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9.12 Additional Adjustment Functions

9.12.8 Backlash Compensation

9-73

9

T

uning



Backlash Compensation Time Constant

You can set a time constant for a first order lag filter for the backlash compensation value
(Pn231) that is added to the position reference.
If you set Pn233 (Backlash Compensation Time Constant) to 0, the first order lag filter is dis-
abled.

Note: Changes to the settings are applied when there is no reference pulse input and the Servomotor is stopped.

The current operation is not affected if the setting is changed during motor operation.

Related Monitoring

You can monitor the following values on the operation monitor of the S.

Compensation Operation

This section describes the operation that is performed for backlash compensation.

Note: The following figures are for when backlash compensation is applied to references in the forward direction

(Pn230 = n.



0). The following monitor information is provided in the figures:

target position

(607Ah) (tar-

get position in the reference coordinate system),

position demand value

(6062h) (reference position in the ref-

erence coordinate system), and

position actual value

(6064h) (feedback position in the machine coordinate

system). The monitor information includes the feedback position in machine coordinate system (

position

actual value

) and other feedback information. The backlash compensation value is subtracted from the feed-

back positions in the monitor information, so it is not necessary for the host controller to consider the back-
lash compensation value.

•

The backlash compensation value is restricted by the following formula. Backlash compensa-
tion is not performed if this condition is not met.

*

Refer to the following section for the encoder resolution.

6.14 Setting Unit Systems

With fully-closed loop control, substitute the number of external encoder pulses per motor rotation
for the encoder resolution in the above formula.

Example 1:
Denominator = 1, Numerator = 1, Maximum motor speed = 6,000 [min

-1

], and Encoder resolu-

tion = 16,777,216 (24 bits)
1/1

×

1/16

×

6,000/60

×

16,777,216

×

0.00025 = 26,214.4 [reference units]



The backlash compensation will be limited to 26,214.4 reference units.

Example 2:
Denominator = 1, Numerator = 1, Maximum motor speed = 6,000 [min

-1

], number of external

encoder pitches (Pn20A) = 500, and Use of the JZDP-H00



-000 (signal resolution: 1/256):

1/4

×

6,000/60

×

(500

×

256)

×

0.00025 = 800.0 [reference units]



The backlash compensation will be limited to 800.0 reference units.

•

Do not exceed the upper limit of the backlash compensation value. You can check the upper
limit on the operation monitor of the S.

Pn233
(2233h)

Backlash Compensation Time Constant

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

0 to 65,535

0.01 ms

0

Immediately

Setup

Displayed Value

Setting Unit

Current Backlash Compensation Value

0.1 reference units

Backlash Compensation Value Setting Limit

0.1 reference units

Important

Pn231 ≤

Denominator

Numerator

60



Pn210

Pn20E



Maximum motor speed [min

-1

]



Encoder resolution

*



0.00025

Position

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Содержание SGD7S-xxxDA0 series

Страница 1: ...tions Tuning Monitoring Fully Closed Loop Control Safety Functions EtherCAT Communications CiA402 Drive Profile Object Dictionary Maintenance Parameter and Object Lists Appendices Basic Functions That...

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: ...ic Functions That Require Set ting before Operation Describes the basic functions that must be set before you start Servo System operation It also describes the setting methods 7 Application Functions...

Страница 4: ...ers in the table on the following pages Refer to these documents as required Servo Drives 7 Series Catalog Servo Drives Manuals Catalogs Servomotors 7 Series Rotary Servomotor Product Manual 7 Series...

Страница 5: ...e 7W SERVOPACK with 400 V Input Power and EtherCAT CoE Communications References Product Manual SIEP S800002 19 7 Series AC Servo Drive 7W SERVOPACK with 400 V Input Power and MECHATROLINK III Communi...

Страница 6: ...he operating proce dures for a Digital Operator for a 7 Series Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the Si...

Страница 7: ...main circuit power supply are ON Refer to the following section for details 14 1 Device Control page 14 3 Servo OFF command Disable Operation command A command that is used to turn OFF the servo i e p...

Страница 8: ...setting increment that you can set for the parameter This is the setting range for the parameter Object index number used to access the parameter with EtherCAT CoE communications Object index number u...

Страница 9: ...sual Aids The following aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other...

Страница 10: ...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 11: ...sk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks Regenerative Resistors Servomotors and other components can be very h...

Страница 12: ...y 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 13: ...may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to...

Страница 14: ...or be damaged A SERVOPACK or Servomotor is a precision device Do not drop it or subject it to strong shock There is a risk of failure or damage Always install a SERVOPACK in a control panel Do not al...

Страница 15: ...ACK 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 adja...

Страница 16: ...ms 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 o...

Страница 17: ...arameter settings normal operation may not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being suppl...

Страница 18: ...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 19: ...f 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 not...

Страница 20: ...ed 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 whic...

Страница 21: ...roperty 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 22: ...SGM7J SGM7G UL 1004 1 UL 1004 6 E165827 Linear Servomotors SGLFW SGLFW2 SGLTW UL 1004 1 UL 1004 6 E165827 Product Model EU Directive Harmonized Standards SERVOPACKs SGD7S SGD7W Machinery Directive 200...

Страница 23: ...L3 IEC 62061 SILCL3 Mission Time IEC 61508 10 years 20 years Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 4 60 10 9 1 h 4 60 of SIL3 PFH 4 62 10 9 1 h 4 62 of SIL3 Performance Lev...

Страница 24: ...rpreting SERVOPACK Model Numbers 1 9 1 5 2 Interpreting Servomotor Model Numbers 1 10 1 6 Combinations of SERVOPACKs and Servomotors 1 11 1 6 1 Combinations of Rotary Servomotors and SERVOPACKs 1 11 1...

Страница 25: ...the SERVOPACK 4 11 4 3 1 Terminal Symbols and Terminal Names 4 11 4 3 2 Connector Wiring Procedure 4 13 4 3 3 Power ON Sequence 4 14 4 3 4 Power Supply Wiring Diagrams 4 15 4 3 5 Wiring Regenerative R...

Страница 26: ...ke 5 10 5 3 1 Using the Dynamic Brake 5 10 5 3 2 Selecting the Devices Required for the Dynamic Brake Circuit 5 12 5 3 3 Wiring the Dynamic Brake Circuit 5 15 5 3 4 Parameter Settings for the Dynamic...

Страница 27: ...he Servomotor Is Operating 6 35 6 11 5 Built in Brake Relay Usage Selection 6 36 6 12 Motor Stopping Methods for Servo OFF and Alarms 6 37 6 12 1 Stopping Method for Servo OFF 6 38 6 12 2 Servomotor S...

Страница 28: ...7 7 3 CLT Torque Limit Detection Signal 7 30 7 8 Absolute Encoders 7 31 7 8 1 Connecting an Absolute Encoder 7 31 7 8 2 Structure of the Position Data of the Absolute Encoder 7 32 7 8 3 Output Ports...

Страница 29: ...ut Application Example 7 62 7 15 Overheat Protection 7 63 7 15 1 Connecting the Overheat Protection Input TH Signal 7 63 7 15 2 Overheat Protection Selections 7 63 Trial Operation and Actual Operation...

Страница 30: ...6 9 5 2 Restrictions 9 16 9 5 3 Applicable Tools 9 17 9 5 4 Operating Procedure 9 17 9 6 Autotuning without Host Reference 9 23 9 6 1 Outline 9 23 9 6 2 Restrictions 9 24 9 6 3 Applicable Tools 9 25 9...

Страница 31: ...iction Compensation 9 68 9 12 3 Gravity Compensation 9 69 9 12 4 Current Control Mode Selection 9 70 9 12 5 Current Gain Level Setting 9 71 9 12 6 Speed Detection Method Selection 9 71 9 12 7 Speed Fe...

Страница 32: ...tems 11 8 11 3 7 Alarm Detection Settings 11 8 11 3 8 Analog Monitor Signal Settings 11 9 11 3 9 Setting to Use an External Encoder for Speed Feedback 11 9 11 4 Monitoring an External Encoder 11 10 11...

Страница 33: ...4 1 Setting Procedure for PDO Mappings 13 7 13 4 2 Default PDO Mappings 13 7 13 5 Synchronization with Distributed Clocks 13 8 13 6 Emergency Messages 13 11 CiA402 Drive Profile 14 14 1 Device Control...

Страница 34: ...ects 15 5 15 3 PDO Mapping Objects 15 9 15 4 Sync Manager Communications Objects 15 13 15 5 Manufacturer Specific Objects 15 17 15 6 Device Control 15 21 15 7 Profile Position Mode 15 29 15 8 Homing M...

Страница 35: ...d on the Operation and Conditions of the Servomotor 16 55 Parameter and Object Lists 17 17 1 List of Parameters 17 2 17 1 1 Interpreting the Parameter Lists 17 2 17 1 2 List of Parameters 17 3 17 2 Ob...

Страница 36: ...T CoE Communications 1 4 1 2 4 CoE Terminology 1 4 1 2 5 Data Types 1 5 1 2 6 Data Ranges 1 5 1 3 Interpreting the Nameplate 1 6 1 4 Part Names 1 7 1 5 Model Designations 1 9 1 5 1 Interpreting SERVOP...

Страница 37: ...achine performance in the shortest time possible thus contributing to improving productivity These SERVOPACKs support ZONE outputs ZONE outputs are used to output signals during preset ranges of posit...

Страница 38: ...tion layer CANopen the data link layer EtherCAT and the physical layer Ethernet The four lay ers other than the application layer data link layer and physical layer are not used The data link layer is...

Страница 39: ...n for the application layer in a seven layer OSI reference model Distributed Clocks DC A clock distribution mechanism that is used to synchronize the EtherCAT slaves with the EtherCAT master Electrica...

Страница 40: ...8 to 32 767 DINT Signed 32 bit integer 2 147 483 648 to 2 147 483 627 USINT Unsigned 8 bit integer 0 to 255 UINT Unsigned 16 bit integer 0 to 65 535 UDINT Unsigned 32 bit integer 0 to 4 294 967 295 ST...

Страница 41: ...preting the Nameplate 1 6 1 3 Interpreting the Nameplate The following basic information is provided on the nameplate Order number Serial number Degree of protection Surrounding air temperature SERVOP...

Страница 42: ...minals The connection terminals for a Dynamic Brake Resistor page 5 7 Ground Terminal The ground terminals to prevent electric shock Always connect this terminal EtherCAT Communications Connectors Inp...

Страница 43: ...vice ID and address PWR Lights when the control power is being supplied CN Not used L1 and L2 Analog Monitor Connector CN5 You can use a special cable peripheral device to monitor the motor speed torq...

Страница 44: ...E outputs FT EX Specification B Interface Code Specification EtherCAT communications reference Design Revision Order 5th 6th digits 7th digit Maximum Applicable Motor Capacity Voltage Code Specificati...

Страница 45: ...igh speed high torque SGM7 02 D 7 F 2 1 1st 2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 1st 2nd digits Rated Output 3rd digit Power Supply Voltage 4th digit Serial Encoder Specificati...

Страница 46: ...08D F 750 W 3R5D SGM7A 10D F 1 0 kW 5R4D SGM7A 15D F 1 5 kW SGM7A 20D F 2 0 kW 8R4D SGM7A 25D F 2 5 kW 120D SGM7A 30D F 3 0 kW SGM7A 40D F 4 0 kW 170D SGM7A 50D F 5 0 kW SGM7A 70D F 7 0 kW 260D SGM7G...

Страница 47: ...00 5R4D SGLFW 1ZD200B SGLFW 1ZD380B 1120 2400 120D SGLFW2 30D070A 45 135 1R9D SGLFW2 30D120A 90 270 1R9D SGLFW2 30D230A 180 540 1R9D SGLFW2 45D200A 280 840 3R5D SGLFW2 45D380A 560 1680 8R4D SGLFW2 90D...

Страница 48: ...e Origin of the Absolute Encoder page 6 52 Setting the Regenerative Resistor Capacity page 6 55 Operation for Momentary Power Interruptions page 7 14 SEMI F47 Function page 7 15 Setting the Motor Maxi...

