 1SA 2SA L1C L2C B1 2...

Страница 120: ...1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 4SA Surge Absorber 5SA Surge Absorber 1D Flywheel diode 1R External inrush current suppression resistor SERVOPACK 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 auxiliary contact 1FU F...

Страница 121: ...0 V 1Ry 3 4 1D B2 L2 CN1 1KM L1C L2C 1QF R T 1FLT 24 V 3SA B1 1QF 1FLT 1KM 2KM Molded case circuit breaker Noise Filter Magnetic Contactor for control power supply Magnetic Contactor for main circuit power supply 1Ry 1PL 1SA 2SA 3SA 1D Relay Indicator lamp Surge Absorber Surge Absorber Surge Absorber Flywheel diode For servo alarm display 1PL 1KM 2KM 1SA Servo power ON Servo power OFF 2SA 1KM 1Ry ...

Страница 122: ...ply capacity 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 M L1 L2 L3 L1 L2 L3 L1C 1D L2C M M L1C L2C 3SA 1PL 1KM 2KM 1SA 2SA 3 4 CN1 1KM 1Ry 1KM ALM ALM 3 4 CN1 ALM 3 4 CN1 ALM 1Ry ALM ALM 2FLT 3FLT 4FLT Power supply SERVOPACK Servomotor Servomotor Servomotor SERVOPACK SERVOPACK Relay terminal Relay terminal Relay terminal Relay terminal...

Страница 123: ... 2R8A R70F R90F 2R1F and 2R8F 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 17 Setting the Regenerative Resistor Capacity on page 5 53 SERVOPACK Models SGD7S 3R8A 5R5A 7R6A 120A 180A 200A and 330A 1 Remov...

Страница 124: ...0A 590A and 780A 1 Connect the R1 and R2 terminals on the Regenerative Resistor Unit to the B1 and B2 terminals on the SERVOPACK 2 Set Pn600 Regenerative Resistor Capacity and Pn603 Regenerative Resistor Resis tance as required When using the Yaskawa recommended Regenerative Resistor Unit use the default settings for Pn600 and Pn603 If you use any other external regenerative resistor set Pn600 and...

Страница 125: ...ripheral Device Selection Manual Manual No SIEP S800001 32 Refer to the following figures to connect reactors Note 1 Connection terminals 1 and 2 for a DC Reactor are connected when the SERVOPACK is shipped Remove the lead wire and connect a DC Reactor 2 Reactors are optional products Purchase them separately 3 You cannot connect a DC Reactor to a SERVOPACK with a single phase 100 VAC power supply...

Страница 126: ...marks 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 14 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 Shield P...

Страница 127: ...le 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 Wiring Example When Installing a Battery on the Host Controller 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 CN2 2 1 5 6 1 2 PG5V PG...

Страница 128: ...fied by Yaskawa Refer to the following manual for details Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow Important Required Component Specifications Schottky Diode Reverse Voltage Vr 40 V Forward Voltage Vf 0 37 V Reverse current Ir 5 μA Junction temperature Tj ...

Страница 129: ...ble Connections to Absolute Linear Encoder from Magnescale Co Ltd SR77 SR87 SQ47 and SQ57 represents a shielded twisted pair cable Absolute linear encoder from Renishaw PLC PS PS PG5V PG0V Shield Connector shell 5 6 1 2 Connector shell SERVOPACK CN2 U V W M 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 ...

Страница 130: ...ed 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 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 PS PS PG5V PG0V SI...

Страница 131: ...tor The following table gives the Linear Encoder and Interpolator combinations 1 This is the model of the Head with Interpolator 2 This is the model of the Interpolator represents a shielded twisted pair cable Linear Encoder Model Interpolator Model SL700 SL710 SL720 and SL730 PL101 RY 1 SQ10 MQ10 FLA 2 MQ10 GLA 2 PS PS PG5V PG0V 5 6 1 2 CN2 U V W M Linear encoder from Magnescale Co Ltd Shield Con...

Страница 132: ...00 SL710 SL720 and SL730 MJ620 T13 Interpolator represents a shielded twisted pair cable PS PS PG0V 5 6 5 6 2 2 1 12 14 16 CN2 5 V 0 V U V W M External power supply Interpolator Linear encoder Shield Connector shell Head Cable from Magnescale Co Ltd Connector shell SERVOPACK ...

Страница 133: ...delay time in your applica tion The Surge Absorber may affect the brake operation delay time Configure the relay circuit to activate the holding brake for an emergency stop If you use a 24 V brake install a separate power supply for the 24 VDC power supply from other power supplies such as the one for the I O signals of the CN1 connector If the power supply is shared the I O signals may malfunctio...

Страница 134: ...tion limit switch for homing page 6 3 Not used 11 RGRT 12 Registration Input Inputs the latch signal that is used for reg istration external positioning page 6 4 S ON 13 Servo ON Input Controls turning the Servomotor ON and OFF supplying not supplying power page 6 3 24VIN 6 Sequence Input Signal Power Supply Input Inputs the sequence input signal power supply Allowable voltage range 24 VDC 20 The ...

Страница 135: ... Connected to the frame ground if the shield of the I O Signal Cable is connected to the con nector shell The above view is from the direction of the following arrow without the connector shell attached 1 SO1 WARN Warning Output 14 BAT Battery for Absolute Encoder 2 SO1 WARN Warning Output 15 BAT Battery for Absolute Encoder 3 ALM Servo Alarm Output 16 SG Signal Ground 4 ALM Servo Alarm Output 17 ...

Страница 136: ...uts Max allowable voltage 30 VDC Max allowable current 50 mA DC Encoder Divided Pulse Output Phase A Encoder Divided Pulse Output Phase B Encoder Divided Pulse Output Phase C Applicable Line Receiver SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent SERVOPACK FG Connect shield to connector shell Frame ground Connector shell SO1 WARN SO1 WARN SO2 BK SO2 BK SO3 S RDY ALM ALM 1...

Страница 137: ...Texas Instruments or the equivalent Photocoupler outputs Max allowable voltage 30 VDC Max allowable current 50 mA DC SERVOPACK FG Connect shield to connector shell Frame ground Connector shell CN1 TH 5 SO1 WARN SO1 WARN SO2 BK SO2 BK SO3 S RDY ALM ALM 1 2 23 24 3 4 24VIN 24 V 4 7 kΩ 6 8 10 9 11 12 S ON ALM RST P OT N OT DEC RGRT 13 7 SO3 S RDY Forward Drive Prohibit Input prohibited when OFF Alarm...

Страница 138: ...de 0 program table operation OFF Mode 1 JOG speed table operation or homing START STOP HOME 5 Mode 0 When ON starts or restarts program table operation Refers to sig nals SEL0 through SEL7 when starting operation When OFF interrupts program table operation Mode 1 When ON starts or restarts homing When OFF interrupts homing PGMRES JOGP 7 Mode 0 When ON while program table operation is interrupted r...

Страница 139: ...e selection 5 Mode 1 SEL6 16 Mode 0 Program table selection 6 Mode 1 SEL7 18 Mode 0 Program table selection 7 Mode 1 Signal Name Pin No Function INPOSITION 19 Positioning complete INPOSITION 20 POUT0 21 Programmable outputs POUT0 22 POUT1 23 POUT1 24 POUT2 25 POUT2 26 POUT3 27 POUT3 28 POUT4 29 POUT4 30 POUT5 31 POUT5 32 POUT6 33 POUT6 34 POUT7 35 POUT7 36 Continued from previous page Signal Name ...

Страница 140: ...ER Module CN11 Serial command communications START STOP HOME PGMRES JOGP SEL0 JOGN SEL1 JOG0 3 3 kΩ MODE 0 1 Sinking or sourcing SEL2 JOG1 SEL3 JOG2 SEL4 JOG3 1 3 5 7 9 11 13 15 17 CN12 SEL5 SEL6 SEL7 14 16 18 ON Mode 0 OFF Mode 1 CN11 INPOSITION POUT0 POUT1 POUT2 POUT3 POUT4 20 19 21 22 23 24 25 26 27 28 29 30 INPOSITION POUT0 POUT1 POUT2 POUT3 POUT4 POUT5 POUT6 POUT7 31 32 33 34 35 36 POUT5 POUT...

Страница 141: ...tion examples in I O Signal Wiring Examples on page 4 36 are for sink circuit connections Examples for Relay Circuits Examples for Open Collector Circuits Sink Circuits Source Circuits Input Signal Polarity Input Signal Polarity Photocoupler Internal Signal Level Photocoupler Internal Signal Level ON Low level ON Low level OFF High level OFF High level 4 7 kΩ E g DEC SERVOPACK 24 VDC 24VIN 24 VDC ...

Страница 142: ...t 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 controller Incorrect wiring or incorrect voltage application to the output circuits may cause short circuit fail ures If a short circuit failure occurs as ...

Страница 143: ...ignal Direction 1 TXD Transmit data not inverted Host controller INDEXER Module 2 TXD Transmit data inverted Host controller INDEXER Module 3 RXD Receive data not inverted Host controller INDEXER Module 4 RXD Receive data inverted Host controller INDEXER Module 5 GND Signal ground 0 V 6 RXD Receive data inverted 7 RT If RT and RXD are connected shorted the built in terminator 120 Ω will be connect...

Страница 144: ...lex Wiring Connect short the RT and RXD pins in the last axis Case FG Pin No INDEXER Module RS 422 or RS 485 port 1 2 3 4 5 FG To next axis Pin No 1 2 3 4 5 6 7 8 9 10 14 RXD RXD TXD TXD 0 V FG TXD TXD RXD RXD GND RXD RT TXD TXD RXD GND Signal Name Signal Name Case FG Pin No RS 485 port INDEXER Module To next axis 3 4 5 FG Pin No 3 4 5 6 7 10 14 RXD RXD GND RXD RT RXD GND TXD TXD 0 V FG Signal Nam...

Страница 145: ...ing connect a terminator in the host controller s reception circuit and the reception circuit of the last INDEXER Module in the line The INDEXER Module has a built in terminator 120 Ω that is connected between the RXD and RXD pins when the RT and RXD pins are shorted When using half duplex wiring connect a terminator at both ends of the communications cable The INDEXER Module has a built in termin...

Страница 146: ... 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 this manual To avoid...

Страница 147: ...closed Does not 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 op...

Страница 148: ...he following manual for the operating procedures for the SigmaWin Engineering Tool SigmaWin Online Manual Manual No SIEP S800001 48 4 8 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 following section for information on the monitoring methods for an analog monitor 9 3 Monitoring Ma...

Страница 149: ...ettings 5 10 5 2 Power Supply Type Settings for the Main Circuit and Control Circuit 5 12 5 2 1 AC Power Supply Input DC Power Supply Input Setting 5 12 5 2 2 Single phase AC Power Supply Input Three phase AC Power Supply Input Setting 5 13 5 3 Automatic Detection of Connected Motor 5 14 5 4 Motor Direction Setting 5 15 5 5 Setting the Linear Encoder Pitch 5 16 5 6 Writing Linear Servomotor Parame...

Страница 150: ...motor Is Operating 5 33 5 12 Motor Stopping Methods for Servo OFF and Alarms 5 35 5 12 1 Stopping Method for Servo OFF 5 36 5 12 2 Servomotor Stopping Method for Alarms 5 36 5 13 Motor Overload Detection Level 5 39 5 13 1 Detection Timing for Overload Warnings A 910 5 39 5 13 2 Detection Timing for Overload Alarms A 720 5 40 5 14 Electronic Gear Settings 5 41 5 14 1 Electronic Gear Ratio Settings ...

Страница 151: ... for the basic settings that are required for operation Tuning Parameters Parameters that are used to adjust servo performance When you edit parameters with the SigmaWin setup parameters and tuning parameters are displayed When you edit parameters with a Digital Operator only setup parameters are displayed by default To edit tuning parameters set Pn00B to n 1 Display all parameters We recommend th...

Страница 152: ...of a function parameter for selecting a function 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 ran...

Страница 153: ...SigmaWin 2 Select Edit Parameters in the Menu Dialog Box The Parameter Editing Dialog Box will be displayed 3 Click 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 4 Change the setting of the parameter 5 Press the Enter Key The background of the edited parameter cell will change to ...

Страница 154: ... SERVOPACK OFF and ON again This concludes the procedure to set the parameters Setting Parameters with a Digital Operator Refer to the following manual for information on setting the parameters with a Digital Operator Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 5 1 4 Write Prohibition Setting for Parameters You can prohibit writing parameters from the Digital Operator Ev...

Страница 155: ...hibition Setting in the Menu Dialog Box The Write Prohibition Setting Dialog Box will be displayed 3 Press the or for the rightmost digit and set one of the following 0000 Writing is permitted default setting 0001 Writing is prohibited 4 Click the Setting Button 5 Click the OK Button The setting will be written to the SERVOPACK 6 To enable the new setting turn the power supply to the SERVOPACK OFF...

Страница 156: ...ror of Option Module Fn014 Reset Option Module Configuration Error Cannot be executed page 15 50 Vibration Detection Level Initialization Fn01B Initialize Vibration Detection Level Cannot be executed page 6 32 Setting the Origin of the Absolute Linear Encoder Fn020 Set Absolute Linear Encoder Origin Cannot be executed page 5 50 Software Reset Fn030 Software Reset Can be exe cuted page 6 30 Polarit...

Страница 157: ...tion Fn004 Jog Program Cannot be executed page 7 14 Alarm Alarm Display FnB0D Display INDEXER Alarm His tory Can be executed page 15 48 FnB0C Reset INDEXER Alarm Cannot be executed page 15 49 Reset Motor Type Alarm Fn021 Reset Motor Type Alarm Cannot be executed page 5 17 Table Editing Edit Program Table FnB03 Edit Save Program Table Cannot be executed page 13 14 FnB06 Initialize Program Table Can...

Страница 158: ...ts the tools that you can use to initialize the parameter settings and the applicable tool functions Operating Procedure Use the following procedure to initialize the parameter settings 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Edit Parameters in the Menu Dialog Box The Parameter Editing Dialog Box will be displayed 3 Select any parameter of the a...

Страница 159: ...k the Initialize Button 5 Click the OK Button Click the Cancel Button to cancel initialization The Parameter Editing Dialog Box will return 6 Click the OK Button 7 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 160: ... 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 L3 terminals and the L1C and L2C terminals on the SERVOPACK Connect a DC power supply to the B1 and 2 terminals and th...

Страница 161: ...wer sup ply input as a single phase power supply input for a SERVOPACK with a single phase 200 VAC power supply input model numbers SGD7S 120AE0A008 or for a SERVOPACK with a single phase 100 VAC power supply input 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...

Страница 162: ...If 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 Classificatio...

Страница 163: ... forward direction default setting Forward 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 Ou...

Страница 164: ...ply 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 Classification 0 to 6 553...

Страница 165: ...Error A 051 Unsupported Device Alarm A 550 Maximum Speed Setting 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 Servomotor and linear encoder information before you write the ...

Страница 166: ...f the Sig maWin 3 Select Motor Parameter Scale Write in the Menu Dialog Box The Motor Parameter Scale Write Dialog Box will be displayed 4 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 5 Click the Ref But...

Страница 167: ...er file information that is displayed is suitable for your Servomotor 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 8 Click the Write Button 9 Click the Yes Button Displays an exterior view of the Servomotor Click the image to enlarge it ...

Страница 168: ...Button 12 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 Servomotor will be dis played ...

Страница 169: ...y move the Moving Coil from one 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 If you do not confirm the above items before you attempt to operate the Servomotor the Servo motor may not operate or it may run o...

Страница 170: ...y 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 the output signal level fr...

Страница 171: ...ity sensor set Pn080 to n 0 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...

Страница 172: ...o a few percent of the rated force applied to the guides Air sliders cannot be used Preparations Always check the following 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 There must be no alarms except for an A C22 alarm Phase Information Disagree...

Страница 173: ...n input the S ON signal As soon as polarity detection is completed the S RDY Servo Ready signal will turn ON 1 Power is supplied to the Servomotor during polarity detection Be careful not to get an electric shock Also the Moving Coil of the Linear Servomotor may greatly move during detection Do not approach the moving parts of the Servomotor 2 Polarity detection is affected by many factors For exa...

Страница 174: ...vo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Polarity Detection in the Menu Dialog Box The Polarity Detection Dialog Box will be displayed 3 Click the Continue Button Click the Cancel Button to cancel polarity detection The Main Window will return 4 Click the Start Button Polarity detection will be executed This concludes the polarity detection procedure Tool Functi...

Страница 175: ...vertravel you can input a reference to drive the motor in the opposite direction 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 ...

Страница 176: ...ways prohibited forward overtravel 0003h Forward run is always enabled P OT signal is not used PnB10 0000h default setting When input signal is OFF open reverse run is prohibited reverse overtravel 0001h When input signal is ON closed reverse run is prohibited reverse overtravel 0002h Reverse run is always prohibited reverse overtravel 0003h Reverse run is always enabled N OT signal is not used Ov...

Страница 177: ... and then ON or send the SVON serial command If parameter PnB0E is set to 0002h to keep the S ON signal always ON turn the power supply OFF and then ON again Important 1 The occurrence of an A 9A0 warning will not stop the motor or have any affect on host control ler motion operations The next step e g the next motion or command can be executed even if an overtravel warning exists However dependin...

Страница 178: ...e 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 longer exists and it will then be...

Страница 179: ... 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 Ser vomotor that is already stopped The BK signal will remain ON during overtravel The brake will not be applied Vertical Axis Servomotor Holding brake Prevents the moving part f...

Страница 180: ...ut signal that controls the brake 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 Allocating the BK Brake Signal The setting of the BK signal can be changed with the parameters below Model Voltage Brake Release Delay...

Страница 181: ...ts signal line disconnection If this setting is absolutely necessary check the operation and confirm that there are no safety problems Important Pn506 Brake Reference Servo OFF Delay Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 50 10 ms 0 Immediately Setup When the Servomotor is used to control a verti cal axis the machine moving part may move slightly due to gr...

Страница 182: ...g Time Setting Range Setting Unit Default Setting When Enabled Classification 10 to 100 10 ms 50 Immediately Setup The Servomotor will be limited to its maximum speed even if the brake reference output speed level Rotary Servomotor Pn507 Linear Servomotor Pn583 is higher than the maximum speed Pn508 S ON input alarm or power OFF Motor speed Motor power status BK signal ON Brake released Power not ...

Страница 183: ...to start and stop the Servomotor This may result in deterioration of the internal elements in the SERVOPACK Use speed input references or position references to start and stop the Servomotor If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo the Servomotor stopping method depends on the SERVOPACK model as shown in the following tabl...

Страница 184: ... Pn001 n X The default setting is to stop by applying the dynamic brake Refer to the following section for details 5 12 1 Stopping Method for Servo OFF on page 5 36 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 St...

Страница 185: ...nough 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 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 Dynami...

Страница 186: ...Stops If you set Pn30A to 0 the Servomotor will be stopped with a zero speed The deceleration time that you set in Pn30A is the time to decelerate the Servomotor from the maximum motor speed Pn30A Deceleration Time for Servo OFF and Forced Stops Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Setup Pn30A Maximum speed Operating speed Actual dec...

Страница 187: ... warnings an overload warning is detected 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 overl...

Страница 188: ...nual given below for a diagram that shows the relationships between the Servomotor heat dissipation conditions heat sink size surrounding air temperature and derating You can protect the Servomotor from overloads more effectively by setting this derat ing value in Pn52C Σ 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 Σ 7 Series Linear Servomotor Product Manual Manual No SIEP ...

Страница 189: ... of the serial converter unit is 256 Workpiece Resolution 16 777 216 24 bits Ball screw lead 6 mm When the Electronic Gear Is Not Used When the Electronic Gear Is Used To move a workpiece 10 mm Calculate the number of revolutions The Servomotor will move 6 mm for each revo lution so 10 6 revolutions are required to move 10 mm Calculate the required number of reference pulses One revolution is 16 7...

Страница 190: ...ge 0 001 Electronic gear ratio B A 64 000 If the electronic gear ratio is outside of this range an A 040 alarm Parameter Setting Error will occur Pn040 n 1 Use a resolution of 20 bits when connected to an SGM7J SGM7A SGM7P SGM7G SGM7E or SGM7F Servomotor Set the electronic gear ratio within the following range 0 001 Electronic gear ratio B A 4 000 If the electronic gear ratio is outside of this ra...

Страница 191: ...MCV E 4 194 304 I 4 194 304 SGM7E SGM7F Code Code Code Specification Specification 24 bit multiturn absolute encoder 24 bit incremental encoder 20 bit single turn absolute encoder 20 bit incremental encoder Encoder Resolution Encoder Resolution Specification 22 bit single turn absolute encoder 22 bit multiturn absolute encoder Encoder Resolution Code Specification 24 bit batteryless multiturn abso...

