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6.4 Settings for References

6.4.3 Smoothing

6-11

etting

6.4.3

Smoothing

Smoothing allows you to apply a filter to the position reference to produce smoother Servomo-
tor acceleration and deceleration.

Note: Smoothing does not affect the travel distance.

The following parameters are related to smoothing.

The filter is disabled if you set the parameter to 0.

Note: Change the setting only when the motor is stopped.

Pn217

Average Position Reference Movement Time

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

0 to 10,000

0.1 ms

Immediately after

the motor stops

Setup

Pn217

Before filter
After filter

Pn217

Time

peed

Target

peed

Содержание SGD7S-R70A

Страница 1: ...oduct Manual MANUAL NO SIEP S800001 84C Trial Operation Monitoring Settings Operation with Digital I O Maintenance Parameter Lists Appendices Model SGD7S 00 F79 1 2 3 4 5 6 7 8 9 10 11 12 Basic Inform...

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...

Страница 3: ...RVOPACKs The 7 Series 1 1 Product Introduction 1 1 Interpreting the Nameplate 1 2 Part Names 1 3 Model Designations 1 2 Combinations of SERVOPACKs and Servomo tors 1 3 Functions 1 6 Selecting a SERVOP...

Страница 4: ...2 Moving Mode and Coordinate Settings 6 3 Settings for References 6 4 Origin Settings 6 5 Operation with Digital I O Operations 7 1 Homing 7 2 Program Table Operation 7 3 Jog Speed Table Operation 7 4...

Страница 5: ...ons to Host Controllers 15 1 Corresponding SERVOPACK and SigmaWin Function Names 10 1 Operation of Digital Operator 10 2 Continued from previous page Item This Manual 7S SERVOPACKs Analog Voltage Puls...

Страница 6: ...rs 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals 7 Series 7S 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals 7 Series 7S 7...

Страница 7: ...ailed 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 7 Series...

Страница 8: ...ed procedures for installing the Safety Module in a SERVOPACK V Series V Series for Large Capacity Models 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for in...

Страница 9: ...K Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S80000...

Страница 10: ...AC Servo Drive 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 V Series V Series for Large Ca...

Страница 11: ...chine Controller MP3000 Series Motion Programming Manual SIEP C880725 14 Provides detailed information on the motion programming and sequence programming specifica tions and instructions for MP3000 Se...

Страница 12: ...SERVOPACK 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 supplyin...

Страница 13: ...he 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 se...

Страница 14: ...ed to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in...

Страница 15: ...tion 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...

Страница 16: ...y 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 Br...

Страница 17: ...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...

Страница 18: ...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 t...

Страница 19: ...RVOPACK 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 fail...

Страница 20: ...pply to 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 SE...

Страница 21: ...s such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of...

Страница 22: ...ssible 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...

Страница 23: ...ways 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 cir...

Страница 24: ...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 no...

Страница 25: ...red 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 whi...

Страница 26: ...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...

Страница 27: ...cation for the SGM7F 07A is pending 2 Certification for the SGLFW2 90 560A and 1D 560A is pending Other models are certified Product Model North American Safety Standards UL File No SERVOPACKs SGD7S U...

Страница 28: ...61800 3 Category C2 Second environment Low Voltage Directive 2014 35 EU EN 60034 1 EN 60034 5 RoHS Directive 2011 65 EU EN 50581 SGM7J SGM7A SGM7P SGM7G EMC Directive 2014 30 EU EN 55011 group 1 clas...

Страница 29: ...evel IEC 61508 SIL3 IEC 62061 SILCL3 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous...

Страница 30: ...s 1 3 1 2 1 Interpreting SERVOPACK Model Numbers 1 3 1 2 2 Interpreting Servomotor Model Numbers 1 3 1 3 Combinations of SERVOPACKs and Servomotors 1 4 1 4 Functions 1 5 1 5 SigmaWin 1 8 SERVOPACK Rat...

Страница 31: ...ations 6 5 6 3 Moving Mode and Coordinate Settings 6 8 6 3 1 When the Coordinates are the Linear Type 6 8 6 3 2 When the Coordinates are the Rotary Type 6 9 6 4 Settings for References 6 10 6 4 1 Moto...

Страница 32: ...aWin Procedures 7 46 7 4 5 Jog Speed Table Operation Example 7 51 7 4 6 Timing of Signal Changes 7 52 7 5 ZONE Outputs 7 53 7 5 1 ZONE Table and ZONE Signals 7 53 7 5 2 Parameters Related to ZONE Sign...

Страница 33: ...s 10 2 10 1 2 Corresponding SERVOPACK Monitor Display Function Names 10 3 10 2 Operation of Digital Operator 10 6 10 2 1 Overview 10 6 10 2 2 Operation of Utility Functions 10 7 10 3 Panel Operator 10...

Страница 34: ...ons with Servomotors 1 1 Product Introduction 1 2 1 1 1 Main Features 1 2 1 1 2 Main Functions 1 2 1 2 Model Designations 1 3 1 2 1 Interpreting SERVOPACK Model Numbers 1 3 1 2 2 Interpreting Servomot...