Страница 49: ...nce Control Adjustment page 9 50 Vibration Suppression page 9 55 Gain Selection page 9 65 Friction Compensation page 9 68 Backlash Compensation page 9 72 Model Following Control page 9 84 Compatible A...

Страница 50: ...ction Characteristics 2 3 2 1 3 Specifications 2 4 2 2 Block Diagrams 2 8 2 2 1 SERVOPACKs without Built in Servomotor Brake Control 2 8 2 2 2 SERVOPACKs with Built in Servomotor Brake Control 2 11 2...

Страница 51: ...W 21 22 28 32 Built in Regenerative Resistor Power Loss W 14 14 28 28 28 36 180 240 Total Power Loss W 54 4 65 3 111 8 139 1 186 7 246 7 216 4 256 5 310 2 389 8 Regenera tive Resis tor Built In Regen...

Страница 52: ...or Ser vomotor that has the lower overload protection characteristics In most cases that will be the overload protection characteristics of the Servomotor Note The above overload protection characteri...

Страница 53: ...9 m s2 Shock Resistance 19 6 m s2 Degree of Protection IP10 Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust...

Страница 54: ...output isolated is used Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 5 A photocoupler output isolated is u...

Страница 55: ...Distributed Clocks Free Run Mode and DC Mode Can be switched Applicable DC cycles 125 s to 4 ms in 125 s increments Slave Information Interface 256 bytes read only Indicators EtherCAT communications i...

Страница 56: ...and 370D do not have a dynamic brake DB If a dynamic brake is neces sary create an external dynamic brake circuit Refer to the following chapter for details on the dynamic brake Chapter 5 Wiring and...

Страница 57: ...2 CN7 CN2 ENC CN5 M CHARGE Overheat protector Overcurrent protector CN8 12 V I O I F CN1 CN6A CN6B Dynamic brake circuit Processor PWM control position speed calculations etc Control power supply Digi...

Страница 58: ...Computer CN3 Option Module CN11 Option Module CN12 CN7 Current sensor CN2 Servomotor ENC Analog voltage converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor M Relay drive CHARGE...

Страница 59: ...odule CN11 Option Module CN12 CN7 Current sensor CN2 Servomotor ENC Analog voltage converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor M Relay drive CHARGE Gate drive Overheat p...

Страница 60: ...urrent sensor CN2 CN5 Analog monitor output Voltage sensor Voltage sensor Varistor Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Fan 12 V CN101 CN1...

Страница 61: ...converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Main circuit power supply...

Страница 62: ...tage converter CN5 Analog monitor output Voltage sensor Voltage sensor Varistor Relay drive CHARGE Gate drive Overheat protector Overcurrent protector Safety function signals CN8 Main circuit power su...

Страница 63: ...tor Specifications Connector No Connector Model Number of Pins Manufacturer SERVOPACK Model CN1 DMC 1 5 15 G1F 3 5 LR BK 30 Phoenix Contact All models CN2 3E106 0220KV 6 3M Japan Limited All models CN...

Страница 64: ...102 BLZ 7 62IT 04 180MF4 SN BK BX PRT 4 Weidm ller Interface GmbH Co KG SGD7S 1R9D to 170D BUZ 10 16IT 04 180MF4 AG BK BX LPR SGD7S 210D to 370D CN103 BVZ 7 62IT 04 180MF3 SN BK BX PRT 4 Weidm ller In...

Страница 65: ...rox mass SGD7S 1R9D 3R5D or 5R4D 3 4 kg SGD7S 8R4D or 120D 3 7 kg Unit mm 25 75 25 315 0 5 mounting pitch Exterior Ground terminal M4 60 0 5 mounting pitch 27 5 Mounting Hole Diagram 80 300 15 330 15...

Страница 66: ...D and 370D Ground terminal M4 15 100 41 8 70 75 20 41 9 25 33 7 4 M5 365 0 5 mounting pitch 380 7 5 10 80 0 5 mounting pitch Approx mass 7 0 kg Unit mm 100 350 380 Mounting Hole Diagram Ground termina...

Страница 67: ...als of the CN1 connector If the power supply is shared the I O signals may malfunction I O Signal Cable Host controller Bottom of SERVOPACK Computer Engineering Tool Computer Cable Analog Monitor Cabl...

Страница 68: ...ontroller Computer Engineering Tool Computer Cable Analog Monitor Cable Noise Filter Molded case circuit breaker Magnetic Contactor Power supply Three phase 400 VAC Control Power Supply Cable SERVOPAC...

Страница 69: ...and Orientation 3 3 3 3 Mounting Hole Dimensions 3 4 3 4 Mounting Interval 3 5 3 4 1 Installing One SERVOPACK in a Control Panel 3 5 3 4 2 Installing More Than One SERVOPACK in a Control Panel 3 5 3 5...

Страница 70: ...eat 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 t...

Страница 71: ...Mount the SERVOPACK vertically as shown in the fol lowing figures Also mount the SERVOPACK so that the front panel is facing toward the operator Note Prepare four mounting holes for the SERVOPACK and...

Страница 72: ...that is longer than the depth of the SER VOPACK Mounting Hole Dimensions SERVOPACK Model Dimensions mm Screw Size Number of Screws A B C D E F G H SGD7S 1R9D 3R5D 5R4D 8R4D 120D 330 7 5 315 0 5 80 10...

Страница 73: ...VOPACK in a Control Panel Provide the following spaces around the SERVOPACK and install a cooling fan in the control panel 30 mm min 30 mm min 120 mm min 120 mm min SERVOPACK Install cooling fans abov...

Страница 74: ...itor 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 lo...

Страница 75: ...120D 170D 210D 260D and 280D SGD7S 370D 100 80 2000 m 100 1000 m 80 0 0 0 m 2000 m 1000 m 0 m 100 0 64 Effective torque Effective torque Effective torque 5 C 55 C 60 C 5 C 55 C 60 C Surrounding air t...

Страница 76: ...ipment The applicable standards are EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 and EN 61800 3 category C2 second environment Three Phase 400 VAC Symbol Cable Name Specification I O Signal Cabl...

Страница 77: ...er ON Sequence 4 14 4 3 4 Power Supply Wiring Diagrams 4 15 4 3 5 Wiring Regenerative Resistors 4 18 4 3 6 Wiring Reactors for Harmonic Suppression 4 18 4 4 Wiring Servomotors 4 19 4 4 1 Terminal Symb...

Страница 78: ...I O Circuits 4 35 4 7 Connecting EtherCAT Communications Cables 4 37 4 7 1 EtherCAT Connectors RJ45 4 37 4 7 2 Ethernet Communications Cables 4 38 4 8 Connecting the Other Connectors 4 39 4 8 1 Serial...

Страница 79: ...and instructions for wiring and trial operation precisely as described in this document Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPA...

Страница 80: ...e Encoder Cable at the same time you will create a loop circuit between the batteries resulting in a risk of damage or burning When connecting a battery connect the polarity correctly There is a risk...

Страница 81: ...uit Cables and Encoder Cables Do not share the power supply with an electric welder or electrical discharge machine If the SERVOPACK is placed near a high frequency generator install Noise Filters on...

Страница 82: ...m2 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 Fi...

Страница 83: ...r ground wire output lines and other signal lines in the same duct or bundle them together Connect the Noise Filter ground wire directly to the grounding plate Do not connect the Noise Filter ground w...

Страница 84: ...e 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 t...

Страница 85: ...Ry 1KM 1Ry CN2 AC DC 24VIN 24 V 4 7 kW 6 8 10 9 11 12 SI0 SI1 P OT SI2 N OT SI3 SI4 Probe1 SI5 Probe2 SI6 Home BAT BAT 13 14 15 7 Main circuit terminals U V W PE M Motor terminals General purpose sequ...

Страница 86: ...ccording to EN IEC 60950 1 to input 24 VDC to the control power sup ply input terminals 7 The CN117 connector is used for SERVOPACKs with built in Servomotor brake control SERVOPACKs without built in...

Страница 87: ...0 VAC to 480 VAC 15 to 10 50 Hz 60 Hz 24 V Control power supply termi nals 1 24 VDC 15 to 15 0 V 0 VDC B1 B2 B3 2 Regenerative Resistor termi nal 4 3 5 Wiring Regenerative Resistors on page 4 18 If th...

Страница 88: ...ntrol power supply termi nals 1 24 VDC 15 to 15 0 V 0 VDC B1 2 Main circuit power supply input terminals for DC power supply input 513 VDC to 648 VDC 15 to 10 2 2 0 VDC L1 L2 L3 B2 B3 1 None Do not co...

Страница 89: ...7S Terminal Symbols Screwdriver Type Screwdriver End Dimensions Thickness Width mm Wire Stripping Length mm 1R9D 3R5D 5R4D 8R4D 120D 170D L1 L2 L3 B1 B2 B3 1 2 Flat blade 0 6 3 5 7 U V W PE Phillips o...

Страница 90: ...gnal is not ON Check the status of the S_RDY signal Refer to the following section for details 7 1 6 S RDY Servo Ready Signal on page 7 8 Turn ON the control power supply before the main circuit power...

Страница 91: ...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 B3 L2 CN1 1KM 24 V L3...

Страница 92: ...SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode 2FU 1PL 1KM 2KM 1SA 2SA 24 V 0 V 1FU 2KM 0 V 1Ry 1D 24 V 1KM AC DC 1QF R S T 3SA 3 4 CN1 1Ry 1KM 1Ry 1KM ALM ALM 1FLT B2 B3 1...

Страница 93: ...a branch circuit protective device at the power supply input section to each SERVOPACK Refer to the following document for details 7 Series 7S SERVOPACK with 400 V Input Power Safety Precautions Manu...

Страница 94: ...03 Regenerative Resistor Resistance Refer to the following section for details on the settings 6 17 Setting the Regenerative Resistor Capacity on page 6 55 4 3 6 Wiring Reactors for Harmonic Suppressi...

Страница 95: ...a Linear Servomotor Terminal Connector Symbols Terminal Connector Name Remarks U V and W Servomotor terminals Refer to the following section for the wiring proce dure 4 3 2 Connector Wiring Procedure...

Страница 96: ...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 Wiring Example When Using an Encoder Cable with...

Страница 97: ...ble with a Battery Case that is specified by Yaskawa Refer to the catalog for details When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow I...

Страница 98: ...wisted pair cable Connections to Absolute Linear Encoder from Magnescale Co Ltd SR77 SR87 SQ47 and SQ57 represents a shielded twisted pair cable PS PS PG5V PG0V 2 6 1 5 5 6 1 2 CN2 U V W M Absolute li...

Страница 99: ...a shielded twisted pair cable Serial Converter Unit Linear encoder from Heidenhain Corporation 1 9 3 7 4 2 11 14 1 PG5V PG0V 2 6 1 5 5 6 1 2 CN2 9 3 7 4 2 11 14 Shield Shield Connector shell Connecto...

Страница 100: ...wing 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 Lin...

Страница 101: ...er supply Refer to the catalog for details After the Surge Absorber is connected check the time required to brake in your application The Surge Absorber may affect the time required to brake Configure...

Страница 102: ...CKs without built in Servomotor brake control is provided below Install the Surge Absorber near the brake terminals on the Servomotor Servomotor with a Holding Brake SERVOPACK Surge Absorber Power sup...

Страница 103: ...wiring example Connector Specifications Built in Brake Relay Specifications The specifications of the built in brake relay are as follows Service life number of operations 30 000 operations Allowable...

Страница 104: ...t Input SI3 9 General purpose Sequence Input 3 You can allocate the input signal to use with parameters Used for general purpose input SI4 Probe1 10 General purpose Sequence Input 4 Probe 1 Latch Inpu...

Страница 105: ...s the brake The brake is released when the signal turns ON closes page 6 32 SO1 BK 2 SO2 23 General purpose Sequence Output 2 Used for general purpose outputs Set the parameters to allocate functions...