Страница 192: ... 80 1 024 0 078 μm SL700 5 SL710 5 SL720 5 SL730 5 800 PL101 RY 3 8 192 0 0977 μm MJ620 T13 4 SQ10 400 MQ10 FLA 4 8 192 0 0488 μm MQ10 GLA 4 Absolute Heidenhain Corporation LIC4100 Series 20 48 EIB3391Y 4 4 096 0 005 μm LIC2100 Series 204 8 EIB3391Y 4 4096 0 05 μm 409 6 EIB3391Y 4 4096 0 1 μm LC115 40 96 EIB3381Y 4 4 096 0 01 μm LC415 40 96 EIB3391Y 4 4096 0 01 μm Mitutoyo Corporation ST781A ST781...

Страница 193: ...a Servomotor Information Resolution travel distance per feedback pulse Linear encoder pitch Resolution of Serial Converter Unit or linear encoder Linear encoder pitch Linear encoder pitch Distance for one cycle of the analog voltage feedback signal from the linear encoder Step Description Machine Configuration Ball Screw Rotary Table Belt and Pulley 1 Machine Specifications Ball screw lead 6 mm Ge...

Страница 194: ...ing example for a Serial Converter Unit resolution of 256 is given below Step Description Machine Configuration 1 Linear encoder pitch 0 02 mm 20 μm 2 Reference Unit 0 001 mm 1 μm 3 Electronic Gear Ratio 4 Setting Parameters Pn20E 256 Pn210 20 Reference unit 0 02 mm 20 m Forward direction A 20 μm B 1 μm 256 ...

Страница 195: ...l Encoder Monitoring Alarm occurs turn OFF the power supply to reset the alarm Confirm that setup initialization is not in progress from any other tool 5 15 2 Preparations Always check the following before you reset an absolute encoder The parameters must not be write prohibited The servo must be OFF to reset the absolute encoder CAUTION The multiturn data will be reset to a value between 2 and 2 ...

Страница 196: ... Encoder Reset in the Menu Dialog Box The Absolute Encoder Reset Dialog Box will be displayed 4 Click the Continue Button Click the Cancel Button to cancel resetting the absolute encoder The Main Window will return 5 Click the Execute setting Button The current alarm code and name will be displayed in the Alarm name Box Tool Function Reference Digital Operator Fn008 Σ 7 Series Digital Operator Ope...

Страница 197: ...ed to reset the absolute encoder when the servo was ON in the SERVOPACK the fol lowing dialog box will be displayed and processing will be canceled 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 8 To en...

Страница 198: ...ool functions 5 16 3 Operating Procedure Use the following procedure to set the origin of an absolute linear encoder 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Set Origin in the Menu Dialog Box The Set Origin Dialog Box will be displayed 1 After you set the origin the S RDY Servo Ready signal will become inactive because the system position data was...

Страница 199: ... 51 5 Basic Functions That Require Setting before Operation 3 Click the Continue Button 4 Click the Execute Button 5 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 6 Click the OK Button ...

Страница 200: ...to the SERVOPACK OFF and ON again 8 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 9 Polarity Detection on page 5 24 This concludes the procedure to set the origin of the absolute linear encoder ...

Страница 201: ... is not suitable 2 The default setting of 0 specifies that the SERVOPACK s built in regenerative resistor 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...

Страница 202: ...ion 6 12 6 4 Setting the Motor Maximum Speed 6 14 6 5 Encoder Divided Pulse Output 6 15 6 5 1 Encoder Divided Pulse Output Signals 6 15 6 5 2 Setting for the Encoder Divided Pulse Output 6 20 6 6 Internal Torque Limits 6 22 6 7 Absolute Encoders 6 23 6 7 1 Connecting an Absolute Encoder 6 24 6 7 2 Multiturn Limit Setting 6 25 6 7 3 Multiturn Limit Disagreement Alarm A CC0 6 26 6 8 Absolute Linear ...

Страница 203: ...Preparations 6 32 6 10 2 Applicable Tools 6 33 6 10 3 Operating Procedure 6 33 6 10 4 Related Parameters 6 35 6 11 Adjusting the Motor Current Detection Signal Offset 6 36 6 11 1 Automatic Adjustment 6 36 6 11 2 Manual Adjustment 6 38 6 12 Overheat Protection 6 40 6 12 1 Connecting the Overheat Protection Input TH Signal 6 40 6 12 2 Overheat Protection Selection 6 41 ...

Страница 204: ...vomotor is stopped and operation is disabled Input the S ON signal while the Servomotor is stopped You cannot turn ON the servo while the Servomotor is operating Parameter Meaning When Enabled Classification PnB0E 0000h default setting When input signal is ON closed servomotor power is ON Servomotor can be operated After restart Setup 0001h When input signal is OFF open servomotor power is ON Serv...

Страница 205: ...in No Signal Status Meaning Input RGRT CN1 12 ON closed The current position has reached the latch posi tion OFF open The current position has not reached the latch position or has passed the latch position Parameter Meaning When Enabled Classification PnB12 0000h default setting Starts registration by switching the RGRT signal from OFF open to ON closed After restart Setup 0001h Starts registrati...

Страница 206: ...ion when the START STOP signal turns ON closes Stops program table operation when the START STOP signal turns OFF opens After restart Setup 0001h Starts program table operation when the START STOP signal turns OFF opens Stops program table operation when the START STOP signal turns ON closes 0002h 0003h The START STOP signal is not used Type Signal Pin No Signal Status Meaning Input HOME CN11 5 ON...

Страница 207: ...eration in the forward direction while the JOGP signal is ON closed After restart Setup 0001h Executes JOG operation in the forward direction while the JOGP signal is OFF open 0002h 0003h Does not execute JOG operation Type Signal Pin No Signal Status Meaning Input JOGN CN11 9 ON closed Reverse jog operation is performed Jog opera tion is performed as long as the signal is ON OFF open Stops the jo...

Страница 208: ...1 List of Alarms on page 15 5 Type Signal Pin No Signal Status Meaning Input SEL0 to SEL7 CN11 9 11 13 to 18 ON closed These signals specify the program step number at which to start program table operation Refer to the following section for details Input Signals Related to Program Table Opera tion on page 13 11 OFF open Parameter Meaning When Enabled Classification PnB06 PnB07 PnB08 PnB09 PnB0A P...

Страница 209: ... 5 11 2 Allocating the BK Brake Signal on page 5 32 S RDY Servo Ready Signal The S RDY Servo Ready signal turns ON when the SERVOPACK is ready to accept the S ON Servo ON input signal The S RDY signal is turned ON under the following conditions Main circuit power supply is ON There is no hard wire base block state There are no alarms If a Servomotor without a polarity sensor is used polarity detec...

Страница 210: ...value set for this parameter the positioning completed signal will be output Use this signal to confirm whether positioning has been completed at the host controller The inposition width setting has no effect on final positioning accuracy Type Signal Connector Pin No Signal Status Meaning Output S RDY CN1 25 and CN1 26 default setting ON closed Ready to receive the S ON Servo ON signal OFF open No...

Страница 211: ...programmable output signals POUT0 to POUT7 as the ZONE signals Refer to the following section for details 13 5 2 Parameters Related to ZONE Signals on page 13 54 PAO PBO and PCO Encoder Output Signals Refer to the following section for information on the PAO PBO and PCO encoder output signals 6 5 Encoder Divided Pulse Output on page 6 15 If the state of an OT signal varies over a short time in a p...

Страница 212: ... main circuit power supply 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 su...

Страница 213: ... or by the SERVOPACK The default setting Pn008 n 0 disables detection of an A 971 warning Undervoltage Execution with the Host Controller Pn008 n 1 The host controller limits the torque in response to an A 971 warning Undervoltage The host controller removes the torque limit after the Undervoltage warning is cleared Parameter Description When Enabled Classification Pn008 n 0 default set ting Do no...

Страница 214: ...r 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 that a torque reference that exceeds the specified acceleration torque will not be output when the power supply for the main circuit is restored For a vertical axis do not limit the torque to a value that is lower than the holding to...

Страница 215: ...m when the set 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 ...

Страница 216: ...e encoder rotation Relation between Renishaw PLC Incremental Linear Encoders and Encoder Output Pulse Signal from the SER VOPACK When Using a RGS20 Scale and RGH22B Sensor Head on page 6 16 Rotary Servomotor Type Signal Connector Pin No Name Remarks Output PAO CN1 17 Encoder Divided Pulse Output Phase A Rotary Servomotors These encoder divided pulse output pins output the number of pulses per Serv...

Страница 217: ... linear encoder When Passing the First Origin Signal Ref in the Forward Direction and Returning after Turning ON the Power Supply Forward rotation or movement phase B leads by 90 Reverse rotation or movement phase A leads by 90 If you use the SERVOPACK s phase C pulse output for homing rotate the Servomotor two or more rotations before you start homing If the Servomotor cannot be rotated two or mo...

Страница 218: ...1 Output phase C pulses in both the forward and reverse direc tions the width of the phase C pulse output may be narrower than the width of the phase A pulse There is a difference of 1 8th of the scale pitch in the phase C detection 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...

Страница 219: ...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 also be output when the origin detection point is passed in the reverse direction...

Страница 220: ...assed 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 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 ...

Страница 221: ... 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 222: ...ng a Serial Converter Unit 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...

Страница 223: ...oo low the force may be insufficient for acceleration or deceleration of the Servomotor 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 Pn483 Forward Force Limit Setting Range Setting Un...

Страница 224: ...quired 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 not required n 2 Use the encoder as a single turn absolute encoder A battery is not re...

Страница 225: ... once when the power supply turns ON Normally do not use these signals You can get the position data from the absolute encoder with MECHATROLINK communications Therefore it is not necessary to wire the PAO PBO and PCO Encoder Divided Pulse Output signals If they need to be wired refer to the following section 4 4 3 Wiring the SERVOPACK to the Encoder on page 4 27 I O Signal Wiring Examples on page...

Страница 226: ...number of turntable rota tions would be as shown below Set Pn205 to 99 Pn205 100 1 99 Note This parameter is enabled when you use an absolute encoder The data will change as shown below when this parameter is set to anything other than the default setting If the Servomotor operates in the reverse direction when the multiturn data is 0 the multiturn data will change to the value set in Pn205 If the...

Страница 227: ...ting Dialog Box will be displayed 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 Absolute encoder related alarms A 810 and A 820 will not occur 32 767 32 768 0 Numb...

Страница 228: ...ill return 4 Change the setting 5 Click the Writing into the Servopack Button 6 Click the OK Button 7 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 8 Display the Multiturn Limit Setting in the Menu Dial...

Страница 229: ...rn Limit Disagreement Alarm A CC0 6 28 9 Click the Continue Button 10 Click the Writing into the Motor Button Click the Re change Button to change the setting 11 Click the OK Button This concludes the procedure to set the multiturn limit ...

Страница 230: ...lute Linear Encoder 6 8 1 Connecting an Absolute Linear Encoder If you use an absolute linear encoder the encoder divided pulse output signals PAO PBO and PCO are output only once when the power supply turns ON Normally do not use these sig nals You can get the position data from the absolute linear encoder with MECHATROLINK communications Therefore it is not necessary to wire the PAO PBO and PCO ...

Страница 231: ...he SigmaWin 2 Select Software Reset in the Menu Dialog Box The Software Reset Dialog Box will be displayed 1 Always confirm that the servo is OFF and that the Servomotor is stopped before you start a software 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 ALM Servo...

Страница 232: ...oftware reset The Main Window will return 4 Click the Execute Button 5 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 This concludes the procedure to reset the software ...

Страница 233: ...ize 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 Settin...

Страница 234: ...workspace of the Main Window of the SigmaWin 2 Select Initialize Vibration Detection Level in the Menu Dialog Box The Initialize Vibration Detection Level Dialog Box will be displayed 3 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 Re...

Страница 235: ... Level 6 10 3 Operating Procedure 6 34 4 Click the Execute Button The newly set vibration detection level will be displayed and the value will be saved in the SERVO PACK This concludes the procedure to initialize the vibration detection level ...

Страница 236: ...using the SigmaWin 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 Parame...

Страница 237: ...ust the offset and the applicable tool functions Operating Procedure Use the following procedure to automatically adjust the motor current detection signal offset 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box The Adjust the Motor Current Detection Signal Offsets Dialog Box will be...

Страница 238: ... Continue Button 4 Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets Dialog Box 5 Click the Adjust Button The values that result from automatic adjustment will be displayed in the New Boxes This concludes the procedure to automatically adjust the motor current detection signal offset ...

Страница 239: ... Signal Offsets in the Menu Dialog Box The Adjust the Motor Current Detection Signal Offsets Dialog Box will be displayed 4 Click the Continue Button 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 Adjus...

Страница 240: ...ction that reduces the torque ripple Adjustment range 512 to 511 8 Set the Channel Box in the Motor Current Detection Offset Area to V phase 9 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 10 Repeat steps 6 to 9 until the torque ripple cannot be decreased any further regardless of whether you increase or decre...

Страница 241: ...verheat Protection Input TH Signal To use overheat protection you must connect an overheat protection input TH signal to the SERVOPACK This section describes the connection methods for the overheat protection input TH signal Using Overheat Protection in the Linear Servomotor If you use a Serial Converter Unit connect the connector for the polarity sensor and thermo stat cable of the Linear Servomo...

Страница 242: ...ttached to the machine and use overheat pro tection n 3 Monitor a positive voltage input from a sensor attached to the machine and use overheat pro tection If the overheat protection input signal line is disconnected or short circuited an A 862 alarm will occur If you set Pn61A to n 1 Use overheat protection in the Yaskawa Linear Servomotor the parameters in the Servomotor are enabled and the foll...

Страница 243: ...peration 7 6 7 3 Trial Operation for the Servomotor without a Load 7 7 7 3 1 Preparations 7 7 7 3 2 Applicable Tools 7 8 7 3 3 Operating Procedure 7 8 7 4 Trial Operation with Digital I O and Serial Communications 7 10 7 5 Trial Operation with the Servomotor Connected to the Machine 7 12 7 5 1 Precautions 7 12 7 5 2 Preparations 7 12 7 5 3 Operating Procedure 7 13 7 6 Convenient Function to Use du...

Страница 244: ...ERVOPACK Chapter 4 Wiring and Connecting 3 Confirmations before Trial Operation 7 2 Inspections and Confirmations before Trial Operation on page 7 6 4 Power ON 5 Resetting the Absolute Encoder This step is necessary only for a Servomotor with an Absolute Encoder 5 15 Resetting the Absolute Encoder on page 5 47 Step Meaning Reference 1 Trial Operation for the Servomotor without a Load 7 3 Trial Ope...

Страница 245: ... 3 Installation 2 Wiring and Connections Wire and connect the SERVOPACK First Servomotor operation is checked without a load Do not connect the CN1 connector on the SERVOPACK Chapter 4 Wiring and Connecting 3 Confirmations before Trial Operation 7 2 Inspections and Confirmations before Trial Operation on page 7 6 4 Power ON 5 Setting Parameters in the SERVOPACK Continued on next page Step No of Pa...

Страница 246: ...ries Models EL36Y Renishaw PLC RESOLUTE Series Models RL36Y 5 16 Setting the Origin of the Absolute Linear Encoder on page 5 50 Step Meaning Reference 1 Trial Operation for the Servomotor without a Load 7 3 Trial Operation for the Servomotor without a Load on page 7 7 2 Trial Operation with Digital I O and Serial Communications 7 4 Trial Operation with Digital I O and Serial Communica tions on pag...

Страница 247: ...r Servomotors 7 5 7 Trial Operation 3 Trial Operation with the Servomotor Con nected to the Machine 7 5 Trial Operation with the Servomotor Connected to the Machine on page 7 12 Continued from previous page Step Meaning Reference To power supply CN1 to host controller ...

Страница 248: ... 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 ma...

Страница 249: ...nge 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 Setup Pn306 Soft Start Deceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 0 Immediately Setup Pn304 Jog O...

Страница 250: ...ow of the SigmaWin 2 Select JOG Operation in the Menu Dialog Box The Jog Operation Dialog Box will be displayed 3 Read the warnings and then click the OK Button 4 Check the jog operation speed and then click the Servo ON Button The display in the Operation Area will change to Servo ON Tool Function Operating Procedure Reference Digital Operator Fn002 Σ 7 Series Digital Operator Operating Manual Ma...

Страница 251: ...re 7 9 7 Trial Operation 5 Click the Forward Button or the Reverse Button Jog operation will be performed only while you hold down the mouse button 6 After you finish jog operation turn the power supply to the SERVOPACK OFF and ON again This concludes the jog operation procedure ...

Страница 252: ...splays on page 15 5 3 Set the following items which are necessary for trial operation Program Table Operation Serial Command Communications 4 If you will use serial command communications confirm that communications are per formed normally Send the ALM command and confirm that the following acknowledgment is returned If it is then communications are normal 5 Input the S ON Servo ON signal or send ...

Страница 253: ... load machine is not sufficiently broken in before trial operation the Servomotor may become over loaded PGM STEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 I 10000 1000 1000 IT0 1 END Confirmation Item Reference Confirm that the rotational direction of the Servomotor agrees with the forward or reverse reference If they do not agree cor rect the rotation direction of the Servomo tor 5 4 Moto...

Страница 254: ...I O and Serial Communications 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 the safety function remove the Safety Jumper Connector ...

Страница 255: ... the Servomotor can be stopped safely should an error occur during the remainder of the procedure 7 Perform trial operation according to 7 4 Trial Operation with Digital I O and Serial Com munications on page 7 10 and confirm that the same results are obtained as when trial operation was performed on the Servomotor without a load 8 If necessary adjust the servo gain to improve the Servomotor respo...

Страница 256: ...wer supply must be ON There must be no alarms There must be no hard wire base block HWBB The servo must be OFF The range of machine 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 You can use the functions that are applicable position control However parameters related to C...

Страница 257: ...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 Number of movements Pn536 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Speed ...

Страница 258: ...ime Setting Range Setting Unit Default Setting When Enabled Classification 2 to 10 000 1 ms 100 Immediately Setup Pn535 Program Jog Operation Waiting Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000 1 ms 100 Immediately Setup Pn536 Program Jog Operation Number of Movements Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 1 I...

Страница 259: ...g Unit Default Setting When Enabled Classification 1 to 1 073 741 824 1 reference unit 32 768 Immediately Setup Pn585 Program Jog Operation Movement Speed Setting Range Setting Unit Default Setting When Enabled Classification 1 to 10 000 1 mm s 50 Immediately Setup Pn534 Program Jog Operation Acceleration Deceleration Time Setting Range Setting Unit Default Setting When Enabled Classification 2 to...

Страница 260: ...ing Trial Operation 7 6 1 Program Jog Operation 7 18 3 Read the warnings and then click the OK Button 4 Set the operating conditions click the Apply Button and then click the Run Button A graph of the operation pattern will be displayed ...

Страница 261: ...es the program jog operation procedure CAUTION Be aware of the following points if you cancel the program jog operation while the Servomo tor is operating If you cancel operation with the Servo OFF Button the Servomotor will stop according to setting of the Servo OFF stopping method Pn001 n X If you cancel operation with the Cancel Button the Servomotor will decelerate to a stop and then enter a z...

Страница 262: ...not be write prohibited The main circuit power supply must be ON There must be no alarms There must 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 CAUTION Make sure that the load is not coupled when you execute an origin search The Forward Drive Prohibit P OT ...

Страница 263: ... Main Window of the SigmaWin 2 Select Search Origin in the Menu Dialog Box The Origin Search Dialog Box will be displayed 3 Read the warnings and then click the OK Button 4 Click the Servo ON Button 5 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 conclude...

Страница 264: ...nabled Classification Pn00C n 0 default setting Disable tests without a motor After restart Setup n 1 Enable tests without a motor 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 Rated motor speed Maximum motor speed Information in...

Страница 265: ...hat is connected Not connected Motor information Setting of Pn000 n X Rotary Linear Startup Selection When Encoder Is Not Connected Linear encoder informa 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 ...

Страница 266: ...te Pro hibition Setting Fn010 Write Prohibition Set ting page 5 6 Multiturn Limit Setting Fn013 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm page 6 26 Reset Configuration Error of Option Mod ule Fn014 Reset Option Module Configuration Error page 15 50 Initializing the Vibra tion Detection Level Fn01B Initialize Vibration Detection Level page 6 32 Set Origin Fn020 Set Absolute L...

Страница 267: ...peration Fn002 Jog Operation page 7 7 Program Jog Opera tion Fn004 Program Jog Opera tion page 7 14 Alarms Alarm Display FnB0D Display INDEXER Alarm History page 13 54 FnB0C Reset INDEXER Alarm page 13 45 Table Editing Edit Program Table FnB03 Edit Save Program Table page 13 14 FnB06 Initialize Program Table Edit ZONE Table FnB04 Edit Save ZONE Table page 13 55 FnB07 Initialize ZONE Table Edit Jog...

Страница 268: ...iation Overflow Alarm Level 8 7 8 3 4 Vibration Detection Level Setting 8 9 8 3 5 Setting the Position Deviation Overflow Alarm Level at Servo ON 8 9 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 Related...