Страница 35: ...ions Function Name Function Overview Program Table With program table operation you can register positioning operation patterns in a table in the SERVOPACK in advance and then use digital I O signals...

Страница 36: ...ct Manual Manual No SIEP S800001 36 7 Series Linear Servomotor Product Manual Manual No SIEP S800001 37 7 Series Direct Drive Servomotor Product Manual Manual No SIEP S800001 38 F79 Indexing applicati...

Страница 37: ...Refer to the following manuals for information on combinations with 7 Series Servomotors 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 7 Series Linear Servomotor Product Manual M...

Страница 38: ...olding Brake Motor Stopping Methods for Servo OFF and Alarms Resetting the Absolute Encoder Setting the Origin of the Absolute Encoder Setting the Regenerative Resistor Capacity Operation for Momentar...

Страница 39: ...tection Level Initialization Alarm Reset Replacing the Battery Setting the Position Deviation Overflow Alarm Level Function Speed Control Soft Start Settings Position Control Smoothing Settings Torque...

Страница 40: ...on Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life Alarm History Display Function...

Страница 41: ...1 5 SigmaWin 1 8 1 5 SigmaWin To use the SigmaWin a model information file for the SERVOPACK must be added to Sig maWin version 7 Contact your Yaskawa representative for the model information file...

Страница 42: ...ter provides information required to select SERVOPACKs such as specifications 2 1 Ratings 2 2 2 2 SERVOPACK Overload Protection Characteristics 2 5 2 3 Specifications 2 6 SERVOPACK Ratings and Specifi...

Страница 43: ...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...

Страница 44: ...ss W 292 7 347 9 393 3 529 4 External Regen erative Resistor Unit External Regenerative Resistor Unit Resistance 6 25 2 3 13 3 3 13 3 3 13 3 Capacity W 880 2 1760 3 1760 3 1760 3 Minimum Allowable Ext...

Страница 45: ...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...

Страница 46: ...ation 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 characteri...

Страница 47: ...m max Others Do not use the SERVOPACK in the following locations Locations subject to static electricity noise strong electro magnetic magnetic fields or radioactivity Applicable Standards Refer to t...

Страница 48: ...ernal Set Speed Selection signals C SEL Control Selection signal ZCLAMP Zero Clamping signal INHIBIT Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Ref...

Страница 49: ...l A signal can be allocated and the positive and negative logic can be changed Communi cations RS 422A Communi cations CN3 Interfaces Digital Operator JUSP OP05A 1 E 1 N Communications Up to N 15 stat...

Страница 50: ...status of built in safety circuit fixed out put Applicable Standards 3 ISO13849 1 PLe Category 3 and IEC61508 SIL3 Applicable Option Modules Fully closed Modules and Safety Modules Note You cannot us...

Страница 51: ...cted Sign pulse train CW CCW pulse trains and two phase pulse trains with 90 phase differential Input Form Line driver or open collector Maxi mum Input Fre quency Line Driver Sign pulse train or CW CC...

Страница 52: ...s to power supplies and peripheral devices 3 1 Basic Wiring Diagrams 3 2 3 2 I O Signal Connections 3 4 3 2 1 I O Signal Connector CN1 Names and Functions 3 4 3 2 2 I O Signal Connector CN1 Pin Arrang...

Страница 53: ...utput 2 General purpose sequence input 0 Servo ON input ON to turn ON servo Sequence input signal power supply input Overheat protection input Frame ground Servo Alarm output Signal ground Absolute da...

Страница 54: ...ollowing manual if you use a safety function device 7 Series 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 If you do not use the safety function inse...

Страница 55: ...N homing is started or restarted When the signal turns OFF homing is can celed page 6 3 SI2 JOGP SEL0 43 General purpose Sequence Input 2 Forward Jog Input or Program Specified Area 1 Input You can al...

Страница 56: ...ttery for abso lute encoder These are the pins to connect the absolute encoder backup battery Do not connect these pins if you use the Encoder Cable with a Battery Case BAT 22 Battery for abso lute en...

Страница 57: ...A Output the encoder divided pulse output signals with a 90 phase differential PAO 34 PBO 35 Encoder Divided Pulse Output Phase B PBO 36 PCO 19 Encoder Divided Pulse Output Phase C Outputs the origin...

Страница 58: ...Ground 35 PBO Encoder Divided Pulse Output Phase B 11 SIGN Sign of Refer ence Input 36 PBO Encoder Divided Pulse Output Phase B 12 SIGN Sign of Refer ence Input 37 POUT0 Program mable Output 13 PL2 Op...

Страница 59: ...User Supplied Power Sup ply The SERVOPACK may fail depending on the relationship between the pull up voltage Vcc and the pull up resistance R1 Before you wire the circuits confirm that the specificati...

Страница 60: ...uence Output Circuits Refer to the following manual for details on sequence circuit outputs 7 Series 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 Ex...

Страница 61: ...This chapter gives the flow and operating procedures for trial operation 4 1 Trial Operation Example 4 2 Trial Operation 4...