Страница 106: ...urpose sequence input 5 26 SO3 General purpose sequence output 3 10 SI4 Probe1 General purpose sequence input 4 25 SO3 General purpose sequence output 3 9 SI3 General purpose sequence input 3 24 SO2 G...

Страница 107: ...ignals of the CN1 connector If the power supply is shared the I O signals may malfunction 4 7 k General purpose sequence input 0 Forward Drive Prohibit input prohibited when OFF Sequence input signal...

Страница 108: ...ls may malfunction 24 V 2 1 3 3 3 4 7 k General purpose sequence input 0 Forward Drive Prohibit input prohibited when OFF Overheat protection input Reverse Drive Prohibit input prohibited when OFF Bra...

Страница 109: ...nection examples in 4 5 3 I O Signal Wiring Examples on page 4 31 are for sink circuit connections Examples for Relay Circuits Examples for Open Collector Circuits Sink Circuits Source Circuits Input...

Страница 110: ...ulses The resulting output signals PAO PAO and PBO PBO and origin pulse signal PCO and PCO are output with line driver output circuits Connect the line driver output circuits to line receiver circuits...

Страница 111: ...F is in effect when the signal is OFF 4 HWBB1 5 HWBB2 Hard Wire Base Block Input 2 6 HWBB2 7 EDM1 External Device Monitor Output Turns ON when the HWBB1 and the HWBB2 signals are input and the SER VOP...

Страница 112: ...not activate the HWBB normal operation OFF open Activates the HWBB motor current shut OFF request Item Characteristics Remarks Internal Imped ance 4 7 k Operating Voltage Range 24 V 20 Maximum Delay T...

Страница 113: ...e CN6A and CN6B connectors Note The length of the cable between stations L1 L2 Ln must be 50 m or less 4 7 1 EtherCAT Connectors RJ45 Connector Pin Assignments These pins are not connected to any sign...

Страница 114: ...4 38 4 7 2 Ethernet Communications Cables Use category 5e Ethernet communications cables to make the connections Use cables with the following specifications Shielded S STP or S UTP Length 50 m max b...

Страница 115: ...r to the following manual for the operating procedures for the SigmaWin AC Servo Drive Engineering Tool SigmaWin Operation Manual Manual No SIET S800001 34 Refer to the catalog for details on the Comp...

Страница 116: ...4 5 2 3 Connecting Dynamic Brake Resistors 5 7 5 2 4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor 5 9 5 3 SERVOPACK Models without a Built In Dynamic Brake 5 10 5 3 1 Us...

Страница 117: ...range However an External Dynamic Brake Resistor must be connected to the SERVOPACK to operate the SERVOPACK in the following manner When specifying the brake torque when stopping with the dynamic br...

Страница 118: ...et up the SERVOPACK according to the following flowchart Using the dynamic brake No Yes Select the Dynamic Brake Resistor Set the motor stopping method when not using the dynamic brake Pn000 n X Prepa...

Страница 119: ...f the Servomotor that will be used you must determine the resistance that can satisfy the limit of instantaneous maximum brake torque Parameter Meaning When Enabled Classification Pn001 2001h n 0 defa...

Страница 120: ...7 0 0 200 400 600 800 1000 1200 Dynamic Brake Resistance SGD7S 3R5D SGM7G 09D F SGM7J 08D F SGM7A 08D F SGM7G 05D R 0 0 2 0 4 0 6 0 8 0 10 0 12 0 0 100 200 300 400 500 600 700 800 Dynamic Brake Resis...

Страница 121: ...S 1R9D SGLFW 35D230A SGLFW2 30D230A SGLFW 35D120A SGLFW2 30D120A SGLFW2 30D070A 0 0 50 0 100 0 150 0 200 0 250 0 300 0 350 0 400 0 450 0 500 0 0 200 400 600 800 1000 1200 Dynamic Brake Resistance SGD7...

Страница 122: ...e Dynamic Brake Resistor to a SERVOPACK with a built in dynamic brake SGD7S 1R9D to 170D Terminal Symbols and Terminal Names Note The SGD7S 210D to 370D are not equipped with a connection terminal for...

Страница 123: ...rt the conductor remove the screwdriver 6 Connect the Dynamic Brake Resistor to the D1 and D2 terminals on the SERVOPACK Note 1 The D1 and D2 are in the locations shown in the following figure Do not...

Страница 124: ...d External Dynamic Brake Resistor or the capacity of the Resistor as reported by the manufacturer Refer to the following section for details on the energy consumption of the Dynamic Brake Resistor Ene...

Страница 125: ...is alarm occurs because the settings for the dynamic brake have not been configured After you set the parameters according to the following flow chart the A 042 alarm will be reset when the power supp...

Страница 126: ...2 Parameter Combination Error alarm will be reset when you turn the power supply OFF and ON again after the parameters for the dynamic brake circuit and stopping the Servomotor have been set You must...

Страница 127: ...rake torque determine the resistance based on the character istic graphs The following graphs show the relationship between the instantaneous maximum brake torque of the Servomotor and the resistance...

Страница 128: ...r speed before dynamic braking N min 1 EDB 1 2 JM JL 2 N 60 2 Note Refer to the catalog or product manual of the Servomotor for details on the motor moment of inertia 0 0 10 0 20 0 30 0 40 0 50 0 60 0...

Страница 129: ...210D to 370D SERVOPACKs require three Dynamic Brake Resistors Therefore the energy consump tion required for one resistor will be one third of the electrical energy that was calculated from the kinet...

Страница 130: ...Answer Input signals must be allocated to sequence I O signal terminals Note 1 Separate the 24 VDC power supply for the Magnetic Contactor from the power supply for the I O signals CN1 If the same pow...

Страница 131: ...the parameter settings for the DBANS and DBON signals when using the External Dynamic Brake Resistor Item to Set Parameter Reference Allocation of DBON Dynamic Brake Operation Request Output signal Pn...

Страница 132: ...ng time 15 ms or less actual value approx 4 ms TR12 Relay DBRy2 Operating time 10 ms or less actual value approx 3 ms TR21 Operating time 15 ms or less actual value approx 4 ms TR22 Magnetic Contactor...

Страница 133: ...coefficients and characteristic impedance 5 4 2 Data for Calculating Coasting Distance on page 5 19 2 Refer to the following section for details on the dynamic brake operating time Selecting the Magn...

Страница 134: ...F 48 85 588 19 SGM7J 04D F 11 15 317 05 SGM7A 02D F 33 65 2531 91 SGM7A 04D F 8 50 2710 91 SGD7 3R5D SGM7G 09D F 3 52 366 36 SGM7J 08D F 7 61 244 05 SGM7A 08D F 7 68 520 12 SGM7G 05D R 8 12 429 13 SG...

Страница 135: ...0 60 SGLTW 50D170H 0 74 87 00 SGD7S 5R4D SGLFW 50D380B 0 95 45 53 SGLFW 1ZD200B 1 15 37 13 SGLFW2 90D200A 0 73 49 83 SGD7S 8R4D SGLFW2 45D380A 0 93 38 73 SGLTW 35D320H 1 75 25 57 SGLTW 50D320H 0 74 22...

Страница 136: ...04D F 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 Motor Speed min 1 Motor Speed min 1 Characteristic Impedance Characteristic Impedance 0 0 5 10 15 20 25 30 35 1000 SGM7J...

Страница 137: ...6 8 10 12 14 16 18 20 SGM7G 09D R 0 1000 2000 3000 4000 5000 6000 Motor Speed min 1 Motor Speed min 1 Characteristic Impedance Characteristic Impedance 0 0 5 10 15 20 25 1000 SGM7A 20D F 2000 3000 400...

Страница 138: ...istic Impedance 0 0 2 4 6 8 10 12 1000 SGM7G 20D R 2000 3000 4000 5000 6000 SGM7A 40D F 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 Motor Speed min 1 Motor Speed min 1 Characteristic Impedanc...

Страница 139: ...9 10 1000 2000 3000 4000 5000 6000 7000 SGM7A 70D R Motor Speed min 1 Motor Speed min 1 Characteristic Impedance Characteristic Impedance 0 0 0 5 1 1 5 2 2 5 500 SGM7G 1AD R 1000 1500 2000 2500 0 0 0...

Страница 140: ...D380A SGLTW 35D320H Characteristic Impedance Characteristic Impedance 0 1 2 3 4 6 5 0 2 4 6 8 10 12 14 16 5 10 15 20 25 30 0 0 1 1 5 0 5 2 2 5 3 3 5 Movement Speed m s Movement Speed m s SGLTW 40D400B...

Страница 141: ...PACK Parameter Settings 6 10 6 2 Power Supply Type Settings for the Main Circuit 6 12 6 3 Automatic Detection of Connected Motor 6 13 6 4 Motor Direction Setting 6 14 6 5 Setting the Linear Encoder Pi...

Страница 142: ...nd Alarms 6 37 6 12 1 Stopping Method for Servo OFF 6 38 6 12 2 Servomotor Stopping Method for Alarms 6 38 6 13 Motor Overload Detection Level 6 40 6 13 1 Detection Timing for Overload Warnings A 910...

Страница 143: ...etup Parameters Parameters 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 setu...

Страница 144: ...lt setting Use the encoder according to encoder specifications After startup Setup n 1 Use the encoder as an incremental encoder n 2 Use the encoder as a single turn absolute encoder Parameter number...

Страница 145: ...e of the Main Window of the 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 ed...

Страница 146: ...rameters with a Digital Operator 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 Setting SERVOPACK Parameters with EtherCAT CoE Com munications You can set objects 2000h to 26FFh...

Страница 147: ...ange the write prohibition setting for SERVOPACK parameters and the applicable tool functions Operating Procedure Use the following procedure to prohibit or permit writing parameters 1 Click the Servo...

Страница 148: ...Setting for SERVOPACK Parameters 6 8 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 and ON again This conclud...

Страница 149: ...ultiturn Limit Disagreement Alarm Cannot be executed page 7 37 Reset Configuration Error of Option Module Fn014 Reset Option Module Config uration Error Cannot be executed page 16 45 Vibration Detecti...

Страница 150: ...executed Fn01E Display SERVOPACK and Servomotor IDs Can be executed Fn01F Display Servomotor ID from Feedback Option Module Can be executed Test Opera tion Jogging Fn002 Jog Cannot be executed page 8...

Страница 151: ...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 axis to initialize 4 Click the Initialize Button 5 Click...

Страница 152: ...led Classification Pn001 2001h 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 SERVOP...

Страница 153: ...pecify the motor type 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 Encode...

Страница 154: ...ng 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 w...

Страница 155: ...the power supply OFF and ON again Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK Scale Pitch A linear encode...

Страница 156: ...ting 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 t...

Страница 157: ...kspace of the Main Window of 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 Canc...

Страница 158: ...mation that is displayed is suitable for your motor and then click the Next Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return 8 C...

Страница 159: ...k the Complete Button 11 Click the OK 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 Ha...

Страница 160: ...rom 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 bei...

Страница 161: ...he following condi tions may exist Check the situation and correct any problems The linear encoder pitch is not correct If the scale pitch that is set in Pn282 does not agree with the actual scale pit...

Страница 162: ...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 Pa...

Страница 163: ...tion equivalent to a few percent of the rated force applied to the guides Air sliders cannot be used Preparations Check the following settings before you execute polarity detection Not using a polarit...

Страница 164: ...der Polarity detection will start simultaneously with execution of the Servo ON command Enable Operation command As soon as polarity detection is completed the S RDY will turn ON and the servo will ch...

Страница 165: ...ty detection 1 Click the Servo 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...

Страница 166: ...refer ence 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 s...

Страница 167: ...ynamic braking or coast to a stop according to the setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method and then the Servomotor will enter a coasting state Refer to the following section fo...

Страница 168: ...Servomotor by Setting the Deceleration Time To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Stops If you set Pn30A t...

Страница 169: ...r may not reach the target position speci fied by the host controller Check the feedback position to make sure that the axis is stopped at a safe position Parameter Meaning When Enabled Classification...