Страница 269: ...om Tuning 8 41 8 8 1 Outline 8 41 8 8 2 Preparations 8 41 8 8 3 Applicable Tools 8 42 8 8 4 Operating Procedure 8 42 8 8 5 Automatically Adjusted Function Settings 8 47 8 8 6 Tuning Example for Tuning Mode 2 or 3 8 47 8 8 7 Related Parameters 8 48 8 9 Anti Resonance Control Adjustment 8 49 8 9 1 Outline 8 49 8 9 2 Preparations 8 49 8 9 3 Applicable Tools 8 50 8 9 4 Operating Procedure 8 50 8 9 5 R...

Страница 270: ...Control Mode Selection 8 70 8 12 5 Current Gain Level Setting 8 70 8 12 6 Speed Detection Method Selection 8 71 8 12 7 Speed Feedback Filter 8 71 8 12 8 Backlash Compensation 8 71 8 13 Manual Tuning 8 73 8 13 1 Tuning the Servo Gains 8 73 8 13 2 Compatible Adjustment Functions 8 84 8 14 Diagnostic Tools 8 88 8 14 1 Mechanical Analysis 8 88 8 14 2 Easy FFT 8 89 ...

Страница 271: ... your machine If possible perform autotuning with a host reference If a host controller is not available set an operation pattern that is as close as possible to the host reference and perform autotuning without a host reference If an operation pattern that is close to the host reference is not possible perform autotuning with a host reference while performing program jogging End Start of Tuning R...

Страница 272: ...achine is in opera tion You can use this function for fine tuning after you perform autotun ing 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 Vibration suppression page 8 34 Custom Tuning The following parameters are adjusted with the position reference or speed reference inpu...

Страница 273: ...om tuning or manual tuning always use the above functions to monitor the machine operating status and SERVOPACK signal waveform while you adjust the servo gains Check the adjustment results with the following response waveforms 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 ...

Страница 274: ...m Level 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...

Страница 275: ...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 that the Servomotor can follow the position reference or increase the position deviation over flow alarm level Related Parameters Related Alarm Related War...

Страница 276: ...s on page 15 48 Pn526 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...

Страница 277: ...tion Overflow Alarm Level at Servo ON 8 10 Related Warning Warning Number Warning Name Meaning A 901 Position Deviation Overflow Warning at Servo ON This warning occurs if the servo is turned ON while the position deviation exceeds the specified percentage Pn526 Pn528 100 ...

Страница 278: ...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 before you execute moment of inerti...

Страница 279: ...enabled Pn170 n 1 The test without a motor function must be disabled Pn00C n 0 Procedure 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 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Response Level Setti...

Страница 280: ...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 281: ...anually 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 Inertia Ratio Pn103 Advanced Control R...

Страница 282: ...nt of inertia is a basic parameter for adjusting gains It must be set as accurately as possible Although the load moment of inertia can be calculated from the weight and structure of the mechanisms doing so is very troublesome and calculating it accurately can be very difficult with the complex mechanical structures that are used these days With moment of inertia esti mation you can get an accurat...

Страница 283: ...the moment of inertia is being calculated Mode switching will be enabled after moment of inertia esti mation has been completed Preparations Always check the following before you execute moment of inertia estimation The main circuit power supply must be ON There must be no overtravel The servo must be OFF The gain switching selection must be set to disable automatic gain switching Pn139 n 0 The fi...

Страница 284: ...ty around moving parts This function involves automatic operation with vibration Make sure that you can perform an emergency stop to turn OFF the power supply at any time There will be movement in both directions within the set range of movement Check the range of movement and the directions and implement protective controls for safety such as the overtravel functions CAUTION Be aware of the follo...

Страница 285: ...ot necessary to change these settings If the default speed loop gain is too high for the machine i e if vibration occurs lower the setting It is not necessary to increase the setting any farther Identification Start Level Group This is the setting of the moment of inertia calculation starting level If the load is large or the machine has low rigidity the torque limit may be applied caus ing moment...

Страница 286: ...s or ball screw pitch Confirm Button Click this button to display the Reference Confirmation Dialog Box Detailed Setting Area You can change the settings by moving the bars or directly inputting the settings to cre ate the required reference pattern Next Button Click this button to display the Reference Transmission Dialog Box Cancel Button Click this button to return to the Tuning Dialog Box 6 Cl...

Страница 287: ...being transferred Next Button This button is enabled only when the data has been transferred correctly You cannot use it if an error occurs or if you cancel the transfer before 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 8 Click the Next Button The Operation Measurement D...

Страница 288: ...Measurements are performed from 2 to 7 times and then verified The number of measurements is displayed in upper left corner of the dialog box A progress bar at the bottom of the dialog box will show the progress of the transfer each time 13 When the measurements have been completed click the Servo On Button to turn OFF the servo 14 Click the Next Button The Write Results Dialog Box will be display...

Страница 289: ...rameter is displayed here After you click the Writing Results Button the value that was found with operation and measurements will be displayed as the new setting Back Button This button is disabled Cancel Button This button will return you to the Tuning Dialog Box 16 Confirm that the Identified Moment of Inertia Ratio Box and the Pn103 Moment of Inertia Ratio Box show the same value and then clic...

Страница 290: ...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 291: ... 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 the positioning completed width Pn522 is too narrow WARNING Autotuning without a host reference requires operating the Servomotor and therefore pres ents hazards Observe the foll...

Страница 292: ...icable tool functions 8 6 4 Operating Procedure Use the following procedure to perform autotuning without a host reference 1 Confirm that the moment of inertia ratio Pn103 is set correctly 2 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 3 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning If you ...

Страница 293: ...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 When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 Moment of Inertia Ratio Information ...

Страница 294: ...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 295: ...moving parts and click the Yes Button The Servomotor 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 296: ...thout a host reference Autotuning 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 ...

Страница 297: ...3 If machine vibration occurs suppress the vibration with the anti resonance control function and the vibration sup pression function An error occurred during 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 afte...

Страница 298: ...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 299: ...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 67 Parameter Function When Enabled Classification Pn140 n 0 Do n...

Страница 300: ...lections 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 Control Gain Yes Pn142 Model Following Control Gain Correction Yes Pn143 Model Following Control Bias in the Forward Direction Yes Pn1...

Страница 301: ...ing section for details on the parameters that are adjusted 8 7 7 Related Parameters on page 8 40 Autotuning with a host reference makes adjustments based on the set speed loop gain Pn100 Therefore precise adjustments cannot be made if there is vibration when adjustments are started Make adjustments after lowering the speed loop gain Pn100 until vibration is eliminated Important CAUTION Because au...

Страница 302: ...med When the position integration function is used When mode switching is used When the positioning completed width Pn522 is too narrow Refer to the following sections for details on custom tuning 8 8 Custom Tuning on page 8 41 Preparations Always check the following before you execute autotuning with a host reference The servo must be in ready status There must be no overtravel The servo must be ...

Страница 303: ... workspace of the Main Window of the Sig maWin 3 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 4 Click the Execute Button 5 Select the Position reference input Option in the Autotuning Area and then click the Autotuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct mome...

Страница 304: ...rmed for positioning applications In addition to gain adjustment model following control notch filters anti resonance 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 vi...

Страница 305: ... click the Start tuning Button 10 Confirm safety around moving parts and click the Yes Button The Servomotor 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...

Страница 306: ...th but the positioning completed width may be extended 8 7 6 Automatically Adjusted Function Settings These function settings are the same as for autotuning without a host reference 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 occ...

Страница 307: ...y 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 Selection...

Страница 308: ...ing of notch filters and 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 positio...

Страница 309: ...ies Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Tuning Tuning 8 8 4 Operating Procedure on page 8 42 WARNING Before you execute custom tuning check the information 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...

Страница 310: ... Tuning 5 Click the Advanced adjustment Button 6 Click the Custom tuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio is set in Pn103 Moment of Inertia Ratio Information ...

Страница 311: ...oting 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 servo ga...

Страница 312: ...ion notch filters automatic anti resonance setting anti resonance control adjustment and autotuning with a host reference as required Refer to the following section for details Vibration Suppression Functions on page 8 46 Tuning Mode 0 or 1 Tuning Mode 2 or 3 Tuning Mode 0 or 1 Increase the tuning level until overshooting occurs Tuning Mode 2 or 3 Increase the feedforward level until overshoot ing...

Страница 313: ...0 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 frequency stage 1 or 2 or anti resonance control frequency that is effective for the vibration that was detected during tuning will be automatically set Auto setting Cancel Buttons The automat...

Страница 314: ...sion on page 8 54 Autotuning with a Host Reference You can perform autotuning with a host reference Refer to the following section for details 8 7 Autotuning with a Host Reference on page 8 34 8 8 5 Automatically Adjusted Function Settings You cannot use vibration suppression functions at the same time Other automatic function set tings are the same as for autotuning without a host reference Refer...

Страница 315: ...n Parameter Name Automatic Changes Pn100 Speed Loop Gain Yes Pn101 Speed Loop Integral Time Constant Yes Pn102 Position Loop Gain Yes Pn103 Moment of Inertia Ratio No Pn121 Friction Compensation Gain Yes Pn123 Friction Compensation Coefficient Yes Pn124 Friction Compensation Frequency Correction No Pn125 Friction Compensation Gain Correction Yes Pn401 First Stage First Torque Reference Filter Time...

Страница 316: ...8 9 2 Preparations Always check the following 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 parameters must not be write prohibited CAUTION Related parameters will be set automatically when anti resonance control adjustment is executed This may greatly affect the response bef...

Страница 317: ...erve 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 before you execute anti resona...

Страница 318: ...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 319: ... Anti resonance Control When you use anti resonance control and increase the control gain for some mechanism vibration can occur at a higher frequency than the frequency for which vibration was sup pressed If this occurs you can suppress vibration for more than one frequency by adjusting Pn166 Anti Resonance Damping Gain 2 Parameter Name Automatic Changes Pn160 Anti Resonance Control Related Selec...

Страница 320: ...ance Filter Time Constant 1 Correction Setting Range Setting Unit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn165 Anti Resonance Filter Time Constant 2 Correction Setting Range Setting Unit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn166 Anti Resonance Damping Gain 2 Setting Range Setting Unit Default Setti...

Страница 321: ...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 322: ...ing Procedure Use the following procedure to perform vibration suppression 1 Perform steps 1 to 8 of the procedure for custom tuning Refer to the following section for details 8 8 4 Operating Procedure on page 8 42 2 Click the Vib Suppress Button The vibration frequencies that are automatically detected may vary somewhat with each posi tioning Perform positioning several times and make adjustments...

Страница 323: ...Set Button again Click the Reset Button during adjustment to restore the setting to its original value The status from before when adjustment was started will be restored 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 ...

Страница 324: ...t the setting is read during execution Vibration suppression will be enabled in step 5 The Servomotor response however will change when the Servomotor comes to a stop with no reference input Important Parameter Name Automatic Changes Pn140 Model Following Control Related Selections Yes Pn141 Model Following Control Gain Yes Pn142 Model Following Control Correction No Pn143 Model Following Control ...

Страница 325: ...ich there is not a suitable range of motion Preparations Always check the following before you set up speed ripple compensation The main circuit power supply must be ON The servo must be OFF There must be no alarms or warnings There must be no hard wire base block HWBB The parameters must not be write prohibited WARNING Speed ripple compensation requires operating the Servomotor and therefore pres...

Страница 326: ... of the Main Window of the Sig maWin 2 Select Ripple Compensation in the Menu Dialog Box The Ripple Compensation Dialog Box will be displayed 3 Click the OK Button Tool Function Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator SigmaWin Solutions Ripple Compensation Operating Procedure on page 8 59 1 Click the Cancel Button to cancel ripple compensati...

Страница 327: ... Speed Ripple Compensation 8 11 2 Setting Up Speed Ripple Compensation 8 60 4 Click the Edit Button 5 Enter the jog operation speed in the Input Value Box and click the OK Button 6 Click the Servo ON Button ...

Страница 328: ...nce graph will be displayed in the Ripple Compensation Dialog Box during jog operation 8 After speed ripple measurement has been completed click the Write Button The ripple compensation value will be written to the SERVOPACK 9 After writing has been completed click the OK Button If the measurement time i e the jog operation time for the speed ripple is too short speed ripple measurement will not b...

Страница 329: ... ripple even when stopped at a 0 speed reference In speed control mode this may result in the Servomotor moving slightly To prevent this set Pn423 n X Speed Ripple Compensa tion Selections and Pn427 or Pn49F Speed Ripple Compensation Enable Speed For Rotary Servomotors For Linear Servomotors To discard the setup results click the Reset Button Information Parameter Description When Enabled Classifi...

Страница 330: ...l occur to warn you You can use any of the following methods to clear A 942 Reset the speed ripple compensation value on the SigmaWin Disable speed ripple compensation Pn423 n 0 Disable detection of A 942 Pn423 n 1 Parameter Description When Enabled Classifi cation Pn423 n 0 default setting Detect A 942 alarms After restart Setup n 1 Do not detect A 942 alarms Setting of Pn427 or Pn49F Ripple Comp...

Страница 331: ...page 8 70 Speed Detection Method Selection page 8 71 Backlash Compensation page 8 71 Parameter Function When Enabled Classification Pn139 n 0 default setting Disable automatic gain switching Immediately Tuning n 2 Enable automatic gain switching Selected Gains Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain Torque Reference Filter Friction Compensation Gain Gain Settings 1 Spe...

Страница 332: ...s OFF Gain settings 2 used n 4 Position reference filter out put is 0 and position refer ence input is OFF Gain settings 1 used n 5 Position reference input is ON Gain settings 2 used COIN Positioning Completion Output Signal and NEAR Near Output Signal A SERVOPACK with an INDEXER Module does not have COIN Positioning Completion Out put and NEAR Near Output signals Here the following conditions ar...

Страница 333: ...mmediately Tuning Pn105 Second Speed Loop Integral Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 15 to 51 200 0 01 ms 2 000 Immediately Tuning Pn106 Second Position Loop Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 400 Immediately Tuning Pn412 First Stage Second Torque Reference Filter Time Constant Setting Ra...

Страница 334: ...bled Parameter Function When Enabled Classification Pn408 n 0 default setting Disable friction compensation Immediately Setup n 1 Enable friction compensation Pn121 Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1 000 1 100 Immediately Tuning Pn122 Second Friction Compensation Gain Setting Range Setting Unit Default Setting When Enabled Clas...

Страница 335: ...ion gain Pn121 by 10 increments until vibration stops Effect of Adjusted Parameters Pn121 Friction Compensation Gain and Pn122 Second Friction Compensation Gain These parameters set the response to external disturbances The higher the setting is the better the response will be If the machine has a resonance frequency however vibration may occur if the setting is too high Pn123 Friction Compensatio...

Страница 336: ...ings are required to use gravity compensation Parameter Description When Enabled Classification Pn475 n 0 default setting Disable gravity compensation After restart Setup n 1 Enable gravity compensation Pn476 Gravity Compensation Torque Setting Range Setting Unit Default Setting When Enabled Classification 1 000 to 1 000 0 1 0 Immediately Tuning Holding brake When the brake is released the gravity...

Страница 337: ... Models SGD7S 120A 180A 200A 330A 470A 550A 590A and 780A 8 12 5 Current Gain Level Setting You can set the current gain level to reduce noise by adjusting the parameter for current control inside the SERVOPACK according to the speed loop gain Pn100 The noise level can be reduced by decreasing the current gain level Pn13D from its default setting of 2 000 dis abled However if the setting is decrea...

Страница 338: ...pensation to add the backlash compensation value to the position reference and use the result to drive the Servomotor This will ensure that the travel distance of the actual machine will be the same as the travel distance in the host controller Note Backlash compensation can be used only with a Rotary Servomotor If the current gain level is changed the response characteristic of the speed loop wil...

Страница 339: ...on When using an absolute encoder the initial direction of movement generally serves as the refer ence direction and backlash compensation is applied in the opposite direction Even when compensation is applied the compensation will not be indicated in the target posi tion monitor or any other monitor values Only the actual motor positions will be subject to compensation PnB50 Backlash Compensation...

Страница 340: ...PACK to increase the response characteristic of the SERVOPACK and to reduce the positioning time 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 reference or autotuning wi...

Страница 341: ...cy of the machine system There fore to increase 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 cons...

Страница 342: ...nes 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 setting If you use a position reference filter transient deviation will increase due to the filter time ...

Страница 343: ...lue and notch filter depth This section describes the notch filter Q value and notch filter depth Notch filter Q Value The setting of the notch filter Q value determines the width of the frequencies that are 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 ...

Страница 344: ...for different notch filter depths are shown 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 and Pn416 Set the machine vibration frequencies in the notch filter parameters Parameter Meaning When Enabled Classification Pn408 n 0 default setting Disable fir...

Страница 345: ... Classification 50 to 5 000 1 Hz 5 000 Immediately Tuning Pn418 Third Stage Notch Filter Q Value Setting Range Setting Unit Default Setting When Enabled Classification 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 Setti...

Страница 346: ...rip operation 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 g...

Страница 347: ...Hz and Speed Loop Integral Time Constant Pn101 ms Stable gain Pn100 Hz 320 Pn101 ms Position Loop Gain Pn102 s and Speed Loop Integral Time Constant Pn101 ms Stable gain Pn102 s 320 Pn101 ms Decimal Points in Parameter Settings For the SGD7S SERVOPACKs decimal places are given for the settings of parameters on the Digital Operator and in the manual For example with Pn100 Speed Loop Gain Pn100 40 0...

Страница 348: ...t 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 79 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 or i...

Страница 349: ...ined by this parameter and not by Pn102 Position Loop Gain Parameter Function When Enabled Classification Pn140 n 0 default setting Do not use model following control Immediately Tuning n 1 Use model 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 Pn1...

Страница 350: ... be less likely to occur Model Following Control Type Selection When you enable model following control you can select the model following control type Nor mally set Pn14F to n 1 Use model following control type 2 default setting If compati bility with previous models is required set Pn14F to n 0 Use model following control type 1 Pn143 Model Following Control Bias in the Forward Direction Setting...

Страница 351: ... automatically change between proportional control and PI con trol Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and switching levels Pn109 Feedforward Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100 1 0 Immediately Tuning Pn10A Feedforward Filter Time Constant Setting R...

Страница 352: ...etting 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 Deviation Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 00...

Страница 353: ...ition Rotary Servomotors When the speed reference equals or exceeds the speed set for the mode switching level for a speed reference Pn10D the speed loop is changed to P control Linear Servomotors When the speed reference equals or exceeds the speed set for the mode switching level for a speed reference Pn181 the speed loop is changed to P control Pn10C Pn10C PI P P Speed reference Speed Motor spe...

Страница 354: ...e mode switching level for position deviation Pn10F the speed loop is changed to P control This setting is 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 Setti...

Страница 355: ... 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 the i...

Страница 356: ...in the Bode plots Toolbar START Button Click the START Button to start analysis Measurement and Notch Filter Setting Tab Pages Measurement Tab Page Displays detailed information on the results of analysis Notch Filter Setting Tab Page Displays the notch filter frequencies You can set these values in the parameters 8 14 2 Easy FFT The machine is made to vibrate and a resonance frequency is detected...

Страница 357: ... input Applicable Tools The following table lists the tools that you can use to perform EasyFFT and the applicable tool functions WARNING Never touch the Servomotor or machine during execution of Easy FFT Doing so may result in injury CAUTION Use Easy FFT when the servo gain is low such as in the initial stage of servo tuning If you execute Easy FFT after you increase the gain the machine may vibr...

Страница 358: ... Easy FFT 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Easy FFT in the Menu Dialog Box The Easy FFT Dialog Box will be displayed Click the Cancel Button to cancel Easy FFT You will return to the main window 3 Click the OK Button 4 Click the Servo ON Button ...

Страница 359: ...ction in the Measure ment condition Area and then click the Start Button The Servomotor shaft will rotate and measurements will start When measurements have been completed the measurement results will be displayed 6 Check the results in the Measurement result Area and then click the Measurement complete Button ...

Страница 360: ...e Easy FFT Do not change the settings of these parameters during execution of 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 F...

Страница 361: ...toring Status and Operations 9 4 9 2 3 I O Signal Monitor 9 6 9 3 Monitoring Machine Operation Status and Signal Waveforms 9 7 9 3 1 Items That You Can Monitor 9 7 9 3 2 Using the SigmaWin 9 8 9 3 3 Using the Analog Monitors 9 10 9 4 Monitoring Product Life 9 14 9 4 1 Items That You Can Monitor 9 14 9 4 2 Operating Procedure 9 15 9 4 3 Preventative Maintenance 9 16 9 5 Alarm Tracing 9 17 9 5 1 Dat...

Страница 362: ...Serial Number Manufacturing Date Software version SW Ver Remarks Information on Servomotors Model Type Serial Number Manufacturing Date Remarks Information on Encoders Model Type Serial Number Manufacturing Date Software version SW Ver Remarks Information on Option Modules Model Type Serial Number Manufacturing Date Software version SW Ver Remarks With the Digital Operator you can use Fn011 Fn012 ...

Страница 363: ...ing SERVOPACK Status 9 2 1 Servo Drive Status Use the following procedure to display the Servo Drive status Start the SigmaWin The Servo Drive status will be automatically displayed when you go online with a SERVOPACK The Servo Drive status is displayed The Servomotor type is displayed ...