Страница 62: ...6 While operation is in progress for step 5 confirm the following items Note If the load machine is not sufficiently broken in before trial operation the Servomotor may become over loaded Setting Refe...

Страница 63: ...ring SERVO PACK product information and SERVOPACK status 5 1 Monitoring SERVOPACK Status 5 2 5 1 1 Monitoring Status and Operations 5 2 5 1 2 I O Signal Monitor 5 4 5 2 Monitoring Machine Operation St...

Страница 64: ...ration Input Signal MODE 0 1 Mode Switch Input Sig nal START STOP Program Table Oper ation Start Stop Input Signal PGMRES Program Table Operation Reset Input Signal SEL0 Program Step Selection Input 0...

Страница 65: ...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...

Страница 66: ...on 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...

Страница 67: ...001 34 Operating Procedure 1 Select the Servo Drive s Button from the workspace of the Main Window of the Sig maWin 2 Select Trace in the Menu Dialog Box The Trace Dialog Box will be displayed Trace O...

Страница 68: ...GN Sign Reference Input Signal CLR Position Deviation Clear Input Sig nal PSEL Reference Pulse Input Multiplica tion Input Signal HWBB1 Hard Wire Base Block Input 1 Signal HWBB2 Hard Wire Base Block I...

Страница 69: ...6 5 6 3 Moving Mode and Coordinate Settings 6 8 6 3 1 When the Coordinates are the Linear Type 6 8 6 3 2 When the Coordinates are the Rotary Type 6 9 6 4 Settings for References 6 10 6 4 1 Motor Spee...

Страница 70: ...o combine different types of control you set the control method in Pn000 n X Con trol Method Selection as shown in the following table Note 1 Before you change between program table operation and anot...

Страница 71: ...a logical OR of the inputs will be used and all of the allocated signals will operate accordingly This may result in unexpected operation Input Signal Input Signal Name Parameter S ON Servo ON Pn50A n...

Страница 72: ...Jog Speed Table Selection Input 1 Pn633 n X JOG2 Jog Speed Table Selection Input 2 Pn633 n X Parameter Setting Pin No Description 0 40 A reverse signal a signal with before the signal abbreviation su...

Страница 73: ...ignal Input Signal Name Parameter Setting CLR Clear Pn634 n 1 DEC Homing Deceleration Switch Pn634 n 2 RGRT Registration Pn634 n 3 Parameter Setting Pin No Description 0 14 15 A reverse signal a signa...

Страница 74: ...Pn50F n X BK 1 2 3 default setting 4 5 6 0 Warning Pn50F n X WARN 1 2 3 4 5 6 0 default setting Near Pn510 n X NEAR 1 2 3 4 5 6 0 default setting Reference Pulse Input Multiplication Switch ing Outpu...

Страница 75: ...5 4 Programmable Output 3 Pn635 n X POUT3 1 2 3 4 5 6 0 default setting Programmable Output 4 Pn636 n X POUT4 1 2 3 4 5 6 0 default setting Homing Completion Output Pn636 n X POSRDY 1 2 3 4 5 6 0 def...

Страница 76: ...e software limits are enabled when homing is completed Parameter Meaning When Enabled Classifica tion Pn637 n 0 default setting Sets coordinates to linear type After restart Setup n 1 Sets coordinates...

Страница 77: ...ways rotate in the forward direction when the target position is specified as an absolute position If Pn637 n 3 reverse the motor will always rotate in the reverse direction when the tar get position...

Страница 78: ...is 1 500 1 000 reference units min Example 15 000 mm min 0 01 mm 1 500 000 reference units min Pn63E Acceleration Rate Setting Range Setting Unit Default Setting When Enabled Classification 1 to 199...

Страница 79: ...affect the travel distance The following parameters are related to smoothing The filter is disabled if you set the parameter to 0 Note Change the setting only when the motor is stopped Pn217 Average P...

Страница 80: ...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 P...

Страница 81: ...ly to the equipment is turned ON Homing is used to define the machine origin Refer to the following section for details on hom ing 7 2 Homing on page 7 4 The setting of Pn63C is set as the current val...

Страница 82: ...o Program Table Operation 7 11 7 3 3 Program Table Configuration 7 12 7 3 4 Settings in the Program Table 7 13 7 3 5 SigmaWin Procedures 7 14 7 3 6 State Transitions 7 26 7 3 7 Program Table Operation...

Страница 83: ...7 5 ZONE Outputs 7 53 7 5 1 ZONE Table and ZONE Signals 7 53 7 5 2 Parameters Related to ZONE Signals 7 54 7 5 3 SigmaWin Procedures 7 55...

Страница 84: ...tioning 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 opera...

Страница 85: ...forming homing posi tions cannot be managed so correct positioning may not be possible Unexpected machine operation failure or personal injury may occur Input Signal Description Reference MODE 0 1 ON...

Страница 86: ...he homing method Parameter Meaning When Enabled Classifica tion Pn642 n 0 default setting The current position when the power supply is turned ON is the origin Homing is not executed After restart Set...