Страница 170: ...Is Set to n 1 Parameter Meaning When Enabled Classification Pn022 2022h n 0 default setting Overtravel exists while the P OT or N OT signal is being input After restart Setup n 1 Overtravel exists wh...

Страница 171: ...hod 1 11 12 13 14 28 or 34 If the P OT signal is input homing error bit 13 in statusword 6041h changes to 1 and the homing operation is canceled For Homing Method 2 7 8 9 10 24 or 33 If the N OT signa...

Страница 172: ...ion The brake built into a Servomotor with a Brake is a de energization brake It is used only to hold the Servomotor and cannot be used for braking Use the holding brake only to hold a Servomotor that...

Страница 173: ...or brake control is somewhat longer than the time required on SERVOPACKs without built in Servomotor brake control Consider the brake oper ation delay time when you design the system Connection Exampl...

Страница 174: ...e the BK signal to its own output connector pin i e do not use the same out put terminal for another signal For example never allocate the TGON Rotation Detection signal and BK signal to the same outp...

Страница 175: ...in Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped Pn507 2507h Brake Reference Output Speed Level Setting Range Setting Unit Default Setting When Enabled Classification 0...

Страница 176: ...d even if the brake reference output speed level Rotary Servomotor Pn507 Linear Servomotor Pn583 is higher than the maximum speed Pn508 Enable Operation Disable Operation Linear Servomotor Pn583 Rotar...

Страница 177: ...ied 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 yo...

Страница 178: ...ing the dynamic brake Refer to the following section for details 6 12 1 Stopping Method for Servo OFF on page 6 38 Motor Stopping Method for Group 2 Alarms When a group 2 alarm occurs the Servomotor w...

Страница 179: ...o OFF and Forced Stops Stopping the Servomotor by Setting the Deceleration Time on page 6 28 Parameter Servomotor Stopping Method Status after Servomotor Stops When Enabled Classification Pn00B 200Bh...

Страница 180: ...n 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 safet...

Страница 181: ...arms occur Refer to the relevant manual given below for a diagram that shows the relationships between the motor heat dissipation conditions heat sink size surrounding air temperature and derat ing Yo...

Страница 182: ...actual movements With the electronic gear one reference unit is equal to the workpiece travel distance per refer ence pulse input to the SERVOPACK In other words if you use the SERVOPACK s electronic...

Страница 183: ...h revolution so 10 6 revolutions are required to move 10 mm Calculate the required number of reference pulses One revolution is 1 048 576 pulses therefore 10 6 1 048 576 1 747 626 66 pulses Input 1 74...

Страница 184: ...nit or Model of Interpolator Resolution Resolution Incre mental Heidenhain Corporation LIDA48 20 JZDP H003 E 2 256 0 078 m JZDP J003 E 2 4 096 0 0049 m LIF48 4 JZDP H003 E 2 256 0 016 m JZDP J003 E 2...

Страница 185: ...L 51 2 512 0 1 m ST784 ST784AL 51 2 512 0 1 m ST788A ST788AL 51 2 512 0 1 m ST789A ST789AL 25 6 512 0 05 m ST1381 5 12 512 0 01 m ST1382 0 512 512 0 001 m Renishaw PLC EL36Y 050F 12 8 256 0 05 m EL36Y...

Страница 186: ...ne Specifications Ball screw lead 6 mm Gear ratio 1 1 Rotation angle per revo lution 360 Gear ratio 1 100 Pulley dia 100 mm Pulley circumference 314 mm Gear ratio 1 50 2 Encoder Resolution 16 777 216...

Страница 187: ...erefore the encoder resolution will be equivalent to 20 bits 1 048 576 Consider this when you set the position reference unit in position user unit 2701h Index Subin dex Name Data Type Access PDO Mapp...

Страница 188: ...ivalent to 20 bits 1 048 576 Consider this when you set the position reference unit in position user unit 2701h Index Subin dex Name Data Type Access PDO Mappings Value Saving to EEPROM 2703h 0 Number...

Страница 189: ...turn OFF the power supply to reset the alarm 6 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 6 15...

Страница 190: ...3 Select Absolute 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 enco...

Страница 191: ...VOPACK 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 Resettin...

Страница 192: ...LC EVOLUTE Series Models EL36Y Renishaw PLC RESOLUTE Series Models RL36Y Preparations The following conditions must be met to set the origin of the absolute linear encoder The parameters must not be w...

Страница 193: ...l functions 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...

Страница 194: ...near encoder The previous dia log box will return 6 Click the OK Button 7 Turn the power supply to the SERVOPACK OFF and ON again 8 If you use a Linear Servomotor that does not have a polarity sensor...

Страница 195: ...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 Rege...

Страница 196: ...cidence Detection Signal 7 9 7 1 8 COIN Positioning Completion Signal 7 10 7 1 9 NEAR Near Signal 7 11 7 1 10 Speed Limit during Torque Control 7 12 7 2 Operation for Momentary Power Interruptions 7 1...

Страница 197: ...ut Ports for the Position Data from the Absolute Linear Encoder 7 41 7 9 4 Reading the Position Data from the Absolute Linear Encoder 7 42 7 9 5 Transmission Specifications 7 42 7 9 6 Calculating the...

Страница 198: ...ONE Table Settings 7 59 7 14 3 ZONE Signals 1 to 4 Outputs ZONE0 to ZONE3 7 60 7 14 4 nZONE Signal Output 7 61 7 14 5 ZONE Output Application Example 7 62 7 15 Overheat Protection 7 63 7 15 1 Connecti...

Страница 199: ...will exist If you allocate two or more signals to the same input circuit a logical OR of the inputs will be used and all of the allocated signals will operate accordingly This may result in unexpecte...

Страница 200: ...allocations in the following parameters Pn50E Pn50F Pn510 Pn514 Pn51A PnBA0 and PnBA1 Output signals are allocated as shown in the following table Refer to Interpreting the Output Signal Allocation Ta...

Страница 201: ...5 0 default setting Dynamic Brake Operation Request Output Pn51A 251Ah n X DBON 1 2 3 4 5 0 default setting ZONE Signal 1 Output PnBA0 2752h n X ZONE0 1 2 3 4 5 0 default setting ZONE Signal 2 Output...

Страница 202: ...RN Warning Signal Both alarms and warnings are generated by the SERVOPACK Alarms indicate errors in the SERVOPACK for which operation must be stopped immediately Warnings indicate situations that may...

Страница 203: ...no alarms If a Servomotor without a polarity sensor is used polarity detection has been completed Do not include this condition if the Servo ON command Enable Operation command is input for the first...

Страница 204: ...incidence Signal Detection Width for a Rotary Servomotor or in Pn582 Speed Coincidence Signal Detection Width for a Linear Servomotor Rotary Servomotors The signal is output when the difference betwee...

Страница 205: ...e current position i e the position deviation as given by the value of the deviation counter is equal to or less than the setting of the positioning completed width Pn522 The setting of the positionin...

Страница 206: ...mbination with the COIN signal Note You must allocate the NEAR signal to use it Use Pn510 n X NEAR Near Signal Allocation to allo cate the signal to a connector pin Refer to the following section for...

Страница 207: ...nction to limit the speed Note The actual limit of motor speed depends on the load conditions on the Servomotor VLT Speed Limit Detection Signal The signal that is output when the motor speed is being...

Страница 208: ...near Servomotor set Pn480 Speed Limit during Force Control Rotary Servomotors Linear Servomotors Note If the parameter setting exceeds the maximum speed of the Servomotor the Servomotor s maximum spee...

Страница 209: ...ower interruption that lasts longer than 50 000 ms 3 The holding time of the SERVOPACK control power supply 24 VDC depends on the specifications of the 24 VDC power supply Confirm the holding time you...

Страница 210: ...orque in response to an A 971 warning Undervoltage The host controller removes the torque limit after the Undervoltage warning is cleared Execution with the SERVOPACK Pn008 n 2 The torque is limited i...

Страница 211: ...y Power Interruption Hold Time Setting Range Setting Unit Default Setting When Enabled Classification 20 to 50 000 1 ms 20 Immediately Setup This function handles momentary power interruptions for the...

Страница 212: ...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...

Страница 213: ...pe 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 motor resoluti...

Страница 214: ...signal refer to the manual for the Renishaw PLC incre mental linear encoder When Passing the First Origin Signal Ref in the Forward Direction and Returning after Turning ON the Power Supply Forward r...

Страница 215: ...e Output Selection Pn081 n X If you set Pn081 to n 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...

Страница 216: ...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 t...

Страница 217: ...first time in the reverse direction after the power supply is turned ON However after the origin detection position is passed in the forward direction and the encoder s phase C pulse it output it wil...

Страница 218: ...ple Pn212 cannot be set 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 lim...

Страница 219: ...r 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 T...

Страница 220: ...software for machine movement that do not use the overtravel signals P OT and N OT If a software limit is exceeded an emergency stop will be executed in the same way as it is for overtravel Refer to t...

Страница 221: ...Torque Limits The torque is always limited with the setting of a parameter Speed control position control or torque control 7 7 1 External Torque Limits The torque is limited with an input signal fro...

Страница 222: ...B n X P CL Forward External Torque Limit Input Signal Allocation Pn50B n X N CL Reverse External Torque Limit Input Signal Allocation Refer to the following section for details 7 1 1 Input Signal Allo...

Страница 223: ...it Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 800 Immediately Setup Pn404 2404h Forward External Torque Limit Setting Range Setting Unit Default Setting When Ena...

Страница 224: ...orward direction of motor rotation Pn000 n 0 Linear Servomotors It is assumed that the linear encoder count up direction is set as the forward direction of motor movement Pn000 n 0 P CL signal OFF ON...

Страница 225: ...You must allocate the CLT signal to use it Use Pn50F n X CLT Torque Limit Detection Signal Allo cation to allocate the signal to a connector pin Refer to the following section for details 7 1 2 Outpu...

Страница 226: ...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 20 4 5 3 I O Signal Wiring Examples on page 4 31 P...

Страница 227: ...ded below The PAO Encoder Divided Pulse Output signal outputs the position data from the absolute encoder after the control power supply is turned ON The position data of the absolute encoder is the c...

Страница 228: ...within One Rotation 16 to 16 384 680 Pn212 16 384 kpps 25 ms max 16 386 to 32 768 680 Pn212 32 768 kpps 50 ms max 32 722 to 65 536 680 Pn212 65 536 kpps 100 ms max 65 544 to 131 072 680 Pn212 131 072...

Страница 229: ...the Position Data from the Absolute Encoder on page 7 33 Data Format of PAO Signal As shown below the message format consists of eight characters P the sign the 5 digit multiturn data and CR which ind...

Страница 230: ...he current position of the absolute encoder M Current position of the multiturn data of the absolute encoder PO Position of the current position within one rotation PS Position data of the absolute en...

Страница 231: ...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 motor operates in...

Страница 232: ...der is set to be used as a single turn absolute encoder Pn002 n 2 the multiturn data will always be zero It is not necessary to reset the absolute encoder Also an alarm related to the absolute encoder...

Страница 233: ...ve Button in the workspace of the Main Window of the SigmaWin 2 Select Multiturn Limit Setting in the Menu Dialog Box The Multiturn Limit Setting Dialog Box will be displayed 3 Click the Continue Butt...

Страница 234: ...ll 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 Dialog B...

Страница 235: ...er with EtherCAT communications There fore 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...

Страница 236: ...ta with sign according to the specified protocol The absolute encoder outputs the lower 20 bit data as a pulse train It then outputs pulses as an incremental linear encoder incremental operation statu...

Страница 237: ...he absolute encoder 7 9 4 Reading the Position Data from the Absolute Linear Encoder on page 7 42 Switched on Controlword 6040h Disable Operation Statusword 6041h Enable Operation Power supplied Motor...

Страница 238: ...communications according to the transmission specifications For the lower 20 bit data the lower bits 20 bits of the current position after dividing by the setting of Pn281 are output as a pulse train...

Страница 239: ...oftware reset 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...