Страница 364: ... START STOP Program Table Oper ation Start Stop Input signal PGMRES Program Table Operation Reset Input signal SEL0 Program Step Selection Input 0 signal SEL1 Program Step Selection Input 1 signal SEL2 Program Step Selection Input 2 signal SEL3 Program Step Selection Input 3 signal SEL4 Program Step Selection Input 4 signal SEL5 Program Step Selection Input 5 signal SEL6 Program Step Selection Inp...

Страница 365: ...on error letter Number of serial command transmis sion letter Motor Speed Speed Reference Internal Torque Reference Angle of Rotation 1 number of encoder pulses from origin within one encoder rotation Angle of Rotation 2 angle from origin within one encoder rotation Input Reference Pulse Speed Deviation Counter Position Deviation Cumulative Load Regenerative Load Power Consumption Consumed Power C...

Страница 366: ...n You can also use the above window to check 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 the...

Страница 367: ...ctive gain Torque reference Speed conversion Position loop Electronic gear Motor speed Electronic gear Deviation counter Motor load position deviation Fully closed Speed conversion Deviation counter Completion of position reference distribution Positioningcompletion Position deviation Deviation counter Speed loop Speed conversion External encoder speed Current loop Load External encoder Electronic...

Страница 368: ...he Main Window of the Sig maWin 2 Select Trace in the Menu Dialog Box The Trace Dialog Box will be displayed 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...

Страница 369: ... Program Step Selection Input 7 signal HOME Homing Input signal JOGP Forward Jog Input signal JOGN Reverse Jog Input signal JOG0 Jog Speed Table Selection Input 0 signal JOG1 Jog Speed Table Selection Input 1 signal JOG2 Jog Speed Table Selection Input 2 signal JOG3 Jog Speed Table Selection Input 3 signal Output Signals ALM Servo Alarm Output Signal S RDY Servo Ready Output Signal BK Brake Output...

Страница 370: ...eed Reference Rotary Servomotor 1 V 1 000 min 1 Linear Servomotor 1 V 1 000 mm s n 02 default setting of Pn006 Torque Reference 1 V 100 rated torque n 03 Position Deviation 0 05 V Reference unit n 04 Position Amplifier Deviation 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 ...

Страница 371: ...Setup Pn551 Analog Monitor 2 Offset Voltage Setting Range Setting Unit 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 Enabl...

Страница 372: ...125 0 4 150 Therefore 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 S...

Страница 373: ...t the Analog Monitor Output Dialog Box will be displayed 3 Click the Zero Adjustment or Gain Adjustment Tab 4 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 Tool Function Operating Procedure Reference Digit...

Страница 374: ...for Part Replacement on page 15 2 Capacitor Service Life Prediction The unused status of the SERVOPACK is treated as the 100 value The value decreases each time the main circuit power supply is turned ON and each time the servo is turned OFF Use a monitor value of 0 as a guideline for the replace ment period Refer to the following section for part replacement guidelines 15 1 2 Guidelines for Part ...

Страница 375: ... Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Life Monitor in the Menu Dialog Box The Life Monitor Dialog Box will be displayed With the Digital Operator you can use Un025 to Un02A to monitor this information Information A value of 100 indicates that the SERVOPACK has not yet been used The percentage decreases as the SERVOPACK is used and reaches 0 when it is ti...

Страница 376: ... warning Preventative Maintenance Warning is detected when any of the following service life prediction values drops to 10 or less SERVOPACK built in fan life capacitor life inrush current limiting circuit life and dynamic brake circuit life You can change the setting of Pn00F n X to enable or disable these warnings Parameter Description When Enabled Classifi cation Pn00F n 0 default setting Do no...

Страница 377: ...ol functions Alarms that occur when the power supply is turned ON are not recorded Alarms that occur during the recording of alarm trace data are not recorded Alarms that occur while utility functions are being executed are not recorded Information Numeric Data ON OFF Data Torque reference ALM Feedback speed Servo ON command S ON Reference speed Proportional control command P CON Position referenc...

Страница 378: ... for Fully Closed Loop Control 10 5 10 3 2 Setting the Motor Direction and the Machine Movement Direction 10 5 10 3 3 Setting the Number of External Encoder Scale Pitches 10 6 10 3 4 Setting the PAO PBO and PCO Encoder Divided Pulse Output Signals 10 7 10 3 5 Electronic Gear Setting 10 8 10 3 6 Alarm Detection Settings 10 9 10 3 7 Analog Monitor Signal Settings 10 10 10 3 8 Setting to Use an Exter...

Страница 379: ...tioning Refer to the following manual for details on Fully closed Modules Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 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 ...

Страница 380: ...nB03 to PnB12 Input Signal Selections PnB15 to PnB1E Output Signal Selec tions 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 the Ser...

Страница 381: ... jog operation start from a low speed and gradually increase the speed Pn530 to Pn536 program jog operation 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 382: ...external scale pitches page 10 6 Pn281 Encoder divided pulse output signals PAO PBO and PCO from the SERVOPACK page 10 7 Pn20E and Pn210 Electronic gear ratio page 5 41 Pn51B Motor Load Position Deviation Overflow Detection Level page 10 9 Pn52A Multiplier for fully closed rotation Pn006 Pn007 Analog monitor signal page 10 10 Pn22A n X Speed feedback method during fully closed loop control page 10...

Страница 383: ...ard and position reference speed monitor This is not relevant for the position loop and it therefore does not interfere with the position accuracy Parameter Name Meaning When Enabled Classifi cation Pn002 n 0 default set ting External Encoder Usage Do not use an external encoder After restart Setup n 1 External encoder moves in forward direction for CCW motor rotation n 2 Reserved setting Do not u...

Страница 384: ...uld cause the output to exceed 6 4 Mpps If the output exceeds the upper limit an A 511 alarm Overspeed of Encoder Output Pulse Rate will be out put Related Parameter Note The maximum setting for the encoder output resolution is 4 096 If the resolution of the external encoder exceeds 4 096 pulse output will no longer be possible at the resolu tion given in Feedback Resolution of Linear Encoder on p...

Страница 385: ...p Control 10 3 5 Electronic Gear Setting 10 8 10 3 5 Electronic Gear Setting Refer to the following section for details 5 14 Electronic Gear Settings on page 5 41 With fully closed loop control the same setting as for a Linear Servomotor is used ...

Страница 386: ... encoder per Ser vomotor rotation This setting can be used to prevent the Servomotor from running out of control due to damage to the external encoder or to detect belt slippage Setting Example Increase the value if the belt slips or is twisted excessively If this parameter is set to 0 the external encoder value will be read as it is If you use the default setting of 20 the second rotation will st...

Страница 387: ... 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 Parameter Name Meaning When Enabled Classifi cation Pn006 n 07 Analog Monitor 1 Signal Selection Position deviation between motor and load output unit 0 01 V reference unit Immedi ately Setup Pn007 n 07 An...

Страница 388: ...Input Signal Specifications 11 5 11 2 6 Operation without a Host Controller 11 5 11 2 7 S RDY Servo Ready Output Signal 11 6 11 2 8 BK Brake Output Signal 11 6 11 2 9 Stopping Methods 11 7 11 2 10 ALM Servo Alarm Signal and ALO1 ALO2 and ALO3 Alarm Code Output Signals 11 7 11 3 EDM1 External Device Monitor 11 8 11 3 1 EDM1 Output Signal Specifications 11 8 11 4 Applications Examples for Safety Fun...

Страница 389: ...y The Servomotor will move if there is an external force e g gravity on a vertical axis 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 Servomotor may move within an electric angle of 180 or less as a result of a SERVOPACK fa...

Страница 390: ...vel c PLc and SIL1 The following 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 w...

Страница 391: ...te 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 po...

Страница 392: ...peration 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 yo...

Страница 393: ... 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 OFF motor current shut OFF request ON n...

Страница 394: ...o Alarm signal and the ALO1 ALO2 and ALO3 Alarm Code Output signals are not output in the HWBB state CAUTION The dynamic brake is not a safety related element You must design the system so that a hazardous condition does not occur even if the Servomotor coasts to a stop in the HWBB state Normally we recommend that you use a sequence that returns to the HWBB state after stopping for a reference If ...

Страница 395: ... between the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 signal circuit can be achieved by using the status of the HWBB1 HWBB2 and EDM1 signals 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 sign...

Страница 396: ...source output 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...

Страница 397: ...pened 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 If the Servomotor is operating a stop command is received from the host controller the Servomotor stops and the servo is turned OFF ...

Страница 398: ...r displays Hbb and that the Servomotor 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 ...

Страница 399: ...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 Operator En...

Страница 400: ...2 1 Motor Speed 12 4 12 2 2 Acceleration Rate and Deceleration Rate 12 4 12 2 3 Smoothing 12 5 12 3 Origin Settings 12 6 12 3 1 When Using an Absolute Encoder 12 6 12 3 2 When Using an Incremental Encoder 12 7 12 4 Speed Position Expansion Function Setting 12 8 12 4 1 Parameters 12 8 12 4 2 Serial Commands 12 8 12 4 3 Program Tables ZONE Tables and JOG Speed Tables 12 9 12 4 4 Parameter Editing Co...

Страница 401: ...are limit function will be enabled when the control power supply is turned ON The software limit function will also be enabled as soon as the ZSET serial com mand is executed Parameter Meaning When Enabled Classifica tion PnB20 0000h default setting Sets coordinates to linear type After restart Setup 0001h Sets coordinates to rotary type Moving mode is set as shortest path 0002h Sets coordinates t...

Страница 402: ... direction when the target position is specified as an absolute position If PnB20 is set to 0003h reverse the motor will always rotate in the reverse direction when the target position is specified as an absolute position If the target position is specified as an relative position the motor will rotate in the specified direction regardless of the setting of PnB20 Even when equipment like a rotary ...

Страница 403: ...the settings of the fol lowing PnB29 parameter Acceleration Rate and PnB2B parameter Deceleration Rate are used In serial command communications the ACC command sets PnB29 Acceleration Rate and the DEC command sets PnB2B Deceleration Rate The acceleration and deceleration rates are set in units of 1 000 reference units min ms If you set PnB54 to 1 Enable Expansion Mode the parameter setting range ...

Страница 404: ...m min is 100 ms Thus the acceleration setting is 15 1 000 reference units min Set the acceleration and deceleration so that the values of the two settings do not differ greatly If they differ greatly the machine will not accelerate in accordance with the settings For example if PnB29 is set to 99999999 and PnB2B is set to 1 then the machine s perfor mance will be unpredictable Example 15 000 mm mi...

Страница 405: ...et Execute the ZSET serial command Execute utility function FnB09 Calculate the value and set it in PnB25 The relationship between the origin of the absolute encoder and the machine origin coordinate system is shown in the following figure Use the following formula to find a new absolute encoder offset PnB25 Current PnB25 N P N Current position of machine in new reference coordinate system If this...

Страница 406: ... the following section for details on hom ing 13 2 Homing on page 13 4 The setting of PnB25 is set as the current value when the power supply is turned ON or when homing is completed If you set PnB54 to 1 Enable Expansion Mode the range will be 1 073 741 823 to 1 073 741 823 Refer to the following section for details 12 4 Speed Position Expansion Function Setting on page 12 8 You must define the o...

Страница 407: ...e Encoder Offset 99 999 999 to 99 999 999 1 073 741 823 to 1 073 741 823 PnB27 Positioning Registration Speed 1 to 99 999 999 1 to 199 999 999 PnB29 Acceleration Rate 1 to 99 999 999 1 to 199 999 999 PnB2B Deceleration Rate 1 to 99 999 999 1 to 199 999 999 PnB33 Homing Movement Speed 1 to 99 999 999 1 to 199 999 999 PnB35 Homing Approach Speed 1 to 99 999 999 1 to 199 999 999 PnB37 Homing Creep Sp...

Страница 408: ...99 999 nnnnnnnn 99 999 999 1 reference unit RSI nnnnnnnnnn 1 073 741 823 nnnnnnnnnn 1 073 741 823 1 reference unit ZSET nnnnnnnn 99 999 999 nnnnnnnn 99 999 999 1 reference unit ZSET nnnnnnnnnn 1 073 741 823 nnnnnnnnnn 1 073 741 823 1 reference unit PnB54 0 Disable Expansion Mode PnB54 1 Enable Expansion Mode Serial Command Setting Range Serial Command Setting Range POSTsss nnnnnnnn Annnnnnnn Absol...

Страница 409: ...SP SP CR LF RDSTT123 1234567890 CR LF RDSTT123 SP SP SP SP SP SP SP SP SP CR LF RSPDTsss RSPDT123 12345678 CR LF RSPDT123 1234567890 CR LF ACCTsss ACCTsss 12345678 CR LF ACCTsss SP SP SP SP SP SP SP CR LF ACCTsss 1234567890 CR LF ACCTsss SP SP SP SP SP SP SP SP SP CR LF DECTsss DECTsss 12345678 CR LF DECTsss SP SP SP SP SP SP SP CR LF DECTsss 1234567890 CR LF DECTsss SP SP SP SP SP SP SP SP SP CR ...

Страница 410: ...ode JSPDTdd JSPDT123 12345678 CR LF JSPDT123 1234567890 CR LF Serial Command PnB54 0 Disable Expansion Mode PnB54 1 Enable Expansion Mode PRMppp nnnnnnnn PRMppp nnnnnnnnnn TRMppp nnnnnnnn TRMppp nnnnnnnnnn Serial Command Display Acknowledgment PnB54 0 Disable Expansion Mode PnB54 1 Enable Expansion Mode PUN or MON1 Position Reference Current Position Monitor PUN 12345678 CR LF PUN 1234567890 CR LF...

Страница 411: ...S T 0 0 2 1 2 3 4 5 6 7 8 R D S T 0 0 3 1 2 3 4 5 6 7 8 B B P G M E d i t R D T 0 0 0 1 2 3 4 5 6 7 8 9 R D T 0 0 1 1 2 3 4 5 6 7 8 9 R D T 0 0 2 1 2 3 4 5 6 7 8 9 R D T 0 0 3 1 2 3 4 5 6 7 8 9 0 0 0 0 Display When Expansion Mode Is Enabled Display When Expansion Mode Is Disabled R B B P G M E d i t R S P D 0 0 0 1 2 3 4 5 6 7 8 S P D 0 0 1 1 2 3 4 5 6 7 8 R S P D 0 0 2 1 2 3 4 5 6 7 8 R S P D 0 0...

Страница 412: ...rocedures 13 7 13 3 Program Table Operation 13 9 13 3 1 Types of Operation 13 9 13 3 2 I O Signals Related to Program Table Operation 13 11 13 3 3 Parameter Related to Program Table Operation 13 12 13 3 4 Program Table Configuration 13 12 13 3 5 Settings in the Program Table 13 13 13 3 6 SigmaWin Procedures 13 14 13 3 7 State Transitions 13 26 13 3 8 Program Table Operation Examples 13 27 13 3 9 E...

Страница 413: ...d Speed Selection Signals 13 45 13 4 4 SigmaWin Procedures 13 45 13 4 5 Jog Speed Table Operation Example 13 50 13 4 6 Timing of Signal Changes 13 51 13 5 ZONE Outputs 13 52 13 5 1 ZONE Table and ZONE Signals 13 52 13 5 2 Parameters Related to ZONE Signals 13 54 13 5 3 SigmaWin Procedures 13 54 13 5 4 ZONE Output Application Example 13 61 ...

Страница 414: ...ositioning with a Program Table You can register program positioning patterns in a table in advance and then use specifica tions from the host controller to specify the operation pattern to perform operation Registration If a trigger signal RGRT is input from an external device during positioning the motor will be moved for the registration distance RDST that is registered in the program table Con...

Страница 415: ...anaged so correct positioning may not be possible Unexpected machine operation failure or personal injury may occur Input Signal Description Reference MODE 0 1 ON Mode 0 program table operation OFF Mode 1 jog speed table operation or homing page 6 4 HOME The HOME signal is turned ON to start homing page 6 5 DEC The DEC signal is used to change the homing speed but its function depends on the setti...

Страница 416: ...t speed If you set PnB54 to 1 Enable Expansion Mode the range will be 1 to 199 999 999 Refer to the following section for details 12 4 Speed Position Expansion Function Setting on page 12 8 Parameter Meaning When Enabled Classifica tion PnB31 0000h default set ting The current position when the power supply is turned ON is the origin Homing is not executed After restart Setup 0001h The DEC signal ...

Страница 417: ...ecifies the Homing Final Travel Distance This parameter sets the travel distance after the motor changes to the creep speed The stop ping position when this travel is completed is set as the setting of PnB25 If a negative value is set the movement direction will be reversed after the motor changes to the creep speed If you set PnB54 to 1 Enable Expansion Mode the range will be 1 073 741 823 to 1 0...

Страница 418: ... acceleration and deceleration rates for homing There are three different origin patterns depending on the homing method that is specified in PnB31 The v procedure for each method is given in this section Using the DEC Signal and Encoder Origin Phase C for Homing PnB31 0001h Turn ON the HOME signal Homing starts The motor will rotate in the direction specified in PnB32 Homing Direction at the spee...

Страница 419: ...Homing PnB31 0003h Turn ON the HOME signal Homing starts The motor will rotate in the direction specified in PnB32 Homing Direction at the speed specified in PnB35 Approach Speed When the encoder s origin signal phase C is detected the motor decelerates to the creep speed Homing is completed after the motor moves the final travel distance Set PnB25 to the value of the current position where the mo...

Страница 420: ...rogram table operation 13 3 1 Types of Operation Two types of program table operation are provided positioning and registration Both types of operation are described in the rest of this section Positioning For positioning the target positions are specified as the target positions POS in the program table The motor is moved to the current target position Positioning is illustrated conceptually in t...

Страница 421: ...s specified as the target position POS in the program table the motor will move the registration distance RDST that is specified in the program table Registration operation is illustrated conceptually in the following figure Operation Pattern Speed Time Position Movement at SPD Travel distance POS Target position RGRT Movement at RSPD Registration distance RDST Registration distance RDST SPD RSPD ...

Страница 422: ...ram Step Selection Inputs signals Turn OFF this signal to stop program table operation and decelerate the motor to a stop page 6 4 PGMRES If this signal turns ON while a program table operation is stopped the pro gram table operation will be reset and canceled 1 page 6 5 SEL0 to SEL7 These signals specify the program step number at which to start program table operation 2 page 6 7 RGRT Registratio...

Страница 423: ...ttings described in the table above are not necessary when program table operations are performed with serial commands The following serial commands are used instead of the signals Refer to the following section for details Chapter 14 Operation with Serial Command Communications Information Signal Corresponding Serial Command MODE 0 1 None Mode switching is not necessary START STOP Start START SSS...

Страница 424: ...lowing section POUT Output Signal on page 13 20 EVENT End condition Specifies the condition to use to determine when the program step is completed When the end condition is met and the number of executions specified for LOOP is completed execution jumps to the program step speci fied by NEXT Refer to the following section EVENT on page 13 21 LOOP Number of loops Specifies the number of times to ex...

Страница 425: ...ow Editing the Program Table Displaying the Program Table Editing Dialog Box Select Edit Program Table in the Menu Dialog Box of the SigmaWin Editing the Program Table Writing the Program Table Saving the Program Table Checking Operation with the Program Table Editing the Program Table on page 13 14 Writing the Program Table on page 13 23 Saving the Program Table on page 13 24 ...

Страница 426: ...a setting error the row is displayed in red The Write Button will be disabled Refer to the following section for the table cell editing procedures Editing Procedures on page 13 16 Import Button Imports a file on the computer to a program table in SigmaWin Comment Button Lets you enter a comment for the program table The comment is also saved when you click the Save Button Initialize Button Initial...

Страница 427: ...ialog Boxes Double click the cell to display the dialog box for editing Make the settings in the dialog box Setting procedures are provided below for each item POS Set the target positions 1 Double click the cell to edit The Target Position Reservation Dialog Box will be displayed 2 Set the target position and the position distance The Position Distance setting is enabled when you set the target p...

Страница 428: ...and enter the values directly Selected Item Description Display in Program Table Absolute position Use this setting to specify the target position directly A Position Relative distance Use this setting to specify the relative position travel dis tance from the previous step I Distance Infinity Positive direction 1 Constant speed operation is performed in the forward direction INFINITE Infinity Neg...

Страница 429: ...e selection of the No registration Check Box and enter the registration absolute distance Not Using Registration 2 Select the No registration Check Box 3 Click the OK Button This concludes the setting procedure RSPD Set the registration speed Select the cell to edit and set the value directly Unit Setting Range Default Setting 1 000 reference units min PnB54 0 Disable Expansion Mode 1 to 99 999 99...

Страница 430: ...he Same as previous step Check Boxes and enter the values directly 3 Click the OK Button This concludes the setting procedure Unit Setting Range Default Setting 1 000 reference units min ms PnB54 0 Disable Expansion Mode 1 to 99 999 999 PnB54 1 Enable Expansion Mode 1 to 199 999 999 If you select the Same as Previous Step Check Box in the first program step the acceleration rate that was valid bef...