Страница 87: ...reep speed The stop ping position when this travel is completed is set as the setting of Pn63C Origin Position If a negative value is set the movement direction will be reversed after the motor change...

Страница 88: ...ee different origin patterns depending on the homing method that is specified in Pn642 n X The homing procedure for each method is given in this section Using the DEC Signal and Encoder Origin Phase C...

Страница 89: ...the Homing Pn642 n 3 Turn ON the HOME signal Homing starts The motor will rotate in the direction specified in Pn643 n X Homing Direction at the speed specified in Pn646 Approach Speed When the encode...

Страница 90: ...m table operation 7 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...

Страница 91: ...e 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...

Страница 92: ...gram Step Selection Inputs signals Turn OFF this signal to stop program table operation and decelerate the motor to a stop page 6 3 PGMRES If this signal turns ON while a program table operation is st...

Страница 93: ...You can used input signals SEL0 to SEL4 to select program steps numbers 0 to 31 Refer to the following section for details on the items that are set 7 3 4 Settings in the Program Table on page 7 13 P...

Страница 94: ...ning speed Refer to the following section ACC and DEC on page 7 18 DEC Deceleration rate Specifies the deceleration rate from the posi tioning speed POUT Programmable output specification Specifies th...

Страница 95: ...ST is no registra tion you can change the program step to change the speed In this case the motor will simply change to the new speed In all other cases you cannot change the program step to change th...

Страница 96: ...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 7 16 Import Button Imports a file on...

Страница 97: ...og 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...

Страница 98: ...the values directly RDST Set the registration absolute distance 1 Double click the cell to edit The Registration Relative Position Dialog Box will be displayed Selected Item Description Display in Pr...

Страница 99: ...tration 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 ACC and DEC Set the acceleration rate AC...

Страница 100: ...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 1 to 199 999...

Страница 101: ...terminal Output signal 2 POUT2 terminal Output signal 3 POUT3 terminal Output signal 4 POUT4 terminal 3 Click the OK Button This concludes the setting procedure EVENT Specify the conditions to comple...

Страница 102: ...ses 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 ends when the SELx...

Страница 103: ...g 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 Curren...

Страница 104: ...Button The program table edited on the SigmaWin will be written to the SERVOPACK and all edited rows will change to white This concludes the writing procedure 1 Make sure that the system is in SERVO O...

Страница 105: ...e power supply is turned ON We recommend that you save the program table that is normally used for operation in this flash memory There are the following two ways to save the program table to flash me...

Страница 106: ...ile 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 Save As Dialog Box will be displayed 2 Specify the save location...

Страница 107: ...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 Tra...

Страница 108: ...encoder is used 7 2 Homing on page 7 4 No Item Reference 1 Specifying the Program Steps to Execute One at a Time page 7 28 2 Specifying the Next Step to Execute in the NEXT Setting page 7 29 3 Specify...

Страница 109: ...p 3 Turn ON the START STOP signal to start program table operation The COIN signal turns OFF and the POUT3 signal turns ON When positioning is completed to the target position the COIN signal turns ON...

Страница 110: ...program step 0 Turn ON the START STOP signal to start program table operation The COIN signal turns OFF and the POUT0 signal turns ON When positioning is completed to the target position the COIN sign...

Страница 111: ...o the target position the COIN 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 COIN and POUT0 signals turn O...

Страница 112: ...the START STOP signal to stop program table operation The Servomotor decelerates to a stop and the COIN signal turns ON Turn ON the START STOP signal to restart program table operation The remaining...

Страница 113: ...peration The COIN 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 Progr...

Страница 114: ...completed to the target position the COIN 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 th...

Страница 115: ...gnal turns OFF and the POUT1 signal turns ON When positioning is completed to the target position the COIN signal turns ON The SEL1 signal turns ON After a wait time of 2 seconds program step 1 is exe...

Страница 116: ...t the SEL0 to SEL4 signals to 0 to specify program step 0 Turn ON the START STOP signal to start program table operation The COIN signal turns OFF After 2 seconds elapse step 1 is executed When the SE...

Страница 117: ...nal to start program table operation The COIN signal turns OFF The RGRT signal turns ON to perform registration operation The speed changes to the registration speed The COIN turns ON when positioning...

Страница 118: ...urn OFF the START STOP signal to stop operation Turn ON the START STOP signal to restart program table operation The COIN turns ON when positioning is completed for the remaining registration distance...

Страница 119: ...nal turns ON to specify registration operation Turn ON the START STOP signal to restart program table operation In this case registration operation is performed The COIN turns ON when positioning is c...

Страница 120: ...is specified for the target position POS always set the number of loops setting LOOP to 1 2 If a consecutive stop is specified for the target position POS the settings of the positioning speed SPD an...

Страница 121: ...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 COIN 2 s SEL0 to SEL4 POUT0 to POUT2 0 0 1 Operation Pattern M...

Страница 122: ...000 000 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 SEL4 signals to 0 to specify p...