Страница 240: ...Menu Dialog Box The Software Reset Dialog Box will be displayed 3 Click the Execute Button Click the Cancel Button to cancel the software reset The Main Window will return 4 Click the Execute Button...

Страница 241: ...t a motor function must be disabled Pn00C n 0 7 11 2 Applicable Tools The following table lists the tools that you can use to initialize the vibration detection level and the applicable tool functions...

Страница 242: ...etection 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...

Страница 243: ...Level 7 11 3 Operating Procedure 7 48 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...

Страница 244: ...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 Functi...

Страница 245: ...offset The parameters must not be write prohibited The servo must be in ready status The servo must be OFF Applicable Tools The following table lists the tools that you can use to automatically adjus...

Страница 246: ...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...

Страница 247: ...al Offset 7 12 1 Automatic Adjustment 7 52 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 a...

Страница 248: ...Detection 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 wit...

Страница 249: ...duces 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 of...

Страница 250: ...tor will be stopped with the dynamic braking or coast to a stop according to the setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method Panel Operator and Digital Operator Displays When a for...

Страница 251: ...Setting the Deceleration Time for Servo OFF and Forced Stops Pn30A To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced St...

Страница 252: ...is input the forced stop state will be maintained even after the FSTP signal is turned ON Send the Servo OFF command Disable Operation command to place the SERVOPACK in the base block BB state and the...

Страница 253: ...e current value is within a zone registered in the ZONE table the corresponding ZONE number is output on the ZONE signals You can use the ZONE signals as required e g to trigger operations related to...

Страница 254: ...e OFF 0 7 14 2 ZONE Table Settings The ZONE table is set by setting the ZONE table positive side boundary position ZONE P 2750h and the ZONE table negative side boundary position ZONE N 2751h ZONE N Z...

Страница 255: ...INT PnA2A 12 ZONE ID 11 RW No Pos unit DINT PnA2E 13 ZONE ID 12 RW No Pos unit DINT PnA32 14 ZONE ID 13 RW No Pos unit DINT PnA36 15 ZONE ID 14 RW No Pos unit DINT PnA3A 16 ZONE ID 15 RW No Pos unit D...

Страница 256: ...OFF if both ZONE N and ZONE P are zero Type Signal Connector Pin No Signal Status Meaning Output nZONE Must be allocated ON closed The current value is within a zone registered in the ZONE table OFF...

Страница 257: ...ng table The ZONE table is given below The relationship between the operation pattern and ZONE signals is shown in the following dia grams ZONE Signals nZONE Signal ZONE Number ID ZONE N ZONE P 0 0 0...

Страница 258: ...tor If you use a Serial Converter Unit connect the connector for the polarity sensor and thermo stat cable of the Linear Servomotor to the Serial Converter Unit If you do not use a Serial Converter Un...

Страница 259: ...ers in the Servomotor are enabled and the following parameters are disabled Overheat Alarm Level Pn61B Overheat Warning Level Pn61C Overheat Alarm Filter Time Pn61D Pn61B 261Bh Overheat Alarm Level Se...

Страница 260: ...tion 8 6 8 3 Trial Operation for the Servomotor without a Load 8 7 8 3 1 Preparations 8 7 8 3 2 Applicable Tools 8 8 8 3 3 Operating Procedure 8 8 8 4 Trial Operation with EtherCAT CoE Communications...

Страница 261: ...n is checked with no load Do not connect the Servomotor to the machine Chapter 3 SERVOPACK Installation 2 Wiring and Connections Wire and connect the SERVOPACK First Servomotor operation is checked wi...

Страница 262: ...n page 8 10 3 Trial Operation with the Servomotor Con nected to the Machine 8 5 Trial Operation with the Servomotor Connected to the Machine on page 8 11 To power supply Secure the motor flange to the...

Страница 263: ...ra tion on page 8 6 4 Power ON 5 Setting Parameters in the SERVOPACK 6 Setting the Origin of the Absolute Linear Encoder Note This step is necessary only for an Absolute Linear Servomotor from Mitutoy...

Страница 264: ...Servomotor without a Load on page 8 7 2 Trial Operation with EtherCAT CoE Commu nications 8 4 Trial Operation with EtherCAT CoE Communica tions on page 8 10 3 Trial Operation with the Servomotor Con...

Страница 265: ...s 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...

Страница 266: ...e tuning less function is enabled as the default setting If the tuning less function is enabled gain may increase and vibrations may occur with no load If vibrations occur disable the tuning less func...

Страница 267: ...w 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 jogging speed and then click...

Страница 268: ...8 9 8 Trial Operation and Actual Operation 5 Click the Forward Button or the Reverse Button Jogging will be performed only while you hold down the mouse button 6 After you finish jogging turn the powe...

Страница 269: ...te Machine on page 13 3 5 Set the modes of operation to Profile Position Mode Refer to the following section for details on modes of operation Modes of Operation 6060h on page 15 27 6 Change the contr...

Страница 270: ...ial Operation with EtherCAT CoE Commu nications on page 8 10 has been completed Make sure that the SERVOPACK is connected correctly to both the host controller and the peripheral devices Safety Functi...

Страница 271: ...ing the remainder of the procedure 7 Input the Enable Operation command from the host controller The servo will turn ON 8 Perform trial operation according to 8 4 Trial Operation with EtherCAT CoE Com...

Страница 272: ...ogging to move the Servomotor without connecting it to the host controller in order to check Servomo tor operation and execute simple positioning operations Preparations Confirm the following conditio...

Страница 273: ...Pn531 Travel distance Pn531 Travel distance Pn531 Speed 0 Movement speed Rotary Servomotor Pn533 Linear Servomotor Pn585 Waiting time Pn535 Acceleration deceleration time Pn534 Waiting time Pn535 Wai...

Страница 274: ...operation from the Digital Operator press the JOG SVON Key to turn OFF the servo to end infinite time operation Continued from previous page Setting of Pn530 2530h Setting Operation Pattern Number of...

Страница 275: ...Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 1 Immediately Setup Pn530 2530h Program Jogging Related Selections Setting Range Setting Unit Default Setting When Enabled Classif...

Страница 276: ...ogram jog operation 1 Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin 2 Select JOG Program in the Menu Dialog Box The Jog Program Dialog Box will be displayed 3 Read t...

Страница 277: ...the program jogging procedure CAUTION Be aware of the following points if you cancel the program jogging operation while the motor is operating If you cancel operation with the Servo OFF Button the m...

Страница 278: ...must 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 list...

Страница 279: ...ow 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...

Страница 280: ...tup 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 U...

Страница 281: ...esolution 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 Mea...

Страница 282: ...t Motor Current Detection Sig nal Offset Parameter Write Pro hibition Setting Fn010 Write Prohibition Set ting page 6 7 Multiturn Limit Setting Fn013 Multiturn Limit Setting after Multiturn Limit Disa...

Страница 283: ...ERVOPACK and Servomotor IDs page 10 2 Fn01F Display Servomotor ID from Feedback Option Module Test Oper ation Jogging Fn002 Jogging page 8 7 Program Jogging Fn004 Program Jogging page 8 13 Alarms Disp...

Страница 284: ...tion Overflow Alarm Level 9 8 9 3 4 Vibration Detection Level Setting 9 10 9 3 5 Setting the Position Deviation Overflow Alarm Level at Servo ON 9 10 9 4 Tuning less Function 9 12 9 4 1 Application Re...

Страница 285: ...Outline 9 41 9 8 2 Preparations 9 41 9 8 3 Applicable Tools 9 42 9 8 4 Operating Procedure 9 42 9 8 5 Automatically Adjusted Function Settings 9 48 9 8 6 Tuning Example for Tuning Mode 2 or 3 9 48 9 8...

Страница 286: ...l Mode Selection 9 70 9 12 5 Current Gain Level Setting 9 71 9 12 6 Speed Detection Method Selection 9 71 9 12 7 Speed Feedback Filter 9 71 9 12 8 Backlash Compensation 9 72 9 13 Manual Tuning 9 77 9...

Страница 287: ...on is occurring proceed to No 2 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 a...

Страница 288: ...osition reference input from the host controller while the machine is in operation You can use this function for fine tuning after you perform autotuning without a host reference Gains e g position lo...

Страница 289: ...Methods Reference Mechanical Analysis The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed as waveforms or numeric data Speed control position c...

Страница 290: ...eform while you adjust the servo gains Check the adjustment results with the following response waveforms Position Control Speed Control Torque Control Item Unit Rotary Servomotor Linear Servomotor To...

Страница 291: ...ition 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 excessiv...

Страница 292: ...eeds 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 ra...

Страница 293: ...rflow 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 2528h Position Deviation Over...

Страница 294: ...low Alarm Level at Servo ON 9 11 9 Tuning Related Warnings Warning Number Warning Name Warning Meaning A 901 Position Deviation Overflow Warning at Servo ON This warning occurs if the servo is turned...

Страница 295: ...ment of inertia If that occurs set the tuning less load level to 2 Pn170 n 2 or reduce the Tuning less Rigidity Level Pn170 n X To ensure safety make sure that you can perform an emergency stop at any...

Страница 296: ...abled Pn170 n 1 The test without a motor function must be disabled Pn00C n 0 The Servomotor must be connected to the machine Procedure Use the following procedure to set the tuning less levels In addi...

Страница 297: ...n 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 tuni...

Страница 298: ...after you have enabled the tuning less function Item Parameter Name Parameter Number Gain Related Parameters Speed Loop Gain Second Speed Loop Gain Pn100 2100h Pn104 2104h Speed Loop Integral Time Co...

Страница 299: ...es that are used these days With moment of inertia esti mation you can get an accurate load moment of inertia simply by operating the motor in the actual system in forward and reverse a few times The...

Страница 300: ...ertia and the applicable tool functions 9 5 4 Operating Procedure Use the following procedure to set the moment of inertia ratio 1 Click the Servo Drive Button in the workspace of the Main Window of t...

Страница 301: ...9 5 4 Operating Procedure 9 18 2 Select Tuning in the Menu Dialog Box The Tuning Dialog Box will be displayed Click the Cancel Button to cancel tuning 3 Click the Execute Button 4 Click the Execute Bu...

Страница 302: ...cceleration rate maximum speed and maximum travel distance and speed loop related parameters Correct measurement of the moment of inertia ratio may not be possible depending on the settings Set suitab...

Страница 303: ...led while data is 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...

Страница 304: ...Forward Button will be displayed in color 12 Repeat steps 9 to 11 until the Next Button is enabled Measurements are performed from 2 to 7 times and then verified The number of measurements is display...

Страница 305: ...ameter 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 Ca...

Страница 306: ...n is enabled Pn170 n 1 default setting Disable the tuning less function Pn170 n 0 before you execute autotuning without a host reference If you change the machine load conditions or drive system after...

Страница 307: ...nertia 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 bee...

Страница 308: ...tions 9 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 But...

Страница 309: ...cute Button 5 Select the No Reference Input Option in the Autotuning Area and then click the Auto tuning Button When the following dialog box is displayed click the OK Button and then confirm that the...

Страница 310: ...ward opera tion from the current position Default settings Rotary Servomotors Approx 3 rotations Linear Servomotors Approx 90 mm Set the distance to the following values or higher To ensure tuning pre...

Страница 311: ...9 6 Autotuning without Host Reference 9 6 4 Operating Procedure 9 28 7 Click the Servo ON Button 8 Click the Start tuning Button...

Страница 312: ...host reference 9 6 5 Troubleshooting Problems in Autotuning without a Host Reference The following tables give the causes of and corrections for problems that may occur in autotun ing without a host r...

Страница 313: ...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 Calculatio...

Страница 314: ...if you do not change the settings for vibration suppression before you execute autotuning without a host reference Note Autotuning without a host reference uses model following control Therefore it ca...

Страница 315: ...execution of autotuning without a host reference autotuning with a host refer ence and custom tuning Immediately Tuning n 1 default setting Adjust vibration suppression automatically during execution...

Страница 316: ...409 2409h First Stage Notch Filter Frequency Yes Pn40A 240Ah First Stage Notch Filter Q Value Yes Pn40C 240Ch Second Stage Notch Filter Frequency Yes Pn40D 240Dh Second Stage Notch Filter Q Value Yes...