Страница 431: ...ayed 2 Select the settings for output signals 0 to 7 in the boxes The corresponding terminals are given below Output signal 0 POUT0 terminal Output signal 1 POUT1 terminal Output signal 2 POUT2 terminal Output signal 3 POUT3 terminal Output signal 4 POUT4 terminal Output signal 5 POUT5 terminal Output signal 6 POUT6 terminal Output signal 7 POUT7 terminal 3 Click the OK Button This concludes the s...

Страница 432: ... the cell to edit and set the value directly Selected Item Description Display in Pro gram Table Positioning complete default setting The step ends when the INPOSITION Positioning Com pleted Output signal turns ON closes I NEAR The step ends when the NEAR signal width is entered N Command Issuance Completion The step ends when position reference distribution is completed DEN D SEL0 SEL1 The step e...

Страница 433: ...ting a Next Step 2 Clear the selection of the END Check Box and set a value between 0 and 255 for the next step number Program table operation is ended and canceled Ending Program Execution at the Current Step 2 Select the Complete Check Box When execution of the current program step is completed program execution will be canceled 3 Click the OK Button This concludes the setting procedure Unit Set...

Страница 434: ... OK Button The program table edited on the SigmaWin will be written to the SERVOPACK and all edited cells will change to white This concludes the writing procedure 1 Make sure that the system is in SERVO OFF state when you write the program table 2 The program table that is written will be deleted when the power supply to the SERVOPACK is turned OFF Before you turn OFF the power supply to the SERV...

Страница 435: ...urned ON We recommend that you save the program table that is normally used for operation in this flash memory There are the following three ways to save the program table to flash memory in the SERVO PACK Save it from the Edit Program Dialog Box Save it with the PGMSTORE serial command Save it with FnB03 Edit Save Program Table on a Digital Operator Use the following procedure to save the program...

Страница 436: ...er File You can save the program table to a file on the computer Use computer files to back up pro gram tables 1 Click the Save Button The Open Dialog Box will be displayed 2 Specify the save location and file name You can set any file name However you cannot change the file name extension You can also set a comment Information ...

Страница 437: ...during opera tion You can use the Import Button to load the program table saved in a file to the SERVO PACK Information Transition Condition State Transition START STOP PRGRES Canceled Operating Stopped Transition If the program table operation is restarted after it is stopped because of an error the PGMSTEP in which the error occurred will be skipped and execution will be restarted from the PGMST...

Страница 438: ...units at a speed of 30 000 000 refer ences units min with the same acceleration deceleration rates as step 3 The program table for this positioning is shown below No Item Reference 1 Specifying the Program Steps to Execute One at a Time page 13 27 2 Specifying the Next Step to Execute in the NEXT Setting page 13 29 3 Specifying the Number of Times to Execute a Program Step page 13 30 4 Pausing Pro...

Страница 439: ...INPOSITION signal turns ON Turn OFF the START STOP signal Set the SEL0 to SEL7 signals to 5 i e turn ON SEL0 and SEL2 to specify program step 5 Turn ON the START STOP signal to start program table operation The POUT5 signal turns ON When positioning is completed to the target position the INPOSITION signal turns ON Operation Pattern and Related Signal Timing Do not change SEL0 to SEL7 for 4 ms aft...

Страница 440: ...Turn ON the START STOP signal to start program table operation The INPOSITION signal turns OFF and the POUT0 signal turns ON When positioning is completed to the target position the INPOSITION signal turns ON After a wait time of 1 second execution of the program step specified with the NEXT set ting program step 1 is executed The INPOSITION and POUT0 signals turn OFF and the POUT1 signal turns ON...

Страница 441: ... the INPOSITION signal turns ON After a wait time of 1 second execution of the program step specified with the NEXT set ting program step 1 is executed The INPOSITION and POUT0 signals turn OFF and the POUT1 signal turns ON When positioning is completed to the target position the INPOSITION signal turns ON After a wait time of 2 seconds execution of program step 1 is started twice The INPOSITION s...

Страница 442: ...OUT4 signal turns ON Turn OFF the START STOP signal to stop program table operation The Servomotor will decelerate to a stop Turn ON the START STOP signal to restart program table operation The SEL0 to SEL7 signals are not latched at this time When positioning is completed to the target position the INPOSITION signal turns ON Operation Pattern and Related Signal Timing Do not change SEL0 to SEL7 f...

Страница 443: ...n The INPOSITION signal turns OFF and the POUT4 signal turns ON Turn OFF the START STOP signal to stop program table operation Turn ON the START STOP signal while the Servomotor is decelerating Program table operation is restarted The remaining travel distance will be executed When positioning is completed to the target position the INPOSITION signal turns ON Operation Pattern and Related Signal T...

Страница 444: ...d to the target position the INPOSITION signal turns ON Execution moves to program step 3 and the POUT1 signal turns ON After a wait time of 2 seconds execution of the program step specified with the NEXT set ting program step 4 is executed The INPOSITION signal turns OFF When positioning is completed to the target position the INPOSITION signal turns ON Execution moves to program step 5 and the P...

Страница 445: ...rns OFF and the POUT1 signal turns ON When positioning is completed to the target position the INPOSITION signal turns ON The SEL1 signal turns ON After a wait time of 2 seconds program step 1 is executed again The INPOSITION signal turns OFF When positioning is completed to the target position the INPOSITION signal turns ON The SEL1 signal turns ON After a wait time of 2 seconds execution of the ...

Страница 446: ...SEL7 signals to 0 to specify program step 0 Turn ON the START STOP signal to start program table operation The INPOSITION signal turns OFF After 2 seconds elapse step 1 is executed When the SEL0 signal turns ON step 2 is executed After the motor decelerates to a stop the INPOSITION signal turns ON and step 3 is exe cuted At the start of execution the INPOSITION signal turns OFF When positioning is...

Страница 447: ...he registration speed The INPOSITION turns ON when positioning is completed for the registration distance When execution of program step 1 starts the INPOSITION signal turns OFF Operation Pattern and Related Signal Timing 1 Do not change SEL0 to SEL7 for 4 ms after turning ON the START STOP signal 2 PnB12 0000h Registration is started by changing the RGRT signal from OFF open to ON closed 20 μs mi...

Страница 448: ... the START STOP signal to stop operation Turn ON the START STOP signal to restart program table operation The INPOSITION turns ON when positioning is completed for the remaining registration distance When execution of program step 1 starts the INPOSITION signal turns OFF The RGRT signal turns ON to perform registration operation The speed changes to the registration speed The INPOSITION turns ON w...

Страница 449: ...ns ON to specify registration operation Turn ON the START STOP signal to restart program table operation In this case registration operation is performed The INPOSITION turns ON when positioning is completed for the registration distance When execution of program step 1 starts the INPOSITION signal turns OFF The RGRT signal turns ON to perform registration operation The speed changes to the regist...

Страница 450: ...eleration rate DEC in the previous program step is disabled 2 If INFINITE is specified for the target position POS always set the number of loops setting LOOP to 1 3 If a consecutive stop is specified for the target position POS always set the number of loops setting LOOP to 1 4 If a consecutive stop is specified for the target position POS the settings of the positioning speed SPD and acceleratio...

Страница 451: ...peration Pattern and Related Signal Timing Do not change SEL0 to SEL7 for 4 ms after turning ON the START STOP signal MODE 0 1 START STOP INPOSITION 2 s POUT0 to POUT7 0 1 2 Operation Pattern SEL0 to SEL7 Mode 0 Program Table Operation 4 ms min 2 ms min Speed Time Step 0 Step 1 ...

Страница 452: ...0 000 reference units min ms The program table for this positioning is shown below Operating Procedure Turn ON the MODE 0 1 signal to change to mode 0 Set the SEL0 to SEL7 signals to 0 to specify program step 0 Turn ON the START STOP signal to start program table operation Turn OFF the START STOP signal to stop program table operation Turn ON the PGMRES signal to cancel program table operation Set...

Страница 453: ... program steps Note If t t1 an error E53E will occur and program table operation will be stopped Speed Reference speed Reference speed Speed Motor speed Motor speed Speed Speed Speed Speed Speed Speed Speed I N D SEL0 T2000 IT2000 NT2000 DT2000 SEL0T2000 t 2000 ms t 2000 ms t 2000 ms t 2000 ms SEL0 SEL0 t 2000 ms INPOSITION INPOSITION t ON t NEAR NEAR DEN DEN t t t t t t t ...

Страница 454: ...ON signal and the POUT0 to POUT7 signals when the START STOP signal is turned ON to start program table operation are shown below Note In the following cases the response times can be as long as 16 ms max When program table operation is stopped including when it is stopped for an error When the motor stops due to overtravel Response Times tM 6 ms max tI 8 ms max tP 6 ms max START STOP tM POUT0 to ...

Страница 455: ...ction Setting on page 12 8 Note Edit the jog speed table only when the Servomotor is stopped Input Signal Description Reference MODE 0 1 ON Mode 0 program table operation OFF Mode 1 jog speed table operation or homing page 6 4 JOGP Turn this signal ON to jog forward at the jog speed registered in the jog speed table The motor is accelerated according to PnB29 Acceleration Rate When this signal tur...

Страница 456: ...4 4 SigmaWin Procedures You use the SigmaWin to edit write and save the jog speed table Use the following flow Jog Speed Table Jog Speed Selection Signals JSPD Jog Speed 1 000 reference units min JSPD3 JSPD2 JSPD1 JSPD0 0 nnnnnnnn 0 0 0 0 1 nnnnnnnn 0 0 0 1 2 nnnnnnnn 0 0 1 0 3 nnnnnnnn 0 0 1 1 4 nnnnnnnn 0 1 0 0 5 nnnnnnnn 0 1 0 1 6 nnnnnnnn 0 1 1 0 7 nnnnnnnn 0 1 1 1 8 nnnnnnnn 1 0 0 0 9 nnnnnnn...

Страница 457: ...a computer file Print Button Prints the currently displayed settings Setting Area Set the jog speeds Select the cell and enter the value directly Comment Button Lets you add a comment Import Button Imports a jog speed table from a file saved on the computer to the SigmaWin Initialize Button Initializes the flash memory in the SERVOPACK Save Button Saves the settings in the SERVOPACK to flash memor...

Страница 458: ... Click the OK Button The jog speed table edited on the SigmaWin will be written to the SERVOPACK and the edited cells will change to white 1 Make sure that the system is in SERVO OFF state when you write the jog speed table 2 The jog speed table that is written will be deleted when the power supply to the SERVOPACK is turned OFF Before you turn OFF the power supply to the SERVOPACK save the jog sp...

Страница 459: ...e that is saved in the flash memory is automatically loaded each time the power supply is turned ON There are the following three ways to save the jog speed table to flash memory in the SERVO PACK Save it from the Jog Speed Table Editing Dialog Box Save it with the JSPDSTORE serial command Save it with FnB05 Edit Save Jog Speed Table on a Digital Operator Use the following procedure to save the jo...

Страница 460: ...he Jog Speed Table to a Computer File You can save the jog speed table to a file on the computer Use computer files to back up jog speed tables 1 Click the Save Button The Open Dialog Box will be displayed 2 Specify the save location and file name You can set any file name However you cannot change the file name extension You can also set a comment Information ...

Страница 461: ...the jog speeds that are registered in the jog speed table 1 Forward operation at the jog speed is performed while the JOGP signal is ON 2 Reverse operation at the jog speed is performed while the JOGN signal is ON You can use the Import Button to load the jog speed table saved in a file to the SERVO PACK Information Speed JOGP 1 JOGN 2 JOG0 JOG1 JOG2 JOG3 JSPD0 JSPD1 JSPD3 JSPD2 JSPD6 JSPD7 JSPD5 ...

Страница 462: ...it for at least 4 ms and then turn ON the JOGP or JOGN signal To change to mode 0 turn OFF the JOGP or JOGN signal and then turn OFF the MODE 0 1 signal The timing is shown below If you have performed homing turn OFF the HOME signal wait for at least 4 ms and then turn ON the JOGP or JOGN signal When jog operation in both directions allow at least 4 ms between the JOGP and JOGN signals The timing ...

Страница 463: ... registered in the ZONE table the corresponding ZONE number is output on the ZONE signals You can use the ZONE numbers as required e g to trigger operations related to positioning Setting Range Setting Unit Default Setting When Enabled 99 999 999 to 99 999 999 1 reference unit 0 Immediately ZONE Table ZONE Signals ZONE Number ID ZONE N Reference Units ZONE P Reference Units Z4 POUT4 Z3 POUT3 Z2 PO...

Страница 464: ...the shaded parts in the follow ing figure Duplicated Settings in the ZONE Table The smaller ZONE number is output ZONE N and ZONE P 0 The ZONE number is disabled When the Current Value Is Not In Any ZONE All of the ZONE signals will be OFF 0 24 nnnnnnnn nnnnnnnn 1 1 0 0 0 25 nnnnnnnn nnnnnnnn 1 1 0 0 1 26 nnnnnnnn nnnnnnnn 1 1 0 1 0 27 nnnnnnnn nnnnnnnn 1 1 0 1 1 28 nnnnnnnn nnnnnnnn 1 1 1 0 0 29 ...

Страница 465: ... be OFF 13 5 3 SigmaWin Procedures You use the SigmaWin to edit write and save the ZONE table Use the following flow Parameter Meaning When Enabled Classification PnB4F 0000h default setting When the control power supply is turned ON or the SERVOPACK is reset the POUT0 to POUT7 sig nals are turned OFF After restart Setup 0001h When control power is turned ON or SERVOPACK is reset signals POUT0 to ...

Страница 466: ...Print Button Prints the currently displayed settings Setting Area Sets the ranges for ZONE outputs Select the cell and enter the value directly Comment Button Lets you add a comment Import Button Imports a ZONE table from a file saved on the computer to the SigmaWin Initialize Button Initializes the flash memory in the SERVOPACK Save Button Saves the settings in the SERVOPACK to flash memory Read ...

Страница 467: ...he ZONE table edited on the SigmaWin will be written to the SERVOPACK and the edited cells will change to white 1 Make sure that the system is in SERVO OFF state when you write the ZONE table 2 The ZONE table that is written will be deleted when the power supply to the SERVOPACK is turned OFF Before you turn OFF the power supply to the SERVOPACK save the ZONE table from RAM to flash memory Refer t...

Страница 468: ...13 5 ZONE Outputs 13 5 3 SigmaWin Procedures 13 57 13 Operation with Digital I O This concludes the writing procedure ...

Страница 469: ... is automatically loaded each time the power supply is turned ON There are the following three ways to save the ZONE table to flash memory in the SERVO PACK Save it on the Zone Table Editing Save it with the ZONESTORE serial command Save it with FnB04 Edit Save ZONE Table on a Digital Operator Use the following procedure to save the ZONE table from the Zone Table Editing 1 Click the Save Button on...

Страница 470: ...File You can save the ZONE table to a file on the computer Use computer files to back up ZONE tables 1 Click the Save Button The Open Dialog Box will be displayed 2 Specify the save location and file name You can set any file name However you cannot change the file name extension You can also set a comment Information ...

Страница 471: ...13 5 ZONE Outputs 13 5 3 SigmaWin Procedures 13 60 This concludes the saving procedure You can use the Import Button to load the program table saved in a file to the SERVO PACK Information ...

Страница 472: ...gram table consists of the following five steps The ZONE table is shown below PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 A 000000 30000 1000 40000 0 200000 NNNZZZZZ IT0 1 END 1 A 100000 30000 1000 NNNZZZZZ IT0 1 END 2 A 200000 30000 1000 NNNZZZZZ IT0 1 END 3 A 300000 30000 1000 NNNZZZZZ IT0 1 END 4 A 400000 30000 1000 NNNZZZZZ IT0 1 END ZONE Number ID ZONE N ZONE P 0 0 0 1 1000 1000 ...

Страница 473: ...3 62 The relationship between the operation pattern ZONE signals and POUT signal is shown in the following figure Z1 POUT1 Z2 POUT2 Z3 POUT3 Z4 POUT4 Operation Pattern START STOP SEL0 INPOSITION Speed Time SEL1 SEL2 Step 0 Z0 POUT0 Step 1 Step 2 Step 3 Step 4 ...

Страница 474: ...ositioning Assume that the program table consists of the following two steps The ZONE table is shown below PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 A 500000 30000 1000 NNNZZZZZ IT0 1 1 1 A 000000 30000 1000 NNNZZZZZ IT0 1 0 ZONE Number ID ZONE N ZONE P 0 0 0 1 99995 100004 2 199995 200004 3 0 0 4 299995 300004 5 0 0 6 0 0 7 0 0 8 399995 400004 9 0 0 10 0 0 11 0 0 12 0 0 13 0 0 14 0...

Страница 475: ... relationship between the operation pattern and the ZONE numbers for this example is shown in the following figure Operation Pattern START STOP SEL0 to SEL7 INPOSITION Speed Time Step 0 Z 0 POUT0 Z1 POUT1 Z2 POUT2 Z3 POUT3 Z4 POUT4 0 Step 1 Step 1 Step 1 Step 0 Step 0 ...

Страница 476: ...nd Communications 14 4 14 3 Settings 14 5 14 3 1 Block Diagram 14 5 14 3 2 Setting the Axis Address 14 5 14 3 3 Parameters Related to Serial Communications 14 6 14 4 Command Response Format 14 7 14 5 Global Commands 14 8 14 6 Echoback Response Time 14 9 14 7 Response Data Details 14 10 14 7 1 Positive Responses 14 10 14 7 2 Negative Responses 14 10 Operation with Serial Command Communications 14 ...

Страница 477: ...Homing 14 12 14 8 3 Positioning Jog Operation and Registration with Serial Commands 14 15 14 8 4 Positioning with a Program Table 14 24 14 8 5 Editing a Jog Speed Table 14 29 14 8 6 Editing a ZONE Table 14 29 14 8 7 Editing Parameters Monitoring and Utility Functions 14 30 ...

Страница 478: ...ction to Serial Command Communications You can use serial command communications to perform the following functions Homing Positioning jog operation and registration with serial commands Positioning with a program table Editing a jog speed table Editing a ZONE table Editing parameters monitoring and utility functions ...

Страница 479: ...uplex RS 485 Set the appropriate wiring method with parameter PnB00 Synchronization Start stop synchronization ASYNC Bit Rate 9600 19200 or 38400 bps Selectable with parameter PnB01 Start Bits 1 bit Data Bits 7 bits ASCII code Parity Bits 1 bit even parity Stop Bits 1 bit X ON X OFF Control No DTR DSR Control No RTS CTS Control No Echoback Each character Each command or None Select the specificati...

Страница 480: ...is Address Axis addresses can be set with parameter Pn010 axis address selection Set an axis address in the range 1 to F If an address outside this range is set serial command communications will not be performed Refer to the following section for information on the parameter setting meth ods 5 1 Manipulating Parameters Pn on page 5 3 Note With the INDEXER Module NS600 for SGDH SERVOPACKs axis add...

Страница 481: ...R is used as the delimiter Echoback is performed for each character 0004h Half duplex wiring is used for communications method CR is used as the delimiter Echoback is performed for each command 0005h Half duplex wiring is used for communications method CRLF is used as the delimiter 0006h Half duplex wiring is used for communications method CRLF is used as the delimiter Echoback is performed for ea...

Страница 482: ...e and lower case characters can be used in the command including the axis number and are treated the same Note The response s delimiter is always CR LF Alphabetical characters in the response are always upper case To maximize communications reliability confirm the echoback and responses to each command while communicating with the INDEXER Module When the echoback and responses are not being confir...

Страница 483: ...ost controller INDEXER Module The axis number setting is the global address and addresses all axes No echoback or response is returned when the global address is used No response returned When global commands are used improve the communications reliability by reading the status when appropriate Command character string Delimiter Example SVON CR ST CR PUN CR Important ...

Страница 484: ...used for communica tions method CR is used as the delimiter Echoback is performed for each com mand 0006h Half duplex wiring is used for communica tions method CRLF is used as the delimiter Echoback is performed for each character 0007h Half duplex wiring is used for communica tions method CRLF is used as the delimiter Echoback is performed for each com mand For PnB00 0001h and PnB01 0000h bit rat...

Страница 485: ...B02 is set to 0 If PnB02 0000h there is no response Structure of the Response OK OK SP SP SP SP SP SP SP SP SP CR LF Note In ASCII the SP character is 20h the CR character is 0Dh and the LF character is 0Ah 14 7 2 Negative Responses There will be no response if one of the following errors is detected a parity error E48E fram ing error E49E or overrun error E4AE There will be no response to a globa...

Страница 486: ...his command is the same as turning ON the S ON signal OK SVOFF Servo OFF Stops the power supply to the Servomotor This command is the same as turning OFF the S ON signal OK ARES Alarm Reset Clears the alarm The response OK will be returned when the alarm has been cleared The alarm code will be returned if the alarm remains uncleared ALM SP A xxx SP CR LF The xxx is the SERVOPACK alarm code ALM SP ...