Страница 123: ...ENT end conditions for program steps Note If t t1 an error E53E will occur and program table operation will be stopped I N D SEL0 T2000 IT2000 NT2000 DT2000 SEL0T2000 t 2000 ms t 2000 ms t 2000 ms t 2...

Страница 124: ...t Response Times after START STOP Turns ON The response times for starting the motor the COIN signal and the POUT0 to POUT4 sig nals when the START STOP signal is turned ON to start program table oper...

Страница 125: ...on OFF Mode 1 jog speed table operation or homing page 6 3 JOGP Turn this signal ON to jog forward at the jog speed registered in the jog speed table The motor is accelerated according to Pn63E Accele...

Страница 126: ...le The JOG0 to JOG2 Jog Speed Selection signals are used to specify the jog speeds that are registered in the jog speed table Note 1 Signal is ON active 0 Signal is OFF inactive Jog Speed Table Jog Sp...

Страница 127: ...ls on the Jog Speed Table Editing Dialog Box No Item Description Save Button Saves the currently displayed settings to a computer file Print Button Prints the currently displayed settings Setting Area...

Страница 128: ...ile 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 Button Reads the settings...

Страница 129: ...The jog speed table that is saved in the flash memory is automatically loaded each time the power supply is turned ON There are the following two ways to save the jog speed table to flash memory in t...

Страница 130: ...g 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 Save As Dialog Box will be displa...

Страница 131: ...7 4 Jog Speed Table Operation 7 4 4 SigmaWin Procedures 7 50 This concludes the saving procedure You can use the Import Button to load the jog speed table saved in a file to the SERVO PACK Information...

Страница 132: ...operation by using the JOG0 to JOG2 Jog Speed Selection signals to specify the jog speeds that are registered in the jog speed table 1 Forward operation at the jog speed is performed while the JOGP si...

Страница 133: ...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 HOM...

Страница 134: ...e 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 Note 1 Signal is ON...

Страница 135: ...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 7 5 2 Parameters Related to ZONE Sign...

Страница 136: ...e ZONE Table Displaying the ZONE Table Editing Dialog Box Select Edit ZONE Table from the menu bar of the Main Window of the SigmaWin Details on the ZONE Table Editing Dialog Box Editing the ZONE Tabl...

Страница 137: ...uts 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 Initialize...

Страница 138: ...the OK Button The ZONE table edited on the SigmaWin will be written to the SERVOPACK and all edited rows will change to white 1 Make sure that the system is in SERVO OFF state when you write the ZONE...

Страница 139: ...7 5 ZONE Outputs 7 5 3 SigmaWin Procedures 7 58 This concludes the writing procedure...

Страница 140: ...d in the flash memory is automatically loaded each time the power supply is turned ON There are the following two ways to save the ZONE table to flash memory in the SERVOPACK Save it on the ZONE Table...

Страница 141: ...Alarms 8 2 8 1 2 Troubleshooting Alarms 8 8 8 1 3 INDEXER Alarm Displays and Troubleshooting 8 38 8 2 Warning Displays 8 40 8 2 1 List of Warnings 8 40 8 2 2 Troubleshooting Warnings 8 42 8 2 3 INDEXE...

Страница 142: ...ual for information on the stopping method for alarms 7 Series 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 Alarm Reset Possibility Yes You can use...

Страница 143: ...Parameter 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...

Страница 144: ...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 Temp...

Страница 145: ...Alarm 2 Internal program error 2 occurred in the SERVOPACK Gr 1 No A bF3 System Alarm 3 Internal program error 3 occurred in the SERVOPACK Gr 1 No A bF4 System Alarm 4 Internal program error 4 occurre...

Страница 146: ...tion Module failed Gr 1 No A CF2 Timer Stopped Error in Feedback Option Module Communica tions An error occurred in the timer for commu nications with the Feedback Option Mod ule Gr 1 No A d00 Positio...

Страница 147: ...or T when the main power supply was ON Gr 2 Yes A F50 Servomotor Main Cir cuit Cable Disconnec tion The Servomotor did not operate or power was not supplied to the Servomotor even though the S ON sign...

Страница 148: ...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 t...

Страница 149: ...ERVOPACK 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 150: ...e setting of the Fully Closed Module does not match the setting of Pn002 n X External Encoder Usage Check the setting of Pn002 n X Make sure that the setting of the Fully closed Mod ule agrees with th...

Страница 151: ...connected Set the parameters for a Linear Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again 1 A Linear Servomotor was removed and a Rotary Servom...

Страница 152: ...here is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power co...

Страница 153: ...ween 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...

Страница 154: ...Pn600 Connect 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 termina...

Страница 155: ...otor 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 Rege...

Страница 156: ...r supply setting to match the actual power supply 1 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...

Страница 157: ...io 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 occur...

Страница 158: ...f Pn100 Speed Loop Gain 1 The setting of Pn103 Moment of Inertia Ratio is greater than the actual moment of inertia or was greatly changed Check the moment of inertia ratio or mass ratio Set Pn103 Mom...

Страница 159: ...mic 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 mo...

Страница 160: ...re 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 env...

Страница 161: ...n the 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...