Страница 317: ...ng section for details on the parameters that are adjusted 9 7 7 Related Parameters on page 9 40 Autotuning with a host reference makes adjustments based on the set speed loop gain Pn100 Therefore pre...

Страница 318: ...integration function is used When proportional control is used When mode switching is used When the positioning completed width Pn522 is too narrow Refer to the following sections for details on cust...

Страница 319: ...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 Selec...

Страница 320: ...med 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 esp...

Страница 321: ...r a reference from the host controller and then click the Start tuning Button 10 Click the Yes Button Tuning will be executed Vibration that occurs during tuning will be detected automatically and sui...

Страница 322: ...width may be extended 9 7 6 Automatically Adjusted Function Settings These function settings are the same as for autotuning without a host reference Refer to the following section 9 6 6 Automatically...

Страница 323: ...on Compensation Gain Correction Yes Pn401 2401h First Stage First Torque Reference Filter Time Constant Yes Pn408 2408h Torque Related Function Selections Yes Pn409 2409h First Stage Notch Filter Freq...

Страница 324: ...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 Posi...

Страница 325: ...s Digital Operator Operating Manual Manual No SIEP S800001 33 SigmaWin Tuning Tuning 9 8 4 Operating Procedure on page 9 42 WARNING Before you execute custom tuning check the information provided in t...

Страница 326: ...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...

Страница 327: ...ting 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...

Страница 328: ...on 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 Fu...

Страница 329: ...the Tuning Dia log Box This concludes the procedure to set up custom tuning Vibration Suppression Functions Notch Filters and Automatic Anti resonance Setting If the vibration frequency that occurs w...

Страница 330: ...matic setting function is enabled you can click the Vib Detect Button to manually detect vibration When you click the Vib Detect Button the SERVOPACK will detect vibration at that time and set the not...

Страница 331: ...eased Tuning is completed if the specifications are met The tuning results are saved in the SERVOPACK If overshooting occurs before the specifications are met pro ceed to step 3 3 Overshooting will be...

Страница 332: ...rrection Yes Pn401 2401h First Stage First Torque Reference Filter Time Constant Yes Pn408 2408h Torque Related Function Selections Yes Pn409 2409h First Stage Notch Filter Frequency Yes Pn40A 240Ah F...

Страница 333: ...owing settings before you execute anti resonance control adjustment The tuning less function must be disabled Pn170 n 0 The test without a motor function must be disabled Pn00C n 0 The control method...

Страница 334: ...wing 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 respon...

Страница 335: ...stment 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...

Страница 336: ...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 o...

Страница 337: ...nit Default Setting When Enabled Classification 1 000 to 1 000 0 01 ms 0 Immediately Tuning Pn165 2165h Anti Resonance Filter Time Constant 2 Correction Setting Range Setting Unit Default Setting When...

Страница 338: ...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...

Страница 339: ...table lists the tools that you can use to perform vibration suppression and the applicable tool functions 9 10 4 Operating Procedure Use the following procedure to perform vibration suppression 1 Per...

Страница 340: ...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...

Страница 341: ...th no reference input Important Parameter Function When Enabled Classification Pn140 2140h n 0 default setting Do not use model following control and speed torque feedforward together Immediately Tuni...

Страница 342: ...ems for which there is not a suitable range of motion Preparations Check the following items before you set up speed ripple compensation The main circuit power supply must be ON The servo must be OFF...

Страница 343: ...e 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 Y...

Страница 344: ...eed Ripple Compensation 9 11 2 Setting Up Speed Ripple Compensation 9 61 9 Tuning 4 Click the Edit Button 5 Enter the jogging speed in the Input Value Box and click the OK Button 6 Click the Servo ON...

Страница 345: ...raph will be displayed in the Ripple Compensation Dialog Box during jogging 8 After speed ripple measurement has been completed click the Write Button The ripple compensation value will be written to...

Страница 346: ...speed reference In speed control mode this may result in the motor moving slightly To prevent this set Pn423 n X Speed Ripple Compensation Selections and Pn427 or Pn49F Speed Ripple Compensation Enab...

Страница 347: ...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 Pn4...

Страница 348: ...ge 9 68 Current Control Mode Selection Position control speed control or torque control page 9 70 Current Gain Level Setting Position control or speed control page 9 71 Speed Detection Method Selectio...

Страница 349: ...witching When Enabled Classification Pn139 2139h n 0 default setting COIN Positioning Com pletion signal ON Gain settings 1 used Immediately Tuning n 1 COIN Positioning Com pletion signal OFF Gain set...

Страница 350: ...ult Setting When Enabled Classification 15 to 51 200 0 01 ms 2 000 Immediately Tuning Pn106 2106h Second Position Loop Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to...

Страница 351: ...08 2408h n 0 default setting Disable friction compensation Immediately Setup n 1 Enable friction compensation Pn121 2121h Friction Compensation Gain Setting Range Setting Unit Default Setting When Ena...

Страница 352: ...riction com pensation Note Usually set the friction compensation coefficient Pn123 to 95 or less If the effect is insufficient increase the friction compensation gain Pn121 by 10 increments until vibr...

Страница 353: ...ion Current control mode selection reduces high frequency noise while the Servomotor is being stopped Parameter Description When Enabled Classification Pn475 2475h n 0 default setting Disable gravity...

Страница 354: ...rge 9 12 7 Speed Feedback Filter You can set a first order lag filter for the speed feedback in the speed loop This ensures smooth changes in the feedback speed to reduce vibration If a large value is...

Страница 355: ...direction in which to apply backlash compensation Backlash Compensation Value Set the amount of backlash compensation to add to the position reference The amount is set in increments of 0 1 reference...

Страница 356: ...in the monitor information so it is not necessary for the host controller to consider the back lash compensation value The backlash compensation value is restricted by the following formula Backlash c...

Страница 357: ...arget Position 2 to Target Position 1 and then to Target Position 0 Backlash compensation is applied when moving from Target Position 0 to Target Position 1 but not when moving from Target Position 2...

Страница 358: ...osition control is changed to any other control method Backlash compensation is applied in the same way as when the servo is ON Operation When the Servo Is ON on page 9 74 if any other control method...

Страница 359: ...pulse counter U Reference pulse counter Position reference E Target position 607Ah Deviation counter E Following error actual value 60F4h E Position demand value 6062h Latch signal A T Position refere...

Страница 360: ...he SERVOPACK to increase the response characteristic of the SERVOPACK For example you can reduce the positioning time for posi tion control Use manual tuning in the following cases When tuning with au...

Страница 361: ...not increase the position loop gain higher than the inherit vibration frequency of the machine system There fore to increase the setting of the position loop gain you must increase the rigidity of the...

Страница 362: ...ely Tuning For machines for which a high position loop gain Pn102 cannot be set overflow alarms can occur during high speed operation If that is the case you can increase the setting of the fol lowing...

Страница 363: ...ribes 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 freque...

Страница 364: ...r 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...

Страница 365: ...efault Setting When Enabled Classification 50 to 5 000 1 Hz 5 000 Immediately Tuning Pn41B 241Bh Fourth Stage Notch Filter Q Value Setting Range Setting Unit Default Setting When Enabled Classificatio...

Страница 366: ...Depending on the machine conditions overshooting and vibration may occur and operation may not be stable If the critical gain condition expressions are not met operation will become more unstable and...

Страница 367: ...nual For example with Speed Loop Gain Pn100 Pn100 40 0 is used to indicate a setting of 40 0 Hz In the following adjusted value guidelines the decimal places are also given Model Following Control You...

Страница 368: ...eed Control on page 9 78 Note 1 Set the moment of inertia ratio Pn103 as accurately as possible 2 Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loo...

Страница 369: ...Control Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 s 500 Immediately Tuning For machines for which a high model following control gain cannot be set...

Страница 370: ...ove adjustment results These functions allow you to use the same functions as for III Series SERVOPACKs to adjust 7 Series SERVOPACKs Feedforward The feedforward function applies feedforward compensat...

Страница 371: ...the accelera tion reference as the condition Pn10E 210Eh Pn182 2182h n 3 Use the position deviation as the condition Pn10F 210Fh n 4 Do not use mode switching Pn10C 210Ch Mode Switching Level for Tor...

Страница 372: ...ntrol Pn10C 210Ch Mode Switching Level for Force Reference Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 200 Immediately Tuning Pn181 2181h Mode Switching Level for...

Страница 373: ...value set for the 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...

Страница 374: ...in servo tuning and as reference for considering changes to the machine The performance of the servo cannot be completely utilized depend ing on the rigidity of the machine You may need to consider m...

Страница 375: ...hine to which the torque is applied and the phase delay phase in the response for each frequency Also the machine resonance frequency can be determined from the maximum frequency of the valleys anti r...

Страница 376: ...mpatibility with previous products Normally use autotuning without a host reference for tuning Preparations Check the following settings before you execute Easy FFT The parameters must not be write pr...

Страница 377: ...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...

Страница 378: ...n direction in the Measure ment condition Area and then click the Start Button The motor shaft will rotate and measurements will start When measurements have been completed the measurement results wil...

Страница 379: ...e 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...

Страница 380: ...tus and Operations 10 3 10 2 3 I O Signal Monitor 10 5 10 3 Monitoring Machine Operation Status and Signal Waveforms 10 6 10 3 1 Items That You Can Monitor 10 6 10 3 2 Using the SigmaWin 10 7 10 3 3 U...

Страница 381: ...ayed Monitor Items Information on SERVOPACKs Model Type Serial Number Manufacturing Date Software version SW Ver Remarks Information on Servomotors Model Type Serial Number Manufacturing Date Remarks...

Страница 382: ...Power ON Overcurrent Origin Not Passed Moment of Inertia Identi fication Polarity Detection in Progress Completion of Polarity Detection Ripple Compensation in Progress Input Signal Status P CON Prop...

Страница 383: ...y Closed Feedback Pulse Counter Total Operating Time Current Backlash Compensation Value Backlash Compensation Value Setting Limit Position Amplifier Deviation Feedback Position APOS Current Reference...

Страница 384: ...de Button 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 th...

Страница 385: ...op Electronic gear Motor speed Electronic gear Deviation counter Motor load position deviation Fully closed Speed conversion Deviation counter Completion of position reference distribution Positioning...

Страница 386: ...he Servo Drive Button in 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 Objects You can trace the following items...

Страница 387: ...ard Wire Base Block Input 2 Signal DBANS Dynamic Brake Answer Input Signal Output Signals ALM Servo Alarm Output Signal COIN Positioning Completion Output Signal V CMP Speed Coincidence Detection Outp...

Страница 388: ...ed Reference Rotary Servomotor 1 V 1 000 min 1 Linear Servomotor 1 V 1 000 mm s n 02 default setting of Pn006 2006h Torque Reference 1 V 100 rated torque n 03 Position Deviation 0 05 V Reference unit...

Страница 389: ...ng Range Setting Unit Default Setting When Enabled Classification 10 000 to 10 000 0 1 V 0 Immediately Setup Pn552 2552h Analog Monitor 1 Magnification Setting Range Setting Unit Default Setting When...

Страница 390: ...ment Value to 125 100 125 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 sett...

Страница 391: ...Adjust 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...

Страница 392: ...er supply is turned ON and each time the servo is turned OFF Use a monitor value of 0 as a guideline for the replacement period Refer to the following section for part replace ment guidelines 16 1 2 G...

Страница 393: ...o 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 Un0...

Страница 394: ...built in fan life capacitor life inrush current limiting circuit life dynamic brake circuit life and built in brake relay life The PM Pre ventative Maintenance Output signal must be allocated Even if...

Страница 395: ...unctions 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...

Страница 396: ...tion 11 6 11 3 3 Setting the Number of External Encoder Scale Pitches 11 6 11 3 4 Setting the PAO PBO and PCO Encoder Divided Pulse Output Signals 11 7 11 3 5 External Absolute Encoder Data Reception...