Страница 487: ...B31 Homing Method PnB32 Homing Direction PnB33 to PnB39 PnB31 0000h No homing Homing ends when the con trol power sup ply is turned ON PnB31 0001h Uses the DEC signal and the encoder s phase C PnB32 0000h Forward PnB32 0001h Reverse To change the polarity use parame ter PnB11 PnB31 0002h Uses the DEC signal only To change the polarity use parame ter PnB11 PnB31 0003h Uses the encoder s phase C onl...

Страница 488: ...e encoder Absolute Encoder Offset Setting Range Setting Unit Default Setting When Enabled 99999999 to 99999999 1 reference unit 0 After restart Parameter Meaning When Enabled PnB31 0000h default setting Homing is not executed After restart 0001h DEC and phase C are used for homing 0002h Only DEC is used for homing 0003h Only phase C is used for homing PnB32 0000h default setting HOME or ZRN comman...

Страница 489: ...d when the control power supply is turned OFF Note Parameter PnB25 will not be refreshed PnB25 will be used as the current position when the control power supply is turned ON and homing is com pleted With an Absolute Encoder Switches the current position to nnnnnnnn and refreshes PnB25 with the absolute position offset so that the current position becomes nnnnnnnn The coordinates setting will rema...

Страница 490: ...et position as a relative distance Note If a new target position is specified during positioning the new target position will be used in the next ST command OK SPDnnnnnnnn Positioning Speed Specification Setting range 1 nnnnnnnn 99999999 1000 reference units min Specifies the positioning speed After the control power supply is turned ON the positioning speed set in parameter PnB27 will be used unt...

Страница 491: ... even once If the ST command is executed but the speed hasn t been specified even once the speed specified in param eter PnB27 will be used When positioning has been stopped with the HOLD command the posi tioning will be restarted the hold will be cleared if the ST command is executed Example 1 POSI nnnnnnnn Target Position Specification SPDnnnnnnnn Positioning Speed Specification ST Positioning S...

Страница 492: ... be omitted Positioning Start Relative Position Setting range 99999999 nnnnnnnn 99999999 1 reference unit Specifies the relative distance nnnnnnnn as the target position and starts positioning at the same time This command is equivalent to the following combination POSI nnnnnnnn ST Example SPDnnnnnnnn Positioning Speed Specification STI nnnnnnnn Target Position Specification and Positioning Start ...

Страница 493: ... the registration distance would be exceeded even if decel eration were started immediately OK RSPDnnnnnnnn Registration Speed Specification Setting range 1 nnnnnnnn 99999999 1000 reference units min Specifies the registration speed After the control power supply is turned ON the registration speed set in parameter PnB27 will be used until the speed is specified with this com mand Note If a new re...

Страница 494: ... the RS command is executed Example 1 POSI nnnnnnnn Target Position Specification SPDnnnnnnnn Positioning Speed Specification RDSTnnnnnnnn Registration Distance Specification RSPDnnnnnnnn Registration Speed Specification RS Positioning Start with Registration RS Repeat Example 2 POSI nnnnnnnn Target Position Specification RDSTnnnnnnnn Registration Distance Specification RS Positioning Start with R...

Страница 495: ...tioning Speed Specification RDSTnnnnnnnn Registration Distance RSPDnnnnnnnn Registration Speed Specification RSI nnnnnnnn Target Position Specification and Positioning Start with Registration OK JOGPnnnnnnnn JOGNnnnnnnnn JOG Forward Reverse Setting range 1 nnnnnnnn 99999999 1000 reference units min Starts JOG forward or JOG reverse operation at the speed specified in nnnnnnnn JOGPnnnnnnnn Forward ...

Страница 496: ... occur if the RJOGP RJOGNnnnnnnnn command is exe cuted but the registration distance hasn t been specified even once If the RJOGP RJOGNnnnnnnnn command is executed but the registration speed hasn t been specified even once the speed specified in parameter PnB27 will be used for the registration speed When registration jog operation has been stopped with the HOLD com mand forward registration jog o...

Страница 497: ...th registration operation that was initiated by the RJOGPnnnnnnnn com mand the operation can be restarted by executing the RJOGPnnnnnnnn command again When the HOLD command has interrupted a reverse jog operation with registration operation that was initiated by the RJOGNnnnnnnnn com mand the operation can be restarted by executing the RJOGNnnnnnnnn command again When the HOLD command has interrup...

Страница 498: ...et position is specified before the HOLD command is executed the remaining distance will be canceled and the new target position will be used instead When the speed setting has been changed the new setting will be used when positioning is restarted Example 1 Example 2 OK Continued on next page Continued from previous page Serial Command Function Description Positive Response 0 x y y SPDx POSIy ST ...

Страница 499: ... N Inactive A Active Z ZONE table Continue OK Continued from previous page Serial Command Function Description Positive Response x 0 POSIy ST SKIP SKIP SPDx JOGPx t Speed Remaining distance canceled POUT n n n n n n n n POUT0 POUT1 POUT2 POUT3 POUT4 POUT5 POUT6 POUT7 Serial Command Function Description Positive Response PGMSTORE Program Table Save Saves the program table in flash memory Once PGMST...

Страница 500: ...99 Innnnnnnn Relative distance 1 reference unit 99999999 nnnnnnnn 99999999 Snnnnnnnn Continuous stop 1 reference unit 99999999 nnnnnnnn 99999999 INFINITE or INFINITE JOG forward or JOG reverse STOP Stop No specification OK SPDTsss Program Table SPD Read Reads the SPD value positioning speed sss Program step PGMSTEP SPDT123 12345678 CR LF SPDTsss nnnnnnnn Program Table SPD Write Sets the SPD value ...

Страница 501: ...ue deceleration sss Program step PGMSTEP DECT123 12345678 CR LF DECT123 SP SP SP SP SP SP SP CR LF DECTsss nnnnnnnn Program Table DEC Write Sets the DEC value deceleration sss Program step PGMSTEP Settings 1 nnnnnnnn 99999999 Deceleration 1000 reference units min ms Continues the previously executed program step s specification OK POUTTsss Program Table POUT Read Reads the POUT value programmable ...

Страница 502: ...ignal active x 0 to 7 Tnnnnn Time elapsed ms since the program step started 0 nnnnn 99999 ITnnnnn Time elapsed ms after the INPOSI TION signal became active 0 nnnnn 99999 NTnnnnn Time elapsed ms after the NEAR signal became active 0 nnnnn 99999 DTnnnnn Time elapsed ms after the DEN sig nal became active 0 nnnnn 99999 SELxnnnnn Time elapsed ms after the SEL input signal became active x 0 to 7 0 nnn...

Страница 503: ... Table Operation Restart When program table operation has been interrupted by the STOP command or other method the START command can be executed to restart that operation clearing the hold state If program table operation was canceled or ended the START command will start a new program table operation from the pro gram step sss that was specified in the last STARTsss command OK STOP Program Table ...

Страница 504: ... executed fre quently OK JSPDINIT JOG Speed Table Initialization Resets all values in the JOG speed table to their default settings OK JSPDTdd JOG Speed Table Read Reads the JOG speed table setting for the specified number dd JOG speed number JSPDT123 12345678 CR LF JSPDTdd nnnnnnnn JOG Speed Table Write Sets the JOG speed table setting for the specified number dd JOG speed number Settings 1 nnnnn...

Страница 505: ... position zz ZONE number ZONE ID Settings 99999999 nnnnnnnn 99999999 OK Continued from previous page Serial Command Function Description Positive Response Serial Command Function Description Positive Response PRMppp Parameter Read Reads a parameter ppp Parameter number Pn number Example Reading PnB00 Command 1PRMB00 CR Response 1PRMB00 00000001 CR LF An 8 digit signed decimal value is returned for...

Страница 506: ... timing of enabling parameter settings 16 2 2 List of Parameters on page 16 4 OK TRMppp nnnnnnnn Temporary Parameter Write Sets a parameter ppp Parameter number Pn number The PRMppp nnnnnnnn command stores the parameter setting in EEPROM but the TRMppp nnnnnnnn command does not Because this command does not write the setting in EEPROM it can be used to change settings frequently Note The settings ...

Страница 507: ...M SP SP SP SP SP CR LF ALMn Alarm History Read 0 n 9 One of the following responses is returned depending on the status No alarm SERVOPACK alarm or INDEXER Module alarm ALM1 NONE CR LF ALM1 A xxx CR LF ALM1 ExxA CR LF ERR Most Recent Error Read One of the following responses is returned A response of NONE indicates that no errors have occurred ERR SP NONE SP CR LF ERR SP ExxE SP CR LF IN1 SERVOPAC...

Страница 508: ...a tus Note Error E56E will occur if fewer than 11 digits bbbbbbbbbbb are specified in the com mand If operation is being performed in Mode 0 program table operation mode MODE0 1 must be set to 1 before START STOP is set to 1 If operation is being performed in Mode 1 homing or JOG speed table oper ation mode MODE0 1 must be set to 0 before HOME JOGP or JOGN is set to 1 OK IN3 Safety Input Signal Mo...

Страница 509: ... Bit 5 POUT4 Bit 6 POUT5 Bit 7 POUT6 Bit 8 POUT7 OUT2TESTEND Clears the forced signal status Note Error E56E will occur if fewer than 9 digits bbbbbbbbb are specified in the com mand OK POUT POUT Monitor POUT SP NNNAZZZZ CR LF Bit 0 POUT0 Bit 1 POUT1 Bit 2 POUT2 Bit 3 POUT3 Bit 4 POUT4 Bit 5 POUT5 Bit 6 POUT6 Bit 7 POUT7 PGMSTEP Program Step PGMSTEP Monitor PGMSTEP 12345 CR LF EVTIME Program Table...

Страница 510: ...ar motor NFB 12345678 CR LF TREF or MON5 Internal Torque Reference Monitor TREF 12345678 CR LF NREF or MON4 Speed Reference Monitor min 1 rotational motor Speed Reference Monitor mm s linear motor NREF 12345678 CR LF PER or MON2 Position Error Monitor Reference units PER 12345678 CR LF TRMS Cumulative Load Ratio Monitor TRMS 12345678 CR LF RGRMS Regeneration Load Ratio Monitor TGRMS 12345678 CR LF...

Страница 511: ...op control is selected and linear motor is used 0008 8 bit serial converter unit 000C 12 bit serial converter unit 0008 8 bit incremental scale 0009 9 bit incremental scale 000A 10 bit incremental scale 000D 13 bit incremental scale 0109 9 bit absolute scale 010A 10 bit absolute scale Note When fully closed loop control is selected the external encoder s information is dis played PGTYPE 00001234 C...

Страница 512: ... 12 15 2 3 INDEXER Module Alarm Displays and Troubleshooting 15 44 15 2 4 Resetting Alarms 15 48 15 2 5 Displaying the Alarm History 15 48 15 2 6 Clearing the Alarm History 15 49 15 2 7 Resetting Alarms Detected in Option Modules 15 50 15 2 8 Resetting Motor Type Alarms 15 52 15 3 Warning Displays 15 53 15 3 1 List of Warnings 15 53 15 3 2 Troubleshooting Warnings 15 55 15 3 3 INDEXER Module Error...

Страница 513: ...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 years to...

Страница 514: ...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 515: ...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 516: ... Servomotor Stopping Method for Alarms on page 5 36 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear the alarm SERVOPACK Panel Display The alarm number will be displayed Refer to the following section for details 1 5 1 Panel Display on page 1 10 Indicators Green indicator Remains unlit Re...

Страница 517: ...eter Setting Error The settings of the Option Module and Pn002 n X External Encoder Usage do not match Gr 1 No A 04A Parameter Setting Error 2 There is an error in setting of parameters reserved by the system Gr 1 No A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match Gr 1 Yes A 051 Unsupported Device Alarm An unsupported device was connected Gr 1 No A 070 Motor Typ...

Страница 518: ...y exceeded the capacity of the dynamic brake resistor Gr 1 Yes A 731 A 740 Inrush Current Limit ing Resistor Overload The main circuit power supply was fre quently turned ON and OFF Gr 1 Yes A 7A1 Internal Temperature Error 1 Control Board Temperature Error The surrounding temperature of the con trol PCB is abnormal Gr 2 Yes A 7A2 Internal Temperature Error 2 Power Board Temperature Error The surr...

Страница 519: ...e alarm 1 H L L A b33 Current Detection Error 3 An error occurred in the current detection circuit Gr 1 No H H H A bF0 System Alarm 0 Internal program error 0 occurred in the SERVOPACK Gr 1 No A bF1 System Alarm 1 Internal program error 1 occurred in the SERVOPACK Gr 1 No A bF2 System Alarm 2 Internal program error 2 occurred in the SERVOPACK Gr 1 No A bF3 System Alarm 3 Internal program error 3 o...

Страница 520: ...f communications with the encoder are incorrect Gr 1 No A CC0 Multiturn Limit Dis agreement Different multiturn limits have been set in the encoder and the SERVOPACK Gr 1 No A CF1 Reception Failed Error in Feedback Option Module Communica tions Receiving data from the Feedback Option Module failed Gr 1 No A CF2 Timer Stopped Error in Feedback Option Module Communica tions An error occurred in the ...

Страница 521: ...unsupported command option mod ule was connected Gr 1 No A E74 Unsupported Safety Option Module An unsupported safety option module was connected Gr 1 No A E75 Unsupported Feed back Option Module An unsupported feedback option module was connected Gr 1 No A E80 Command Option Module Unmatched Error The command option module was replaced with a different model Gr 1 No A EA2 Alarm in Current Communi...

Страница 522: ...ram error occurred in the SERVOPACK No Invalid FL 2 2 FL 3 2 FL 4 2 FL 5 2 FL 6 2 CPF00 Digital Operator Com munications Error 1 Communications were not possible between the Digital Operator model JUSP OP05A 1 E and the SERVOPACK e g a CPU error occurred No CPF01 Digital Operator Com munications Error 2 1 Refer to the following section for details 15 2 3 INDEXER Module Alarm Displays and Troublesh...

Страница 523: ...ed the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK 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 SER VOPACK A 021 Parameter For mat Error There is an error in th...

Страница 524: ...t using a Serial Converter Unit Check to see if the motor parameter file was written to the lin ear encoder Write the motor parame ter file to the linear encoder page 5 17 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK 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 ...

Страница 525: ... X page 10 5 A 04A Parameter Set ting Error 2 A parameter reserved by the system was changed Set the following reserved parameters to the default settings Pn200 2 Pn207 1 Pn50A 0 Pn50A 1 Pn50A 2 Pn50C Pn50D A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match The SERVOPACK and Servomotor capaci ties do not match each other Confirm that the follow ing condition is met...

Страница 526: ... Rotary Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again page 15 52 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 16 A 0b0 Invalid Servo ON Command Alarm The S ON Servo ON signal was input from the ...

Страница 527: ...K The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring page 4 22 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 to see how frequently the DB is being used Or check the alarm display to see if a DB overload alarm A 730 or ...

Страница 528: ... or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the SERVOPACK Check fo...

Страница 529: ...onnect an External Regenerative Resistor and set Pn600 to an appropri ate value or connect a Regenerative Resistor Unit and set Pn600 to 0 The jumper between the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVOPACKs SGD7S 3R8A 5R5A 7R6A 120A 180A 200A or 330A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect a ...

Страница 530: ...during 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 to see if a Regenerative Resistor is connected and check the setting of Pn600 Correct the setting of Pn600 page 5 53 The setting of Pn603 Regenerative Resis tor Capacity is smaller ...

Страница 531: ...etting to match the actual power supply page 5 12 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 SERVOPACKs...

Страница 532: ...o or 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 SERVO PACK may be faulty Replace the SERVO P...

Страница 533: ... 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 page 8 15 The vibration detec tion level Pn312 or Pn384 is not suitable Check that the vibra tion detection level Pn312 or Pn384 is suitable Set a suitable vibration detection level Pn312 or ...

Страница 534: ... A 731 Dynamic Brake Overload An excessive power consump tion 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 resi...

Страница 535: ...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 page 3 8 An overload alarm was reset by turning OFF the power sup ply too many times Check...

Страница 536: ... absolute 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 SER VOPACK 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...

Страница 537: ...iled 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 Linear Servomo...

Страница 538: ...lure 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 SERVOPACK A 861 Motor Over heated The surrounding tem perature around the Servomotor 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 gre...

Страница 539: ...he Linear Servomotor or repair the sensor attached to the machine A 890 Encoder Scale Error A failure occurred in the linear encoder The linear encoder may be faulty Replace the lin ear encoder A 891 Encoder Module Error A failure occurred in the linear encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the linear encoder may be faulty Replace the linear encod...

Страница 540: ...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 may be faulty Replace the SERVOPACK A bF2 System Alarm 2 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 SERVOPACK A bF3 System Alarm 3 A fai...

Страница 541: ...RVOPACK A C20 Phase Detection Error The linear encoder signal level is too low Check the voltage of the linear encoder sig nal Fine tune the mounting of the scale 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 orientat...

Страница 542: ...one direction Implement appropriate countermeasures against noise for the Linear Encoder 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...

Страница 543: ...48E Polarity Detection 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 tem per...

Страница 544: ...encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder page 4 6 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 SERVOPACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the signal...

Страница 545: ...faulty Replace the Servo motor 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 SERVOPACK 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 encoder may b...

Страница 546: ...vibra tion Correctly install the Ser vomotor 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 Servo motor 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 ma...

Страница 547: ...erial Converter Unit The length of the cable between the Serial Con verter Unit and SERVO PACK must be 20 m or less The sheath on cable between the Serial Converter Unit and SERVOPACK is bro ken Check the cable that connects the Serial Converter Unit Replace the cable between the Serial Con verter Unit and SERVO PACK A CF2 Timer Stopped Error in Feed back Option Module Commu nications Noise entere...

Страница 548: ...ating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 page 8 7 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 SERVOPACK A d01 Position Devia tion Overflow Alarm at Servo ON The servo was turned ON af...

Страница 549: ...Check the connection between the SERVO PACK and the com mand option module Correctly connect the command option module A command option module fault occurred Replace the command option module A SERVOPACK fault occurred Replace the SERVO PACK A E02 Command Option Module IF Synchronization Error 1 The timing of synchro nization between the servomotor and com mand option module changed due to change ...

Страница 550: ... E71 Safety Option Module Detec tion Failure The connection between the SERVO PACK and the safety option module is faulty Check the connection between the SERVO PACK and the safety option module Correctly connect the safety option module The safety option module was discon nected Execute Fn014 Reset ting configuration error of option module using the digital operator or Sig maWin and turn the powe...

Страница 551: ...wer supply OFF and then ON again A EA2 Alarm in Current Communications between the INDEXER Module and SERVO PACK 1 An error occurred in communications between the INDEXER Module and SERVO PACK during opera tion Take steps to reduce noise in the system such as improving frame ground page 15 44 A EA3 Alarm in Current Communications between the INDEXER Module and SERVO PACK 2 An error occurred in com...

Страница 552: ... is correctly wired page 4 12 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 sin gle phase AC power supply input Pn00B n 1 Check the power sup ply and the parameter setting Match the parameter set ting to the power supply page 4 12...

Страница 553: ...e 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 SERVOPACK Turn the power sup...

Страница 554: ... following list for details Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 4 These alarms 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 555: ... Parameter Checksum Alarm Detected only when control power supply is turned ON Incorrect or cor rupted parameters are stored in EEPROM This alarm can occur if the control power supply is turned OFF while the parameters are being initialized or changed Initialize the parame ters with the PRMI NIT command or FnB0B If the problem is not solved correct the parameters Gr 1 N A E15A A AEF Parameter Vers...

Страница 556: ...n change the parame ter If the alarm display is other than A E00 it can be reset by turn ing the power OFF and back ON E18A A EA2 A EA3 Communication Alarm between INDEXER Module and SERVO PACK An error occurred in communications between the INDEXER Module and SERVOPACK during operation Take steps to reduce noise in the system such as improving frame ground Gr 1 Available E19A A AEF Program Table ...

Страница 557: ...set in the ZONE table is not within the allowed setting range Change the firmware version Change the ZONE table version to match the firmware version Gr 1 Available 2 E1FA A AEF JOG Speed Table Checksum Alarm Detected only when control power supply is turned ON The JOG speed table stored in flash mem ory was not recorded properly This alarm can occur if the control power supply is turned OFF while...

Страница 558: ...tion so JOG speed table operation will not be possible E23A A AEF Insufficient Reg istration Dis tance Alarm The registration dis tance was shorter than the deceleration distance when the RGRT signal went ON to start registra tion operation The current position will exceed the position specified by registra tion Either increase the reg istration distance or reduce the decelera tion distance increa...

Страница 559: ...parations are required Applicable Tools The following table lists the tools that you can use to display the alarm history and the applica ble tool functions Be sure to eliminate the cause of an alarm before you reset the alarm If you reset the alarm and continue operation without eliminating the cause of the alarm it may result in damage to the equipment or fire Type Signal Name Connector Pin No D...