Страница 162: ...ed Replace the polarity sen sor A 850 Encoder Overspeed 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 contr...

Страница 163: ...he rated load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the Sig maWin Operate the Servo Drive so that the motor load remains within the speci fied range 1 A fail...

Страница 164: ...ower supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF0 System Alarm 0 A failure occurred in the SERVOPACK Turn the power supply...

Страница 165: ...f an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C10 Servomotor Out of Control Detected when the servo is turned ON The order of phases U V and W in the motor wiring is not...

Страница 166: ...res against noise for the polarity sensor wiring The setting of Pn282 Linear Encoder Pitch is not correct Check the setting of Pn282 Linear Encoder Pitch Check the specifications of the linear encoder...

Страница 167: ...s 0 and the speed feedback is not 0 because of an external force such as cable tension applied to the Moving Coil Imple ment measures to reduce the external force so that the speed feedback goes to 0...

Страница 168: ...ernal 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 Increa...

Страница 169: ...der by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON t...

Страница 170: ...y 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...

Страница 171: ...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 lin...

Страница 172: ...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 c...

Страница 173: ...rating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 1 A failure occurred in the SERVOPACK Turn the power s...

Страница 174: ...d then ON again 1 A safety option mod ule fault occurred Replace the safety option module A failure occurred in the SERVOPACK Replace the SERVO PACK A E72 Feedback Option Module Detec tion Failure The...

Страница 175: ...re than one second for phase R S or T when the main power supply was ON The three phase power supply wiring is not correct Check the power sup ply wiring Make sure that the power supply is correctly w...

Страница 176: ...heck the connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was caused by noise Keep the Digital Operator or the cable away from sources of noise CPF01...

Страница 177: ...es AC Servo Drive Peripheral Device Selection Manual Manual No SIEP S800001 32 5 These alarms are not stored in the alarm history They are only displayed on the panel display 1 3 6 105 Pn20E Pn210 Rat...

Страница 178: ...range Alarm Detected only when control power supply is turned ON A value set in the program table is not within the allowed setting range Change the firm ware version Change the pro gram table version...

Страница 179: ...the JOG speed table Gr 1 Available 3 E21A A EF9 JOG Speed Table Version Unmatched Detected only when control power supply is turned ON The combination of the firmware version and the JOG speed table...

Страница 180: ...ge Pulse Train References Product Manual Manual No SIEP S800001 26 Digital Operator When a warning occurs the warning code is displayed at the top left of the screen ALM Signal No change WARN Signal T...

Страница 181: ...of absolute encoder s battery is low L L H A 942 Speed Ripple Com pensation Information Disagreement The speed ripple compensation information stored in the encoder does not agree with the speed ripp...

Страница 182: ...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 DE...

Страница 183: ...itable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911...

Страница 184: ...he 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 temp...

Страница 185: ...will not be rotated 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...

Страница 186: ...ion occurred Measure the power supply voltage If you have changed the setting of Pn509 Momen tary Power Interruption Hold Time decrease the setting The SERVOPACK fuse is blown out Replace the SERVOPAC...

Страница 187: ...Fn061 While initializing a JOG speed table by using Fn065 Repair the hard ware E44E A 9F9 Canceled Pro gram Table Error There was a request to start program table operation even though an E19A or E1BA...

Страница 188: ...7 n X Mov ing Mode or disable the software limits by setting Pn638 Pn63A 0 E4EE A 9F9 Moving Disabled Error due to N LS The specified target position exceeds the position reference of reverse software...

Страница 189: ...i cation POS with the pro gram table E54E A 9F9 Servo ON Incom plete Error The servo is not ON There was a positioning request or other move reference request in servo OFF sta tus The servo went OFF d...

Страница 190: ...or on hold Request execu tion of the pro cess again after canceling pro gram table oper ation by turning the PGMRES signal ON E5FE A 9F9 Session Conflict Error There was a request that could not be e...

Страница 191: ...rol Method Setting Error An attempt was made to perform program table operation jog speed table operation or a homing operation when Pn000 n 1 was set to 3 to B Change the set ting of Pn000 n X to a v...

Страница 192: ...ons Turn OFF the power supply to the servo system Wire the cable correctly There is an overload on the Servomotor Operate the Servomotor with no load and check the load status Turn OFF the power suppl...

Страница 193: ...urn 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...

Страница 194: ...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 SERVOPACK To pre vent disconnection reduce the load There wa...

Страница 195: ...OFF the power sup ply to the servo system Make sure that the rotary or Linear Encoder Cable satisfies the specifica tions Use a shielded twisted pair wire cable or a screened twisted pair cable with...

Страница 196: ...encoder A failure occurred in the encoder Turn OFF the power supply to the servo system Replace the Servomotor A failure occurred in the Serial Converter Unit Turn OFF the power supply to the servo sy...

Страница 197: ...pecifications Turn OFF the power sup ply to the servo system Check the Encoder Cable to see if it satisfies speci fications Use a shielded twisted pair wire cable or a screened twisted pair cable with...

Страница 198: ...Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition of the overtravel limit switches...