Страница 397: ...cause vibration or oscillation resulting in unstable positioning The following figure shows an example of the system configuration The connected devices and cables depend on the type of external linea...

Страница 398: ...nit 2701h Pn50A Pn50B Pn511 and Pn516 Input Signal Selections Pn50E Pn50F Pn510 and Pn514 Output Sig nal Selections SERVO PACK or host con troller 2 Check operation with the Servomotor connected to th...

Страница 399: ...gram jog ging start from a low speed and gradually increase the speed Pn530 to Pn536 program jogging related parame ters SERVO PACK 5 Operate the SERVO PACK Items to Check Does the fully closed system...

Страница 400: ...tion page 11 6 Pn002 2002h n X External encoder usage method Pn20A 220Ah Number of external scale pitches page 11 6 Pn281 2281h Encoder divided pulse output signals PAO PBO and PCO from the SERVO PACK...

Страница 401: ...ce direction Forward reference Reverse reference Forward reference Reverse reference Motor direction CCW CW CCW CW External encoder Forward movement Reverse movement Reverse movement Forward movement...

Страница 402: ...ing would be 40 The encoder divided pulse output would have the following waveform if the setting is 20 indicates the edge positions In this example the set value is 20 and therefore the number of edg...

Страница 403: ...sition of the motor encoder and the feedback load position of the external encoder for fully closed loop control If the detected difference exceeds the setting an A d10 alarm Motor Load Position Error...

Страница 404: ...to n 0 Do not use external encoder Pn52A 252Ah Multiplier per One Fully closed Rotation Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100 1 20 Immediately Setup Pn52A 0...

Страница 405: ...tallation Guide Fully closed Module Manual No TOBP C720829 03 Note You cannot use a Safety Module SGDV OSA01A if you install a Fully closed Module 11 4 2 Related Parameters The parameter that is used...

Страница 406: ...stop option code 605Ah Controlword 6040h Position control Position demand internal value 60FCh Following error window comparator Position user unit 2701h 2 2701h 1 Velocity user unit 2702h 2 2702h 1...

Страница 407: ...rors in HWBB Signal 12 7 12 2 6 HWBB Input Signal Specifications 12 8 12 2 7 Operation without a Host Controller 12 8 12 2 8 S RDY Servo Ready Output Signal 12 9 12 2 9 BK Brake Output Signal 12 9 12...

Страница 408: ...odule optional must be connected to use this function Refer to the following manual for application procedures V Series V Series for Large Capacity Models 7 Series Installation Guide Safety Module Man...

Страница 409: ...ement of the motor will not result in a hazardous condition Incorrect use of the safety function may cause injury The dynamic brake and the brake signal are not safety related elements You must design...

Страница 410: ...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 The following hazards exi...

Страница 411: ...2 2 Hard Wire Base Block HWBB State The SERVOPACK will be in the following state if the HWBB operates If the HWBB1 or HWBB2 signal turns OFF the HWBB will operate and the SERVOPACK will enter a HWBB s...

Страница 412: ...e turned ON Send the Shutdown command to place the SERVOPACK in the BB state and then send the Servo ON command Enable Operation command Note If the SERVOPACK is placed in the BB state while the main...

Страница 413: ...al Operator Operating Manual Manual No SIEP S800001 33 Recovery Procedure 1 Specify Shutdown in controlword 6040h bits 0 to 3 to reset the Servo Drive 2 Specify Switch ON and the Servo ON command Enab...

Страница 414: ...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 si...

Страница 415: ...hat time the setting in Pn506 Brake Reference Servo OFF Delay Time will be disabled Therefore the Servomotor may be moved by external force until the actual brake becomes effective after the BK signal...

Страница 416: ...larm signal is 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 coa...

Страница 417: ...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 four status of the EDM1 signal in the following t...

Страница 418: ...put Connect the EDM1 so that the current flows from EMD1 to EMD1 12 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...

Страница 419: ...operating a stop command is received from the host controller the motor stops and the servo is turned OFF The guard is opened The worker leaves the guarded area after completing work The guard is clo...

Страница 420: ...d 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...

Страница 421: ...ctor for the safety function device CN8 Note If you do not connect a safety function device leave the Safety Jumper Connector connected to the connec tor for the safety function device CN8 If the SERV...

Страница 422: ...ns Settings 13 5 13 3 1 Normal Device Recognition Process at Startup 13 5 13 3 2 Application Example 13 5 13 3 3 Device Recognition with Station Aliases 13 5 13 4 PDO Mappings 13 6 13 4 1 Setting Proc...

Страница 423: ...information files XML format to configure the EtherCAT master The XML file contains general information on EtherCAT communications settings that are related to the SERVOPACK settings The following fi...

Страница 424: ...nitialized correctly PRE OPERATIONAL PREOP Mailbox communications are possible Process data communications are not possible PREOP SAFEOP The master sets the Sync Manager channels and FMMU channels for...

Страница 425: ...ations through the EtherCAT data link layer the FMMUs and Sync Managers must be set as follows Sync Manager Assignment Fixed Size Start Address Fixed Sync Manager 0 Assigned to Receive Mailbox 128 byt...

Страница 426: ...twork topologies 13 3 2 Application Example With a machining center there may be two identical drives for operation in the X and Y direc tions When a device is replaced there is a chance that the cabl...

Страница 427: ...PDOs and the Sync Managers The following figure shows an example of a Sync Manager and the PDO mappings CAUTION The PDO mapping objects indexes 1600h to 1603h and 1A00h to 1A03h and the Sync Manager...

Страница 428: ...the EtherCAT slave information file XML format 1st PDO Mapping Position Velocity Torque Torque Limit and Touch Probe 2nd PDO Mapping Cyclic Synchronous Position Default PDO Assignments 3rd PDO Mappin...

Страница 429: ...ters ESC registers 0x980 and 0x981 Free Run ESC register 0x980 0x0000 In Free Run mode the local cycle is independent from the communications cycle and master cycle DC Mode ESC register 0x980 0x0300 I...

Страница 430: ...UDINT 125 000 ns fixed The time between the Sync0 event and Outputs Valid i e the time from Sync0 until the output data is input to the SER VOPACK 6 Calc and copy time RO No UDINT 62 500 ns fixed The...

Страница 431: ...twork Master user shift time Calc and copy time 62 s Cycle time 1C32h 02 1 ms Cycle time 1 ms Input delay 500 s Sync0 shift time Shift time 1C33h 03 500 s Frame Frame Sync0 event Sync0 event Sync0 eve...

Страница 432: ...bytes of data as shown in the following table 1 The manufacturer specific error code is always FF00h 2 For details on SERVOPACK alarms and warnings refer to the following sections 16 2 2 Troubleshoot...

Страница 433: ...1 Profile Position Mode 14 6 14 3 2 Interpolated Position Mode 14 9 14 3 3 Cyclic Synchronous Position Mode 14 12 14 4 Homing 14 14 14 4 1 Related Objects 14 14 14 4 2 Homing Method 6098h 14 14 14 5...

Страница 434: ...14 8 Digital I O Signals 14 22 14 9 Touch Probe 14 23 14 9 1 Related Objects 14 23 14 9 2 Example of Execution Procedure for a Touch Probe 14 24 14 10 Fully Closed Loop Control 14 25...

Страница 435: ...gnal was input Note 1 The states are shown in white boxes 2 STW indicates the statusword 6041h 3 ___________ Underlines indicate control commands in the controlword 6040h Not Ready to Switch ON STW xx...

Страница 436: ...ON Refer to the following section for details 15 6 Device Control on page 15 21 1 Switched ON 2 Operation Enabled 3 Fault 4 Voltage Enabled 5 Quick Stop 6 Switch ON Disabled 7 Warning 8 Active Mode St...

Страница 437: ...it Data Type 6060h 0 Modes of operation RW Yes SINT 6061h 0 Modes of operation display RO Yes SINT 6502h 0 Supported drive modes RO No UDINT New Operation Mode Operation When Operation Mode Is Changed...

Страница 438: ...osition user unit 2701h 1 2701h 2 Position trajectory generator Target position 607Ah Software position limit 607Dh Velocity limit function Velocity user unit 2702h 1 2702h 2 Profile velocity 6081h Ma...

Страница 439: ...it in Controlword Is 0 When a new command is input in the New Set Point bit bit 4 in controlword during position ing positioning for the new command is started as soon as the current positioning opera...

Страница 440: ...ation 6084h do so either while positioning is stopped or while positioning at a constant speed 2 Set the S curve acceleration deceleration time in Profile jerk 60A4h Taj Taj Tdj Tdj Tdec Tacc Profile...

Страница 441: ...ition reference filter Position limit function Position user unit 2701h 1 2701h 2 Software position limit 607Dh Acceleration user unit 2703h 1 2703h 2 Quick stop deceleration 6085h or profile decelera...

Страница 442: ...Target reached in statusword 6041h Following error in statusword 6041h Following error window 6065h Following error actual value 60F4h Following error window comparator Position reached window compara...

Страница 443: ...ize of data record RO No USINT 6 Buffer clear RO No USINT 7 Position data definition RW Yes USINT 8 Position data polarity RW Yes USINT 9 Behavior after reaching buffer position RW Yes USINT 2732h 0 I...

Страница 444: ...on 6060h bit 4 Position trajectory generator Target position 607Ah Software position limit 607Dh Velocity user unit 2702h 1 2702h 2 Quick stop deceleration 6085h Pos unit Vel unit Quick stop option co...

Страница 445: ...ofile 60B1h 0 Velocity offset RW Yes Vel unit DINT 60B2h 0 Torque offset RW Yes Trq unit INT 60C2h Interpolation time period 1 Interpolation time period value RO No USINT 2 Interpolation time index RO...

Страница 446: ...alue 6062h Index Subindex Name Access PDO Mapping Unit Data Type 6040h 0 Controlword RW Yes UINT 6041h 0 Statusword RO Yes UINT 607Ch 0 Home offset RW No Pos unit DINT 6098h 0 Homing method RW Yes SIN...

Страница 447: ...direction depends on the required edge The home position will be the index pulse on either the rising or falling edge side of the Home signal If the initial movement direction is away from the Home si...

Страница 448: ...s method 12 except that the home position does not depend on the index pulse Here it depends only on changes in the relevant Home signal or limit switch 33 34 Homing with the index pulse 35 Homing wit...

Страница 449: ...Velocity user unit 2702h 1 2702h 2 Target velocity 60FFh Max profile velocity 607Fh Acceleration limit function Acceleration user unit 2703h 1 2703h 2 Profile acceleration 6083h Quick stop decelerati...

Страница 450: ...e 6063h Velocity offset 60B1h Torque offset 60B2h Velocity user unit 2702h 1 2702h 2 Target velocity 60FFh inc s Position user unit 2701h 1 2701h 2 Velocity user unit 2702h 1 2702h 2 Velocity reached...

Страница 451: ...0 1 INT 6087h 0 Torque slope RW Yes 0 1 s UDINT 6074h 0 Torque demand value RO Yes 0 1 INT 6077h 0 Torque actual value RO Yes 0 1 INT 6072h 0 Max torque RW Yes 0 1 UINT 60E0h 0 Positive torque limit v...

Страница 452: ...INT 6077h 0 Torque actual value RO Yes 0 1 INT 60B2h 0 Torque offset RW Yes 0 1 INT 6072h 0 Max torque RW Yes 0 1 UINT 60E0h 0 Positive torque limit value RW Yes 0 1 UINT 60E1h 0 Negative torque limi...

Страница 453: ...otor torque is 100 Index Subindex Name Access PDO Mapping Unit Data Type 6072h 0 Max torque RW Yes 0 1 UINT 60E0h 0 Positive torque limit value RW Yes 0 1 UINT 60E1h 0 Negative torque limit value RW Y...

Страница 454: ...inputs and digital outputs are used to control the I O signals of the CN1 connector on the SERVOPACK Index Subindex Name Access PDO Mapping Unit Data Type 60FDh 0 Digital inputs RO Yes UDINT 60FEh Dig...