Страница 560: ...e tools that you can use to clear the alarm history and the applicable tool functions Operating Procedure Use the following procedure to reset the alarm history 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 1 If the same alarm occurs consecutively within one hour it is not saved in the alarm history If it occurs after an hour or more it is saved 2 You can clea...

Страница 561: ... with this operation Preparations Always check the following before you clear an alarm detected in an Option Module The parameters must not be write prohibited Applicable Tools The following table lists the tools that you can use to reset Option Module configuration errors and the applicable tool functions This operation is the only way to reset alarms for Option Modules The alarms are not reset w...

Страница 562: ...w of the Sig maWin 2 Select Reset Option Module Configuration Error in the Menu Dialog Box The Reset Option Module Configuration Error Dialog Box will be displayed 3 Select the Clear Check Box for the Option Modules from which to clear alarms and the click the Execute Button 4 Click the OK Button 5 Click the OK Button 6 Turn the power supply to the SERVOPACK OFF and ON again This concludes the pro...

Страница 563: ...tool functions Operating Procedure Use the following procedure to reset Motor Type alarm 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Reset Motor Type Alarm in the Menu Dialog Box The Reset Motor Type Alarm Dialog Box will be displayed 3 Click the Clear Button The alarm will be cleared This concludes the procedure to reset Motor Type alarms 1 This ut...

Страница 564: ... the warning code is displayed at the top left of the screen Response to the Alarm or Warning Read Command ALM Warning code Response to the Most Recent Error Read Command ERR No change ALM Signal No change WARN Signal Turns ON Warning Number Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 A 900 Position Deviation Overflow The position deviation exceeded the percentage set with the followin...

Страница 565: ...ow L L H A 93B Overheat Warning The input voltage temperature for the overheat protection input TH signal exceeded the setting of Pn61C Overheat Warning Level A 942 Speed Ripple Com pensation Information Disagreement The speed ripple compensation information stored in the encoder does not agree with the speed ripple compensation information stored in the SERVO PACK H H L A 971 Undervoltage This wa...

Страница 566: ... reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference with one of the following meth ods Reduce the acceleration rate ACC and decelera tion rate DEC in the pro gram table Reduce the settings of PnB29 Acceleration Rate and PnB2B Deceleration Rate The excessive position deviation alarm level Pn520 Pn51E 100 is too low for the operating condi tions...

Страница 567: ...d warning level Pn52B is suitable Set a suitable overload warning level Pn52B page 5 39 A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during oper ation Reduce the motor speed Or reduce the servo gain with custom tu...

Страница 568: ...urred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power 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 improving the SERVOPACK installa tion co...

Страница 569: ...ated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mass Reduce the frequency of stopping wit...

Страница 570: ...ee with the speed ripple compensa tion information stored in the SER VOPACK Reset the speed ripple compensation value on the SigmaWin page 8 58 Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple page 8 58 Set Pn423 to n 0 Disable torque ripple com pensation However changing the setting may increase the speed ripple page 8 58 A 971 Undervoltage F...

Страница 571: ...ost controller Check the wiring of the overtravel signals Implement countermea sures against noise page 5 29 A 9b0 Preventative Mainte nance Warning One of the con sumable parts has reached the end of its service life Replace the part Contact your Yaskawa representa tive for replacement page 9 16 A A9F Error An error occurred in the INDEXER Module Use the SigmaWin to check the serial com mand nega...

Страница 572: ... Error Read Command ERR Error code the most recent closest error code ALM Signal No change WARN Signal The signal is valid for 2 seconds Serial Command Negative Response Alarm Number Error Name Meaning Corrective Action E41E A A9F Program Table Save Failure Error While writing data to the flash memory a failure occurred during one of the following operation While saving a program table by using a ...

Страница 573: ...eception buf fer used for serial commands An error will occur if too many serial com mands are sent consecutively without waiting for the responses Normally the reception buffer will not overflow if there is command response handshaking When an overflow has occurred error code E47E will be returned and all of the data that has accumulated in the recep tion buffer will be discarded Wait for a respo...

Страница 574: ...er written with the subsequent data Normally data is read before it is over written so this error does not occur Repair the hard ware E4BE A A9F Moving Disabled Error due to P OT Travel in the forward direction was requested when P OT was in effect For ward movement is disabled when P OT forward overtravel is in effect When P OT is being used move to a posi tion where the P OT is not in effect Whe...

Страница 575: ...ce of reverse software limit set in PnB23 Check the tar get position specification Check the reverse soft ware limit in PnB23 Check the mov ing mode rotary or lin ear set in PnB20 If software lim its are not being used either select a rotary moving mode in PnB20 or dis able the soft ware limits by setting PnB21 PnB23 0 E4FE A A9F Position Refer ence Out of range Error The moving method is set to r...

Страница 576: ...d even once there was a request by the RS command to start regis tration positioning Specify a regis tration distance with the RDST command E53E A A9F Move Reference Duplication Error There was a new move reference requested even though the system was already mov ing in a positioning or other traveling opera tion Send the next move reference request only after the current movement is completed Pos...

Страница 577: ...SVON command The motor is rotating during servo ON execution The main power supply went OFF during servo ON execution Hard wire base block status HWBB sta tus Error E5BE will occur if there was an alarm when the servo ON request was sent using the SVON command Error E5CE will occur if the main power supply was OFF when the servo ON request was sent Turn the servo ON when the motor is stopped Check...

Страница 578: ...mand was executed while the main power supply was OFF Turn the servo ON after turning ON the main power supply E5DE A A9F Homing Method Unspecified Error The homing method is not specified Homing start was requested HOME sig nal was turned ON or ZRN command was executed without setting the homing method Specify the hom ing method in PnB31 E5EE A A9F Execution Dis abled during Pro gram Table Operat...

Страница 579: ...oes not match the setting in the encoder after the multi turn limit setting in Pn205 was changed and the control power supply was turned OFF and ON Use the Multi turn Limit Setting operation to adjust the setting in the encoder to match Pn205 only after alarm A CC0 has occurred E63E A A9F Continuous Stop Execution Dis abled Error An attempt was made to execute a continu ous stop under conditions w...

Страница 580: ... power supply to the servo system Wire the cable cor rectly There is an overload on the Servomotor Operate the Servomotor with no load and check the load status Turn OFF the power supply to the servo system Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the t...

Страница 581: ... Turn OFF the power sup ply to the servo system Check the wiring Wire the Serial Con verter Unit correctly There is a mistake in the lin ear encoder wiring Turn OFF the power sup ply to the servo system Check the wiring Wire the cable cor rectly The setting of Pn282 Linear Encoder Pitch is not correct Check the setting of Pn282 Correct the setting of Pn282 page 5 16 The count up direction of the l...

Страница 582: ...d 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 Turn OFF the power supply to the servo system 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 c...

Страница 583: ...lt with the machine manufacturer Noise interference occurred because of incorrect I O sig nal cable specifications Turn OFF the power sup ply to the servo system Check 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 oc...

Страница 584: ...ines on the Servomotor side such as a welder Turn OFF the power sup ply to the servo system Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the signal line from the encoder Turn OFF the power supply to the servo system Im...

Страница 585: ...ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence page 8 23 The setting of Pn100 Speed Loop Gain is too high Check the setting of Pn100 The default setting is Kv 40 0 Hz Set Pn100 to an appro priate value The setting of Pn102 Posi tion Loop Gain is too high Check the setting of Pn102 The default setting is...

Страница 586: ...le installation envi ronment The Encoder Cable was sub ject to excessive noise inter ference Turn OFF the power sup ply to the servo system Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machines...

Страница 587: ...10 Set the parameters to correct values page 5 27 The P OT N OT Forward Drive Prohibit or Reverse Drive Prohibit signal mal functioned Check for fluctuation in the external power supply 24 V voltage for the input signals Eliminate fluctuation from the external power supply 24 V voltage for the input signals Check to see if the opera tion of the overtravel limit switches is unstable Stabilize the o...

Страница 588: ...rvo system Check the Encoder Cable to see if it is pinched or the sheath is damaged Replace the Encoder Cable and correct the cable installation envi ronment The Encoder Cable was sub jected to excessive noise interference Turn OFF the power sup ply to the servo system Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay...

Страница 589: ...he specifications Noise interference occurred because an I O signal cable is too long Turn OFF the power sup ply to the servo system Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m An encoder fault occurred The pulse count does not change Turn OFF the power supply to the servo system Replace the Servomo tor or linear encoder A failure occurred in the SER...

Страница 590: ...nformation on the parameters 16 1 Parameter Configurations 16 2 16 2 List of Parameters 16 3 16 2 1 Interpreting the Parameter Lists 16 3 16 2 2 List of Parameters 16 4 16 3 Parameter Recording Table 16 32 Parameter Lists 16 ...

Страница 591: ...s Pn401 to Pn460 Set torque control parameters such as the torque limit val ues Sequence Parameters Pn502 to Pn561 PnB03 to PnB1E PnB4F PnB51 to PnB52 Set conditions for the sequence I O signals Positioning Parameters PnB20 to PnB2F PnB50 Set parameters related to positioning Homing Parameters PnB31 to PnB39 Set parameters related to homing Others Pn600 to Pn604 Set other parameters Serial Communi...

Страница 592: ...s on page xi Indicates when a change to the parameter will be effective n X Rotation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction page 5 15 Use the direction in which the linear encoder counts up as the for ward direction 1 Use CW as the forward direction Reverse Rotation Mode Use the direction in which the linear encoder counts down as the forward ...

Страница 593: ...RVOPACK to start Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence Pn000 2 Basic Function Selec tions 0 0000h to 10B1h 0000h All After restart Setup Continued on next page Note n X Rotation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction page 5 15 Use the direction in which the l...

Страница 594: ...and L3 terminals do not use shared converter page 5 12 1 Input DC power as the main circuit power supply using the B1 and 2 terminals or the B1 and 2 terminals use an external converter or the shared converter n X Warning Code Output Selection Reference 0 Output only alarm codes on the ALO1 to ALO3 terminals page 6 8 1 Output both warning codes and alarm codes on the ALO1 to ALO3 terminals If ther...

Страница 595: ...e unit Position amplifier 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...

Страница 596: ...coder pulse unit Position amplifier 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 fee...

Страница 597: ...age Reference 0 Do not detect undervoltage page 6 12 1 Detect undervoltage warning and limit torque at host controller 2 Detect undervoltage warning and limit torque with Pn424 and Pn425 i e only in SERVOPACK n X Warning Detection Selection Reference 0 Detect warnings page 15 53 1 Do not detect warnings except for A 971 n X Reserved parameter Do not change n X Reserved parameter Do not change n X ...

Страница 598: ... 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 motor coast n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X ...

Страница 599: ...ble tests without a motor All 1 Enable tests without a motor n X Encoder Resolution for Tests without a Motor Applicable Motors 0 Use 13 bits Rotary 1 Use 20 bits 2 Use 22 bits 3 Use 24 bits n X Encoder Type Selection for Tests without a Motor Applicable Motors 0 Use an incremental encoder All 1 Use an absolute encoder n X Reserved parameter Do not change n X Stand alone Mode Test Operation Select...

Страница 600: ...ors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Encoder Resolution Compatibility Selection Applicable Motors 0 Use the encoder resolution of the Servomotor Rotary 1 Use a resolution of 20 bits when connected to an SGM7J SGM7A SGM7P SGM7G SGM7E or SGM7F Servomotor n X Reserved parameter Do not change n X Reserved parameter Do not change n X Polarity Sensor Selec...

Страница 601: ...age 8 67 Pn122 2 Second Friction Com pensation Gain 10 to 1 000 1 100 All Immedi ately Tuning page 8 64 page 8 67 Pn123 2 Friction Compensation Coefficient 0 to 100 1 0 All Immedi ately Tuning page 8 67 Pn124 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning page 8 67 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning...

Страница 602: ...X Gain Switching Selection 0 Disable automatic gain switching 1 Reserved setting Do not use 2 Enable automatic gain switching 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 position reference in...

Страница 603: ...lections 0000h to 0011h 0010h All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning page 8 49 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning page 8 49 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi ficatio...

Страница 604: ...hange 0010h 1 All Pn20A 4 Number of External Encoder Scale Pitches 4 to 1 048 576 1 scale pitch revolu tion 32768 Rotary After restart Setup page 10 6 Pn20E 4 Electronic Gear Ratio Numerator 1 to 1 073 741 824 1 64 All After restart Setup page 5 42 Pn210 4 Electronic Gear Ratio Denominator 1 to 1 073 741 824 1 1 All After restart Setup page 5 42 Pn212 4 Number of Encoder Output Pulses 16 to 1 073 ...

Страница 605: ...d Stops 0 to 10 000 1 ms 0 All Immedi ately Setup page 5 38 Pn30C 2 Reserved parameter Do not change 0 All Pn310 2 Vibration Detection Selections 0000h to 0002h 0000h All Immedi ately Setup page 6 32 Pn311 2 Vibration Detection Sen sitivity 50 to 500 1 100 All Immedi ately Tuning page 6 32 Pn312 2 Vibration Detection Level 0 to 5 000 1 min 1 50 Rotary Immedi ately Tuning page 6 32 Pn316 2 Maximum ...

Страница 606: ...tage Notch Filter Q Value 50 to 1 000 0 01 70 All Immedi ately Tuning page 8 76 Pn40B 2 First Stage Notch Filter Depth 0 to 1 000 0 001 0 All Immedi ately Tuning page 8 76 Pn40C 2 Second Stage Notch Fil ter Frequency 50 to 5 000 1 Hz 5000 All Immedi ately Tuning page 8 76 Pn40D 2 Second Stage Notch Fil ter Q Value 50 to 1 000 0 01 70 All Immedi ately Tuning page 8 76 Pn40E 2 Second Stage Notch Fil...

Страница 607: ...to 1 000 0 01 70 All Immedi ately Tuning page 8 78 Pn41F 2 Fifth Stage Notch Filter Depth 0 to 1 000 0 001 0 All Immedi ately Tuning page 8 77 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup page 8 62 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Re...

Страница 608: ...up page 6 22 Pn484 2 Reverse Force Limit 0 to 800 1 3 30 Linear Immedi ately Setup page 6 22 Pn485 2 Polarity Detection Refer ence Speed 0 to 100 1 mm s 20 Linear Immedi ately Tuning Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Adjustment Selection 1 0...

Страница 609: ...d Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup page 5 31 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup page 6 11 Pn50A 2 Reserved parameter Do not change 1881h 1 All Pn50B 2 Reserved parameter Do not change 8882h 1 All Pn50E 2 Reserved parameter Do not change 0000h 4 All Pn50F 2 Reserved parameter Do not change 0100h 5 All Pn510 2 Reserved pa...

Страница 610: ... ately Setup page 7 14 Pn536 2 Program Jog Operation Number of Movements 0 to 1 000 Times 1 All Immedi ately Setup page 7 14 Pn550 2 Analog Monitor 1 Offset Voltage 10 000 to 10 000 0 1 V 0 All Immedi ately Setup page 9 11 Pn551 2 Analog Monitor 2 Offset Voltage 10 000 to 10 000 0 1 V 0 All Immedi ately Setup page 9 11 Continued on next page Continued from previous page Parameter No Size Name Sett...

Страница 611: ...e Resistor Capacity 10 Depends on model 11 10 W 0 All Immedi ately Setup page 5 53 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 12 Pn603 2 Regenerative Resis tance 0 to 65 535 10 mΩ 0 All Immedi ately Setup page 5 53 Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 mΩ 0 All After restart Setup 12 Pn61A 2 Overheat Protection Selections 0000...

Страница 612: ...is used for communications method CRLF is used as delimiter 0006h Half duplex wiring is used for communications method CRLF is used as delimiter Echo back is performed for each character 0007h Half duplex wiring is used for communications method CRLF is used as delimiter Echo back is performed for each command 0008h 0009h Reserved parameter 0000h Sets bit rate at 9600 bps 0001h Sets bit rate at 19...

Страница 613: ...nal is active when OFF open When MODE signal is OFF open mode 1 Executes JOG operation in the reverse direction while the JOGN signal is OFF open 0002h When MODE signal is ON closed mode 0 The SEL0 signal is always active When MODE signal is OFF open mode 1 Does not execute JOG operation 0003h When MODE signal is ON closed mode 0 The SEL0 signal is always inactive When MODE signal is OFF open mode...

Страница 614: ...n MODE signal is ON closed mode 0 The SEL3 signal is always inactive When MODE signal is OFF open mode 1 The JOG2 signal is always inactive 0000h When MODE signal is ON closed mode 0 The SEL4 signal is active when ON closed When MODE signal is OFF open mode 1 The JOG3 signal is active when ON closed 0001h When MODE signal is ON closed mode 0 The SEL4 signal is active when OFF open When MODE signal...

Страница 615: ...P OT is OFF open 0001h Forward drive is prohibited forward overtravel when P OT is ON closed 0002h Forward run is always prohibited forward overtravel 0003h Forward run is always enabled P OT signal is not used 0000h Reverse drive is prohibited reverse overtravel when N OT is OFF open 0001h Reverse drive is prohibited reverse overtravel when N OT is ON closed 0002h Reverse run is always prohibited...

Страница 616: ...active 0000h The POUT2 signal turns ON opens when programmable output 2 is active 0001h The POUT2 signal turns OFF closes when programmable output 2 is active 0000h The POUT3 signal turns ON opens when programmable output 3 is active 0001h The POUT3 signal turns OFF closes when programmable output 3 is active 0000h The POUT4 signal turns ON opens when programmable output 4 is active 0001h The POUT...

Страница 617: ...12 4 PnB29 4 Acceleration rate 1 to 99999999 15 1000 Refer ence units min ms 1000 All Immedi ately Setup page 12 4 PnB2B 4 Deceleration rate 1 to 99999999 15 1000 Refer ence units min ms 1000 All Immedi ately Setup PnB2D 4 INPOSITION Width 1 to 99999 Refer ence unit 1 All Immedi ately Setup page 6 9 PnB2F 4 NEAR Width 1 to 99999 Refer ence unit 1 All Immedi ately Setup page 13 12 Continued on next...

Страница 618: ...All Immedi ately Setup page 8 71 PnB51 2 ALO Output Selection 0 1 0 All After restart Setup page 6 7 PnB52 2 ALM RST 0 to 3 0 All After restart Setup page 15 48 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence 0000h Homing is not executed 0001h DEC and phase C are used for...

Страница 619: ...Resistor set the capacity W of the Exter nal Regenerative Resistor 11 The upper limit is the maximum output capacity W of the SERVOPACK 12 These parameters are for SERVOPACKs with the Dynamic Brake Hardware Option Refer to the following man ual for details Σ 7 Series AC Servo Drive Σ 7S Σ 7W SERVOPACK with Dynamic Brake Hardware Option Specifications Prod uct Manual Manual No SIEP S800001 73 13 Th...

Страница 620: ...h Reverse Software Limit N LS Rotational coordinates PnB20 0000h First Rotational Coordi nate 536 870 911 to 536 870 911 PnB25 When using an incremental encoder Origin When using an absolute encoder Absolute Encoder Offset 1 073 741 823 to 1 073 741 823 PnB27 Positioning Registration Speed 1 to 199 999 999 PnB29 Acceleration Rate 1 to 199 999 999 PnB2B Deceleration Rate 1 to 199 999 999 PnB33 Homi...

Страница 621: ...r restart Pn00D 0000h Application Function Selec tions D After restart Pn00E 0000h Reserved parameter Pn00F 0000h Application Function Selec tions F After restart Pn010 0001h Axis Address Selection For UART USB communi cations After restart Pn021 0000 Reserved parameter Pn022 0000h Reserved parameter Pn040 0000h Σ V Compatible Function Switch After restart Pn080 0000h Application Function Selec ti...

Страница 622: ...iting Time 2 Immediately Pn139 0000h Automatic Gain Switching Selections 1 Immediately Pn13D 2000 Current Gain Level Immediately Pn140 0100h Model Following Control Related Selections Immediately Pn141 500 Model Following Control Gain Immediately Pn142 1000 Model Following Control Gain Correction Immediately Pn143 1000 Model Following Control Bias in the Forward Direc tion Immediately Pn144 1000 M...

Страница 623: ... restart Pn20A 32768 Number of External Scale Pitches After restart Pn20E 64 Electronic Gear Ratio Numerator After restart Pn210 1 Electronic Gear Ratio Denominator After restart Pn212 2048 Number of Encoder Out put Pulses After restart Pn217 0 Average Movement Time of Position Reference Immediately after the motor stops Pn22A 0000h Fully closed Control Selec tions After restart Pn230 0000h Reserv...

Страница 624: ...mediately Pn407 10000 Reserved parameter Do not change Pn408 0000h Torque Related Function Selections 2 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 Second Sta...

Страница 625: ...ensation Related Selections After restart Pn476 0 Gravity Compensation Torque Immediately Pn480 10000 Reserved parameter 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 ...

Страница 626: ...tion Deviation Over flow Warning Level Immediately Pn520 5242880 Position Deviation Over flow Alarm Level Immediately Pn522 7 1 Reserved parameter Pn524 1073741824 Reserved parameter Pn526 5242880 Position Deviation Over flow Alarm Level at Servo ON Immediately Pn528 100 Position Deviation Over flow Warning Level at Servo ON Immediately Pn529 10000 Speed Limit Level at Servo ON Immediately Pn52A 2...