Страница 199: ...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...

Страница 200: ...e 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 mus...

Страница 201: ...his chapter provides information on the parameters 9 1 Parameter Configurations 9 2 9 2 List of Parameters 9 3 9 2 1 Interpreting the Parameter Lists 9 3 9 2 2 List of Parameters 9 4 Parameter Lists 9...

Страница 202: ...ameters Pn304 to Pn324 Set speed control parameters such as the speed feedback filter Torque Control Parameters Pn401 to Pn460 Set torque control parameters such as the torque limit values Sequence Pa...

Страница 203: ...change to the parameter will be effective n X Rotation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction 1 Use the direction in which the linear encoder co...

Страница 204: ...ences 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed control with analog r...

Страница 205: ...e maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using...

Страница 206: ...external torque limit input when P CL or N CL is ON 1 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All 1 1 Use V REF as an external speed limit inpu...

Страница 207: ...ulse 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...

Страница 208: ...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...

Страница 209: ...rvoltage Reference 0 Do not detect undervoltage 1 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 SERV...

Страница 210: ...d for Forced Stops Reference 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the max...

Страница 211: ...or Test without a Motor Applicable Motors 0 Disable 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 U...

Страница 212: ...e Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Encoder Resolution Compatibility Selection Applicable Motors 0 Use the...

Страница 213: ...medi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Swi...

Страница 214: ...first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR...

Страница 215: ...0 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damping Gain 0 to 300 1 0 All Immedi ately Tu...

Страница 216: ...ning 1 Pn182 2 Mode Switching Level for Acceleration 0 to 30 000 1 mm s2 0 Linear Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting...

Страница 217: ...2 Clear position deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block at ser...

Страница 218: ...tch 20 All After restart Setup 1 Pn282 4 Linear Encoder Scale Pitch 0 to 6 553 600 0 01 m 0 Linear After restart Setup 1 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 Al...

Страница 219: ...l Set Speed 3 0 to 10 000 1 mm s 30 Linear Immedi ately Setup 1 Pn383 2 Jog Operation Speed 0 to 10 000 1 mm s 50 Linear Immedi ately Setup 1 Pn384 2 Vibration Detection Level 0 to 5 000 1 mm s 10 Lin...

Страница 220: ...ence Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn415 2 T REF Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Continued on next page Continued from prev...

Страница 221: ...g 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 1 50 All Immedi ately Setup 1 Continued on next page...

Страница 222: ...inear Immedi ately Tuning Pn48E 2 Polarity Detection Range 1 to 65 535 1 mm 10 Linear Immedi ately Tuning Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Pol...

Страница 223: ...Time 0 to 50 10 ms 0 All Immedi ately Setup 1 Pn507 2 Brake Reference Out put Speed Level 0 to 10 000 1 min 1 100 Rotary Immedi ately Setup 1 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10...

Страница 224: ...ignal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X P CON Proportional Control Signal Alloca...

Страница 225: ...tion Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed page 6 3 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2 Active...

Страница 226: ...l is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input sign...

Страница 227: ...7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open...

Страница 228: ...tation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 6 5 n X S RDY Servo Ready Signal Allocation Referenc...

Страница 229: ...al from the CN1 38 output terminal 6 Output the signal from the CN1 39 output terminal n X Reserved parameter Do not change n X PSELA Reference Pulse Input Multiplication Switching Output Signal Alloc...

Страница 230: ...nge n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Allocation Reference 0 Disabled the above signal output is not used page 6 5 1 Output the signal from the CN1 25...

Страница 231: ...1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signa...

Страница 232: ...to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 input sig...

Страница 233: ...0 All Pn52F 2 Monitor Display at Startup 0000h to 0FFFh 0FFFh All Immedi ately Setup 1 Pn530 2 Program Jog Operation Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Pn531 4 Program Jo...

Страница 234: ...to 100 1 100 All Immedi ately Setup Pn580 2 Zero Clamping Level 0 to 10 000 1 mm s 10 Linear Immedi ately Setup 1 Pn581 2 Zero Speed Level 1 to 10 000 1 mm s 20 Linear Immedi ately Setup 1 Pn582 2 Sp...

Страница 235: ...put signal is OFF open E Mode 0 is used when CN1 45 input signal is OFF open F Mode 0 is used when CN1 46 input signal is OFF open n X START STOP Program Table Operation Start Stop Input Signal Alloca...

Страница 236: ...N closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is...

Страница 237: ...46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN...

Страница 238: ...signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF op...

Страница 239: ...ammable Output 0 Signal Allocation page 6 5 n X POUT2 Programmable Output 2 Signal Allocation Reference 0 to 6 The settings are the same as for POUT0 Programmable Output 0 Signal Allocation page 6 5 n...

Страница 240: ...to 199 999 999 1 000 refer ence units min 1 ms 1000 All Immedi ately Setup page 6 10 Pn642 2 Homing Method 0000h to 0003h 0000h All After restart Continued on next page Continued from previous page Pa...

Страница 241: ...units min 1 1000 All Immedi ately Setup page 7 5 Pn646 4 Origin Approach Speed 1 to 199 999 999 1 000 refer ence units min 1 1000 All Immedi ately Setup page 7 5 Pn648 4 Homing Creep Speed 1 to 199 9...

Страница 242: ...SigmaWin Function Names 10 2 10 1 1 Corresponding SERVOPACK Utility Function Names 10 2 10 1 2 Corresponding SERVOPACK Monitor Display Function Names 10 3 10 2 Operation of Digital Operator 10 6 10 2...

Страница 243: ...Setting after Multiturn Limit Dis agreement Alarm Reset Option Module Configuration Error Fn014 Reset Option Module Configuration Error Initialize Vibration Detection Level Fn01B Initialize Vibration...

Страница 244: ...es from the polarity origin Un003 Rotary Servomotors Rotational Angle 1 encoder pulses number of encoder pulses from origin within one encoder rotation displayed in decimal Linear Servomotors Electric...

Страница 245: ...ncoder encoder pulses Un041 Position within One Rotation of Absolute Encoder encoder pulses Lower Bits of Absolute Encoder Position encoder pulses Un042 Lower Bits of Absolute Encoder Position encoder...

Страница 246: ...Monitor 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 Monitor Input Signal Monitor Input Signal Monitor Un005...

Страница 247: ...g elements The article and table number currently selected 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...

Страница 248: ...Manually adjust speed reference offset Fn00B Manually adjust torque reference offset Fn00C Offset adjustment of analog monitor output Fn00D Gain adjustment of analog monitor output Fn00E Automatic off...

Страница 249: ...0 Program table edit save Program Table Edit Save Fn060 on page 10 8 Fn061 ZONE table edit save ZONE Table Edit Save Fn061 on page 10 13 Fn062 JOG speed table edit save JOG Speed Table Edit Save Fn062...

Страница 250: ...ng In this case make the setting again by referring to Preparation Continued from previous page Step Display after Operation Keys Operation PGMSTEP POS SPD RDST RSPD POUT 0 P000 SPD000 RST000 RSP000 P...

Страница 251: ...3 RDST Registration Distance Note Refer to the following section for details on the registration distance 7 3 4 Settings in the Program Table on page 7 13 RSPD Registration Speed Note Refer to the fol...

Страница 252: ...ss condition and elapsed time 7 3 4 Settings in the Program Table on page 7 13 2 The default setting is EVT000 IT00000 Move cursor Change acceleration If the value becomes less than 1 is displayed Mov...

Страница 253: ...g screen In this case make the setting again by referring to Preparation Step Display after Operation Keys Operation 1 Display the program table editing screen 2 Press the key to view the program tabl...

Страница 254: ...01 ZN001 7 ZP007 ZN007 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 Fn061 2 Press the key to view...

Страница 255: ...Do not turn OFF the control power supply until saving has been completed normally Continued on next page ZONE Number ZONE P ZONE N ZONE 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...

Страница 256: ...d normally the display returns to the ZONE table editing screen 6 Press the key to return to the Utility Function Mode main menu If the key is pressed in an operation prohibited state Error is display...

Страница 257: ...JOG Speed Tables If setting is attempted in an operation prohibited state it will not be possible to change the setting In this case make the setting again by referring to Preparation Step Display af...

Страница 258: ...or approximately 2 seconds and then the display returns to the Fn063 operation screen In this case make the setting again by referring to Preparation Step Display after Operation Keys Operation 1 Pres...

Страница 259: ...the display returns to the Fn064 operation screen In this case make the setting again by referring to Preparation Step Display after Operation Keys Operation 1 Press the key to open the Utility Funct...

Страница 260: ...nds and then the display returns to the Fn065 operation screen In this case make the setting again by referring to Preparation Step Display after Operation Keys Operation 1 Press the key to open the U...

Страница 261: ...ing procedures in each function mode c d e f Panel display Panel Operator Key No Key Name Function MODE SET Key Changes the display Confirms settings UP Key Increases the setting DOWN Key Decreases th...

Страница 262: ...or display may flash Refer to the following manual and implement countermeasures against noise 7 Series 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26...

Страница 263: ...that the test without a motor is in progress The status display changes according to the status of Servomotor and SERVOPACK However tSt will not be displayed during a test without a motor even if an a...

Страница 264: ...0 15 jog speed selection 7 45 JOG speed table initialization 10 19 jog speeds 7 44 saving JOG speed tables 10 16 L Linear Servomotor xii list of alarms 8 2 list of parameters 9 3 LOOP 7 13 M Main Circ...

Страница 265: ...f Reference Input 3 5 signal allocations 6 3 sink circuits 3 9 source circuits 3 9 SPD 7 13 status display 10 6 Status Monitor 5 2 storage humidity 2 6 storage temperature 2 6 surrounding air humidity...

Страница 266: ...sion Information on certification for UL standards and European directives 1 2 1 Revision Information on hardware options specifications 2 3 Revision Mounting type 3 2 Partly revised Back cover Revisi...

Страница 267: ...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 CHIN...

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