Страница 627: ...ve Resistor Capacity Immediately Pn601 0 Dynamic Brake Resistor Allowable Energy Con sumption After restart Pn603 0 Regenerative Resistance Immediately Pn604 0 Dynamic Brake Resistance After restart Pn61A 0000h Overheat Protection Selec tions After restart Pn61B 250 Overheat Alarm Level Immediately Pn61C 100 Overheat Warning Level Immediately Pn61D 0 Overheat Alarm Filter Time Immediately PnB00 00...

Страница 628: ...it P LS Rotational coordinates PnB20 0000h Last Rotational Coordinate After restart PnB23 99999999 Linear coordinates PnB20 0000h Reverse Software Limit N LS Rotational coordinates PnB20 0000h First Rotational Coordinate After restart PnB25 0 When using an incremen tal encoder Origin When using an absolute encoder Absolute Encoder Offset After restart PnB27 1000 Positioning Registration Speed Afte...

Страница 629: ...git that is changed Refer to the following section for details 16 2 List of Parameters on page 16 3 PnB4F 0000h ZONE Signal Setting After restart PnB50 0 Backlash Compensation Immediately PnB51 0 ALO Output Selection After restart PnB52 0 ALM RST After restart PnB53 0050h Input Signal Monitor IN1 Polarity Selection After restart PnB54 0 Speed Position Expansion Function Selection After restart Con...

Страница 630: ...r num bers 17 1 Corresponding SERVOPACK and SigmaWin Function Names 17 2 17 1 1 Corresponding SERVOPACK Utility Function Names 17 2 17 1 2 Corresponding SERVOPACK Monitor Display Function Names 17 4 17 2 Operation of Digital Operator 17 8 17 2 1 Overview 17 8 17 2 2 Operation of Utility Functions 17 10 17 3 Alphabetical List of Serial Commands 17 31 17 4 Corresponding Parameter Numbers 17 34 Appen...

Страница 631: ...tion Sig nal Offset Multiturn Limit Setting Fn013 Multiturn Limit Setting after Multiturn Limit Dis agreement Alarm MLTLIMSET Reset Option Module Configura tion Error Fn014 Reset Option Module Configuration Error Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Level Set Origin Fn020 Set Absolute Linear Encoder Origin Software Reset Fn030 Software Reset Polarity Detection ...

Страница 632: ...IME and LOOP Test Opera tion Jog Fn002 Jog Jog Program Fn004 Jog Program Alarms Alarm Display FnB0D Display INDEXER Alarm History ALMn FnB0C Reset INDEXER Alarm ARES and ALMTRCCLR Result Motor Type Alarm Result Motor Type Alarm Solutions Mechanical Analysis Table Editing Edit Program Table FnB03 Edit Save Program Table PGMSTORE FnB06 Initialize Program Table PGMINIT Edit ZONE Table FnB04 Edit Save...

Страница 633: ...rom 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 origin Input Ref...

Страница 634: ...t 0 01 V Un02F Overheat Protection Input 0 01 V Current Backlash Compensation Value 0 1 reference units Un030 Current Backlash Com pensation Value 0 1 reference units Backlash Compensation Value Set ting Limit 0 1 reference units Un031 Backlash Compensa tion Value Setting Limit 0 1 reference units Power Consumption W Un032 Power Consumption W Consumed Power 0 001 Wh Un033 Consumed Power 0 001 Wh C...

Страница 635: ...rough time Number of serial command receipt letter Number of serial command trans mission error letter Number of serial command trans mission letter Status Monitor Polarity Sensor Signal Monitor Un011 Polarity Sensor Signal Monitor HALLSENS Active Gain Monitor Un014 Effective Gain Monitor gain settings 1 1 gain settings 2 2 Safety I O Signal Monitor Un015 Safety I O Signal Moni tor Input Sig nal M...

Страница 636: ...ing motors The display will show 0 for all other models SGM7J SGM7A SGM7P SGM7G SGM7E SGM7F and SGMCV Service Life Moni tor Installation Environment Monitor SERVOPACK Un025 SERVOPACK Installa tion Environment Moni tor Installation Environment Monitor Servomotor 2 Un026 2 Servomotor Installation Environment Monitor Service Life Prediction Monitor Built in Fan Un027 Built in Fan Remaining Life Ratio...

Страница 637: ...ith bold lines Σ 7 Series Servo Drive Digital Operator Operating Manual Manual No SIEP S800001 33 Supported Not supported To copy the INDEXER Module parameters PnB00 to PnB52 use the SigmaWin parameter editing function Parameters Monitoring Functions Utility Functions Parameter Copy Functions SERVOPACK Parameters SERVOPACK Monitor Display INDEXER Module Parameters SERVOPACK Utility Functions INDEX...

Страница 638: ...r on the actual screen Note also that the part that flashes is referred to as the cursor in this document B B P R M M O N U n 0 0 0 0 0 0 0 0 0 U n 0 0 2 0 0 0 0 0 0 U n 0 0 8 0 0 0 0 0 0 0 0 0 0 0 U n 0 0 D 0 0 0 0 0 0 0 0 0 0 0 F i l e l i s t l o a d i n g P l e a s e w a i t Power ON Initial Display Displayed for two seconds Parameter Monitoring Functions Utility Functions Parameter Copy Funct...

Страница 639: ...t Fn00D Gain adjustment of analog monitor output Fn00E Automatic offset signal adjustment of motor current detection signal Fn00F Manual offset signal adjustment of motor cur rent detection signal Fn010 Write prohibited setting Fn011 Servomotor model display Fn012 SERVOPACK software version display Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm A CC0 occurs Fn...

Страница 640: ...nB05 on page 17 19 FnB06 Program table initialization Program Table Initialization FnB06 on page 17 21 FnB07 ZONE table initialization ZONE Table Initialization FnB07 on page 17 22 FnB08 JOG speed table initialization JOG Speed Table Initialization FnB08 on page 17 23 FnB09 Absolute encoder origin setting Absolute Encoder Origin Setting FnB09 on page 17 24 FnB0A INDEXER status monitor INDEXER Stat...

Страница 641: ...n for detailed setting methods for each item Details on How to Set Table Settings on page 17 14 6 On pressing the key the setting is entered and the cursor returns to the program table article and program step side 7 Repeat steps 3 to 6 to set the program table On completing the setting of all the program tables to be used save the program tables to flash memory by following the procedure in Savin...

Страница 642: ...DST RSPD POUT 0 POS000 SPD000 RDST000 RSPD000 POUT000 1 POS001 SPD001 RDST001 RSPD001 POUT001 2 POS002 SPD002 RDST002 RSPD002 POUT002 3 POS003 SPD003 RDST003 RSPD003 POUT003 4 POS004 SPD004 RDST004 RSPD004 POUT004 5 POS005 SPD005 RDST005 RSPD005 POUT005 6 POS006 SPD006 RDST006 RSPD006 POUT006 255 POS255 SPD255 RDST255 RSPD255 POUT255 PGMSTEP POS SPD RDST RSPD POUT 0 POS000 SPD000 RDST000 RSPD000 P...

Страница 643: ... the registration distance 13 3 5 Settings in the Program Table on page 13 13 RSPD Registration Speed Note Refer to the following section for details on the registration speed 13 3 5 Settings in the Program Table on page 13 13 㧼㧻㧿㧜㧜㧜㧩㧿㧗㧝㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧗㧵㧺㧲㧵㧺㧵㨀㧱㧼㧻㧿㧜㧜㧜㧩㧙㧵㧺㧲㧵㧺㧵㨀㧱㧼㧻㧿㧜㧜㧜㧩㧙㧙㧙㧼㧻㧿㧜㧜㧜㧩㧿㧗㧝㧞㧟㧠㧡㧢㧣㧤 Move cursor Change target position 㧼㧻㧿㧜㧜㧜㧩㧿㧗㧞㧞㧟㧠㧡㧢㧣㧤㧼㧻㧿㧜㧜㧜㧩㧭㧗㧝㧞㧟㧠㧡㧢㧣㧤 Move cursor 㧼㧻㧿㧜㧜㧜㧩㧭㧗...

Страница 644: ...㧩㧝㧞㧟㧠㧡㧢㧣㧤 Move cursor Change deceleration 㧰㧱㧯㧜㧜㧜㧩㧝㧟㧟㧠㧡㧢㧣㧤 If the value becomes less than 1 is displayed 㹎㹍㹓㹒㸮㸮㸮㸻㹌㸿㹘㸸㹌㸿㹘㸸㹎㹍㹓㹒㸮㸮㸮㸻㹌㸿㹘㸸㹌㸿㹘㸸 Move cursor Change programmable output signal Pressing the key changes the display in the following order N A Z 㹎㹍㹓㹒㸮㸮㸮㸻㹌㹌㹘㸸㹌㸿㹘㸸 Pressing the key changes the display in the reverse order 㧱㨂㨀㧜㧜㧜㧩㨀㧝㧞㧟㧠㧡㧱㨂㨀㧜㧜㧜㧩㨀㧝㧞㧟㧠㧡 Move cursor Move cursor Move cursor 㧱㨂㨀㧜㧜㧜㧩㧵㨀㧝㧞...

Страница 645: ...sor with the keys to select STORE Note Selecting CANCEL and pressing the key will return the display to the program table editing screen 4 Press the key to start saving the program table to flash memory Do not turn off the control power supply until saving has been completed normally 5 When saving to flash memory has been com pleted normally the display returns to the pro gram table editing screen...

Страница 646: ... ZONE table number to be edited Refer to the following section for details on the methods to move the cursor Method for Moving the Cursor on page 17 13 4 Press the key to move the cursor to the set ting side of the table 5 Move the cursor using the keys and change the ZONE boundary values using the keys 6 On pressing the key the setting is entered and the cursor returns to the ZONE table number si...

Страница 647: ...NE Number ZONE P ZONE N 0 0 0 N Z 0 0 0 P Z 0 0 0 0 N Z 0 0 0 P Z 0 1 0 0 N Z 1 0 0 P Z 1 1 0 0 N Z 1 0 0 P Z 1 2 0 0 N Z 2 0 0 P Z 2 2 0 0 N Z 2 0 0 P Z 2 3 0 0 N Z 3 0 0 P Z 3 3 0 0 N Z 3 0 0 P Z 3 4 0 0 N Z 4 0 0 P Z 4 4 0 0 N Z 4 0 0 P Z 4 5 0 0 N Z 5 0 0 P Z 5 5 0 0 N Z 5 0 0 P Z 5 6 0 0 N Z 6 0 0 P Z 6 6 0 0 N Z 6 0 0 P Z 6 31 ZP031 ZN031 31 ZP031 ZN031 ZONE Number ZONE P ZONE N 0 ZP000 ZN00...

Страница 648: ...by referring to Preparation on page 17 17 Step Display after Operation Keys Operation 1 Press the key to open the Utility Function Mode main menu and move the cursor with the keys to select FnB05 2 Press the key to view the FnB05 operation screen 3 Move the cursor using the keys to select the JOG speed table number to be edited Pressing the key when the cursor is on JOG speed table number 0 moves ...

Страница 649: ... speed table editing screen 2 Press the key to view the JOG speed table save screen 3 Move the cursor with the keys to select STORE Note Selecting CANCEL and pressing the key will return the display to the JOG speed table editing screen 4 Press the key to start saving the JOG speed table to flash memory Do not turn off the control power supply until sav ing has been completed normally 5 When savin...

Страница 650: ...n on page 17 21 Step Display after Operation Keys Operation 1 Press the key to open the Utility Function Mode main menu and move the cursor with the keys to select FnB06 2 Press the key to view the FnB06 operation screen 3 Press the key to start program table initial ization Do not turn off the control power supply until ini tialization has been completed normally To cancel the FnB06 operation pre...

Страница 651: ...after Operation Keys Operation 1 Press the key to open the Utility Function Mode main menu and move the cursor with the keys to select FnB07 2 Press the key to view the FnB07 operation screen 3 Press the key to start ZONE table initializa tion Do not turn off the control power supply until ini tialization has been completed normally To cancel the FnB07 operation press the key before pressing the k...

Страница 652: ...splay after Operation Keys Operation 1 Press the key to open the Utility Function Mode main menu and move the cursor with the keys to select FnB08 2 Press the key to view the FnB08 operation screen 3 Press the key to start JOG speed table ini tialization Do not turn off the control power supply until ini tialization has been completed normally To cancel the FnB08 operation press the key before pre...

Страница 653: ...to open the Utility Function Mode main menu and move the cursor with the keys to select FnB09 2 Press the key to view the FnB09 operation screen 3 Move the cursor with the keys and change the setting for the position whose current position is to be replaced with the keys 4 Press the key to start origin setting Do not turn off the control power supply until origin setting has been completed normall...

Страница 654: ...the key to return to the Utility Function Mode main menu Display Code Display Content Display Example Units Serial Command ALM Alarm or Warning ALM A xxx A SERVOPACK alarm warning is in effect xxx is the alarm warning code ALM ExxA An INDEXER Module alarm is in effect ExxA is the alarm code ALM HBB During hard wire base block ALM P OT Forward run prohibited Over travel ALM N OT Reverse run prohibi...

Страница 655: ...tocoupler ON Lower level Photocoupler OFF OUT2 Continued on next page Continued from previous page Display Code Display Content Display Example Units Serial Command IN2 1110 9 8 7 6 5 4 3 2 1 digit Display Digit Number Signal Name 1 MODE0 1 2 START STOP HOME 3 PGMRES JOGP 4 SEL0 JOGN 5 SEL1 JOG0 6 SEL2 JOG1 7 SEL3 JOG2 8 SEL4 JOG3 9 SEL5 10 SEL6 11 SEL7 OUT2 9 8 7 6 5 4 3 2 1 digit Display Digit N...

Страница 656: ... RDST 12345678 Refer ence unit RDST PGMSTEP Program Step PGMSTEP PGMSTEP End When the program is not running PGMSTEP 12345 The program step being executed PGMSTEP EVTIME Program EVENT Elapsed Time EVTIME 12345 ms EVTIME LOOP Loop Pass Through LOOP 12345 Times LOOP Continued from previous page Display Code Display Content Display Example Units Serial Command STS 7 6 5 4 3 2 1 digit Display Digit Nu...

Страница 657: ... execute Fn005 only the SERVOPACK parameters are initialized The INDEXER Module parameters are not initialized To initialize the INDEXER Module parameters execute FnB0B Step Display after Operation Keys Operation 1 Press the key to open the Utility Function Mode main menu and move the cursor with the keys to select FnB0B 2 Press the key to view the FnB0B operation screen 3 Press the key to start i...

Страница 658: ...arance with FnB0C Step Display after Operation Keys Operation 1 Press the key to open the Utility Function Mode main menu and move the cursor with the keys to select FnB0C 2 Press the key to view the FnB0C operation screen 3 1 When Resetting Alarms Use the keys to select ALM state 3 2 When Clearing the Alarm History Use the keys to select ALM History 4 Press the key to reset the alarms or clear th...

Страница 659: ... to return to the Utility Function Mode main menu To clear the alarm history execute the Reset INDEXER Alarm FnB0C utility function with Mode set to ALM History clear alarm history The alarm history is not cleared when you reset an alarm Mode ALM state or when the control power supply to the SERVOPACK is turned OFF Refer to the following section for the procedure INDEXER Alarm Reset FnB0C on page ...

Страница 660: ...nput Signal Monitor CN1 page 14 30 IN2 INDEXER Module Input Signal Monitor CN11 page 14 30 IN2TESTbbbbbbbbbbb INDEXER Module Input Signal Specification CN11 page 14 30 IN3 Safety Function Input Signal Monitor page 14 30 JOGPnnnnnnnn JOG Forward page 14 15 JOGNnnnnnnnn JOG Reverse page 14 15 JSPDINIT JOG Speed Table Initialization page 14 29 JSPDSTORE JOG Speed Table Save page 14 29 JSPDTdd JOG Spe...

Страница 661: ...ion Load Ratio Monitor page 14 30 RPOS or MON10 Registration Target Position Monitor page 14 30 RS Positioning Start with Registration page 14 15 RS nnnnnnnn RSA nnnnnnnn Positioning Start with Registration Absolute Position page 14 15 RSI nnnnnnnn Positioning Start with Registration Relative Distance page 14 15 RSPDnnnnnnnn Registration Speed Specification page 14 15 RSPDTsss Program Table RSPD R...

Страница 662: ... YSPEC INDEXER Module Special Specification No Display page 14 30 ZONEINIT ZONE Table Initialization page 14 29 ZONENTzz ZONE Table ZONE N Read page 14 29 ZONENTzz ZONE Table ZONE N Write page 14 29 ZONEPTzz ZONE table ZONE P Read page 14 29 ZONEPTzz ZONE Table ZONE P Write page 14 29 ZONESTORE ZONE Table Save page 14 29 ZRN Homing Start page 14 15 ZSET nnnnnnnn Coordinates Setting page 14 15 Cont...

Страница 663: ...Pn833 SEL6 PnB0C Pn834 SEL7 PnB0D S ON PnB0E Pn80B P OT PnB0F Pn80C N OT PnB10 Pn80D DEC PnB11 Pn80E RGRT PnB12 Pn80F INPOSITION PnB13 Pn810 POUT0 PnB14 Pn811 POUT1 PnB15 Pn812 POUT2 PnB16 Pn813 POUT3 PnB17 Pn814 POUT4 PnB18 Pn815 POUT5 PnB19 POUT6 PnB1A POUT7 PnB1B WARN PnB1C Pn816 BK PnB1D Pn817 S RDY PnB1E Pn818 Overtravel OT Stop Method PnB1F Pn819 Moving Mode PnB20 Pn81A Linear coordinates Pn...

Страница 664: ...Reserved setup information PnB3D PnB3E Pn82A Reserved setup information PnB3F PnB40 Pn82B Reserved setup information PnB41 PnB42 Pn82C Reserved setup information PnB43 PnB44 Pn82D Reserved setup information PnB45 PnB46 Pn82E Reserved setup information PnB47 PnB48 Pn82F Reserved setup information PnB49 PnB4A Pn830 Reserved setup information PnB4B PnB4C Pn831 Reserved setup information PnB4D PnB4E P...

Страница 665: ...tory 15 49 displaying alarm history 15 48 INDEXER module alarm displays and troubleshooting 15 44 list of alarms 15 5 resetting alarms 15 48 stopping method for servo OFF 5 36 troubleshooting alarms 15 12 ALM 6 7 Analog Monitor Connector 4 48 analog monitor factors 9 11 anti resonance control 8 49 automatic detection of connected motor 5 14 automatic gain switching 8 64 automatic notch filters 8 3...

Страница 666: ...ution 5 43 6 20 errors INDEXER module error displays and troubleshooting 15 61 status display 15 61 estimating the moment of inertia 8 15 EVENT 13 13 EVENT examples 13 42 External Regenerative Resistor 5 53 F feedback pulse counter 5 22 feedforward 8 84 feedforward compensation 8 84 FG 4 9 4 35 forward direction 10 6 Forward Jog Input 6 6 forward rotation 5 15 framing error 14 10 friction compensa...

Страница 667: ...nd utility function commands 14 32 monitor display function 17 4 monitor factors 9 11 Motion Monitor 9 4 motor current detection signal automatic adjustment 6 36 manual adjustment 6 38 offset 6 36 motor direction setting 5 15 motor maximum speed 6 14 motor overload detection level 5 39 multiturn limit 6 25 Multiturn Limit Disagreement 6 26 multi turn limit setting 14 36 N NEAR 8 65 NEAR Near Outpu...

Страница 668: ...tion Reset Input 6 5 Program Table Operation Start Stop Input 6 4 programmable output signal 14 24 R RDST 13 13 reactor DC Reactor terminals 4 12 wiring AC reactors 4 25 wiring DC reactors 4 25 reference unit 5 41 Regenerative Resistor connection 4 23 regenerative resistor 5 53 regenerative resistor capacity 5 53 registration JOG forward reverse with registration 14 21 positioning start with regis...

Страница 669: ... detection method selection 8 71 speed loop gain 8 75 speed loop integral time constant 8 75 Spring Opener 4 14 start bit 14 4 14 9 status display 17 9 Status Monitor 9 4 stop bit 14 4 14 9 stopping by applying the dynamic brake 5 35 storage humidity 2 7 storage temperature 2 7 surrounding air humidity 2 7 surrounding air temperature 2 7 switching condition A 8 64 system monitoring 9 3 T test with...

Страница 670: ...irect Drive Servomotors SGM7F A M N 4 4 3 5 14 1 5 16 Addition Information on Renishaw PLC EVOLUTE linear scales September 2016 2 All chapters Addition Information on Direct Drive Servomotors SGM7E and SGM7F models Deletion Information on Linear Servomotors SGLC models Preface 9 1 9 2 Partly revised 2 1 1 Addition Information on input current from control power supply 2 1 3 4 2 4 5 Revision Linear...

Страница 671: ... 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 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...

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