Страница 455: ...l or Probe1 signal Touch Probe 2 Latch Latch control object 60B8h bits 8 to 15 Latch status object 60B9h bits 8 to 15 The latched position is always stored in touch probe 2 position value 60BCh Trigge...

Страница 456: ...ode 60B8h bit 1 1 or bit 9 1 60B8h bit 0 bit 8 60B8h bit 4 bit 12 60B9h bit 0 bit 8 60B9h bit 1 bit 9 60BAh 60BCh Probe input Latching started Latching started 1 2 3 Latched position 1 Latched positio...

Страница 457: ...0Ah FS S Unit Pn20A 220Ah Velocity offset or Velocity demand value Motor S FS Option Module SERVOPACK Multiplier Multiplier Multiplier Multiplier Multiplier Multiplier Step Description Parameter Setti...

Страница 458: ...ger Communications Objects 15 13 15 5 Manufacturer Specific Objects 15 17 15 6 Device Control 15 21 15 7 Profile Position Mode 15 29 15 8 Homing Mode 15 31 15 9 Position Control Function 15 33 15 10 I...

Страница 459: ...15 14 Torque Limit Function 15 44 15 15 Touch Probe Function 15 45 15 16 Digital Inputs Outputs 15 47 15 17 Dual Encoder Feedback 15 49...

Страница 460: ...ts SERVOPACK parameters 2000h to 26FFh 15 5 User parameter configuration 2700h 15 5 Position user unit 2701h 15 5 Velocity user unit 2702h 15 5 Acceleration user unit 2703h 15 5 SERVOPACK adjusting co...

Страница 461: ...7C1h 15 10 Interpolation data read write pointer position 2741h 15 10 Cyclic Synchronous Position Mode Velocity offset 60B1h 15 11 Torque offset 60B2h 15 11 Profile Velocity Cyclic Synchronous Velocit...

Страница 462: ...ata Description The following string is saved xxxx D oooo xxxx Software version of EtherCAT CoE oooo Software version of the SERVOPACK Index Subin dex Name Data Type Access PDO Mapping Value Saving to...

Страница 463: ...If you read the object entry data while parameters are being saved 0 will be returned 3 Subindex 1 and subindex 4 can be written only in the Switch ON Disabled state servo OFF 4 After storing paramet...

Страница 464: ...written the SERVOPACK refuses to restore the default values and returns an SDO abort code 2 Subindex 1 and subindex 4 can be written only in the Switch ON Disabled state servo OFF 3 If you read this...

Страница 465: ...ajor version has to be increased The minor version number identifies different versions with the same operating specifications 3 Serial number is not used It is always 0 Index Subin dex Name Data Type...

Страница 466: ...changed only when the EtherCAT CoE Network Mod ule is in the Pre Operational state Set the mapping entries subindexes 1 to 8 only after you write 0 to subindex 0 Index Subin dex Name Data Type Access...

Страница 467: ...Access PDO Mapping Value Saving to EEPROM 1602h 0 Number of objects in this PDO USINT RW No 0 to 8 default 2 Yes 1 Mapping entry 1 UDINT RW No 0 to 0xFFFFFFFF default 0x60400010 Yes 2 Mapping entry 2...

Страница 468: ...ntry 4 UDINT RW No 0 to 0xFFFFFFFF default 0x60F40020 Yes 5 Mapping entry 5 UDINT RW No 0 to 0xFFFFFFFF default 0x60610008 Yes 6 Mapping entry 6 UDINT RW No 0 to 0xFFFFFFFF default 0x00000008 Yes 7 Ma...

Страница 469: ...efault 0x60640020 Yes 3 to 8 Mapping entry 3 to Mapping entry 8 UDINT RW No 0 to 0xFFFFFFFF default 0 Yes Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1A03h 0 Number of obj...

Страница 470: ...No 2 Communication type sync manager 1 USINT RO No 2 Mailbox send slave to master No 3 Communication type sync manager 2 USINT RO No 3 Process data output master to slave No 4 Communication type sync...

Страница 471: ...DC used No 2 Cycle time UDINT RO No Sync0 event cycle ns No 3 Shift time UDINT RO No 125 000 ns No 4 Synchronization types supported UINT RO No Bit 0 1 Free Run supported Bits 2 to 4 001 DC Sync0 sup...

Страница 472: ...internal error counter operation is shown below Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 1C33h 0 Number of synchroni zation parameters USINT RO No 10 No 1 Synchronizati...

Страница 473: ...Error Counter Limit is suitable for the requirements of the application With the default value of 9 network frames will be lost SM2 reception events will not occur three times consecutively before an...

Страница 474: ...rocedure 1 Change the SERVOPACK to the Switch ON Disabled state 2 Set the new parameter settings 3 Set user parameter configuration 2700h to 1 The parameter settings will be enabled After execution ob...

Страница 475: ...erator Denominator 1 Alarm A A20 will be detected if the setting exceeds the setting range The objects that are related to the user defined torque reference unit setting are given in the fol lowing ta...

Страница 476: ...ce Request Data The command is executed when command data is written No 2 Status USINT RO No 0 Command com pleted no errors and no response data 1 Command com pleted no errors and response data provid...

Страница 477: ...to 1 If an error occurs perform step 4 to stop execution 3 Send the following data to execute the adjustment service CCMD 0001h CSIZE 02h CADDRESS 00002001h CDATA 0001h If the slave station receives t...

Страница 478: ...ult 0 No Bit Function Description 0 Switch on Refer to Details on Bits 0 to 3 1 Enable voltage 2 Quick stop 3 Enable operation 4 to 6 Operation mode specific Refer to Details on Bits 4 to 9 7 Fault re...

Страница 479: ...on as a relative value Treats it as the move ment distance from the current target position 8 Halt 0 Executes or continues positioning 1 Stops axis according to halt option code 605Dh Bit Function Val...

Страница 480: ...Bits 0 to 7 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 Active mode stop 1 Active mode function execution is in progress 9 Remote Controlw...

Страница 481: ...ined Target reached 0 0 0 Homing is in progress 0 0 1 Homing was interrupted or has not yet started 0 1 0 Home has been defined but the operation is still in progress 0 1 1 Homing was completed normal...

Страница 482: ...axis is decelerating 1 Halt bit 8 in controlword 0 The target speed was reached Halt bit 8 in controlword 1 The axis is stopped 12 Speed 0 The speed is not 0 1 The speed is 0 13 0 Reserved Bit State V...

Страница 483: ...is reduced to zero 2 The deceleration rate for decelerating to a stop is defined in the following object Profile Position Interpolated Position Cyclic Position or Cyclic Velocity Mode 6084h Homing Mo...

Страница 484: ...Name Data Type Access PDO Mapping Value Saving to EEPROM 605Eh 0 Fault reaction option code INT RW No 0 Yes Value Description 0 Disables the Servo Drive Turns OFF the servo Index Subin dex Name Data T...

Страница 485: ...des UDINT RO No 03EDh No Bit Applicable Mode Definition 0 Pp Profile position mode 1 Supported 1 Vl Velocity mode 0 Not supported 2 Pv Profile velocity mode 1 Supported 3 Tq Torque profile mode 1 Supp...

Страница 486: ...red with the corrected values Corrected minimum position limit Min position limit Home offset 607Ch Corrected maximum position limit Max position limit Home offset 607Ch The software position limits a...

Страница 487: ...5Ah is set to 2 and the Quick Stop command is given Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6081h 0 Profile velocity UDINT RW Yes 0 to 4 294 967 295 default 0 Vel unit...

Страница 488: ...ies the homing method Refer to the following section for details on the oper ations that are performed 14 4 Homing on page 14 14 Data Description Index Subin dex Name Data Type Access PDO Mapping Valu...

Страница 489: ...on reference units Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 6099h 0 Number of entries USINT RO No 2 No 1 Speed during search for switch UDINT RW Yes 0 to 4 294 967 295...

Страница 490: ...en the Servo Drive is blocked when the profile speed is too high or when the gain settings are not correct Following Error Time Out 6066h If the position deviation exceeds the following error window f...

Страница 491: ...ndow Time 6068h When the Servo Drive has completed outputting the reference to the target position and the time specified in this object has passed after the distance between the target position and t...

Страница 492: ...ubin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60C0h 0 Interpolation sub mode select INT RW No 3 to 0 default 0 No Value Method Description 0 Selects mode 1 with no position refer e...

Страница 493: ...in interpolation data record for 1st profile 27C0h 2730h 3 Buffer Organization Note Do not change this value while enable interpolation 6040h bit 4 is 1 Index Subin dex Name Data Type Access PDO Mapp...

Страница 494: ...ut buffer Value Method Description 0 Uses the value in the reference input buffer as an absolute value 1 Uses the value in the reference input buffer as a relative value Value Method Description 0 Mul...

Страница 495: ...hing Buffer Position This value is valid when buffer organization 2731h 3 is 0 Value Method Description 0 Uses the reference input buffer as a FIFO buffer 1 Uses the reference input buffer is as a rin...

Страница 496: ...profile in Buffer Strat egies for the Interpolated Position Mode Set this object only after setting all of the items in manufacturer interpolation data configuration for 2nd profile 2731h After you s...

Страница 497: ...rent value of the read pointer for the reference input buffer in the Ether CAT CoE Network Module 2741h 2 Interpolation Data Write Pointer Position This object gives the current value of the write poi...

Страница 498: ...B2h In Cyclic Synchronous Position Mode or Cyclic Synchronous Velocity Mode this object con tains the torque feedforward value In Cyclic Synchronous Torque Mode this object contains the offset value t...

Страница 499: ...tween the target speed target velocity and the velocity actual value is within the setting of the velocity window bit 10 target reached in statusword is set to 1 Target Velocity 60FFh This object spec...

Страница 500: ...d force for a Linear Servomotor The value is given in m Nm for a Rotary Servomotor and in m N for a Linear Servomotor Torque Actual Value 6077h For a SERVOPACK this object contains the same value as t...

Страница 501: ...r rated torque Negative Torque Limit Value 60E1h This object sets the negative torque limit Set the value in units of 0 1 of the motor rated torque Index Subin dex Name Data Type Access PDO Mapping Va...

Страница 502: ...h 0 Touch probe func tion UINT RW Yes 0 to 0xFFFF default 0 No Bit Value Description 0 0 Disables touch probe 1 1 Enables touch probe 1 1 0 Single Trigger Mode Latches the position at the first trigge...

Страница 503: ...h probe 1 1 A latch position is stored for touch probe 1 2 to 6 Reserved 7 0 or 1 Saving the latched position for Continuous Trigger Mode for touch probe 1 was completed Status toggles every time a po...

Страница 504: ...o Bit Signal Description 0 N OT Negative limit switch 0 OFF 1 ON 1 P OT Positive limit switch 0 OFF 1 ON 2 Home switch 0 OFF 1 ON 3 to 15 Reserved 16 SI0 0 OFF open 1 ON closed 17 SI1 0 OFF open 1 ON...

Страница 505: ...ng signals so that the signals are not duplicated 1 Data Description of Physical Outputs 2 Data Description of Bit Masks Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60FEh...

Страница 506: ...coder Feedback You can monitor the position of the external encoder in dual encoder feedback 60E4h Index Subin dex Name Data Type Access PDO Mapping Value Saving to EEPROM 60E4h 0 Number of entries US...

Страница 507: ...16 2 16 1 3 Replacing the Battery 16 3 16 2 Alarm Displays 16 5 16 2 1 List of Alarms 16 5 16 2 2 Troubleshooting Alarms 16 11 16 2 3 Resetting Alarms 16 42 16 2 4 Displaying the Alarm History 16 43 1...

Страница 508: ...r 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...

Страница 509: ...he 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 c...

Страница 510: ...rn 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 SE...

Страница 511: ...an alarm the code will be displayed one character at a time as shown below Example Alarm A 020 Digital Operator The alarm code will be displayed Statusword 6041h Bit 3 fault in the statusword will ch...

Страница 512: ...Yes 100h Overcurrent Detected An overcurrent flowed through the power transis tor or the heat sink overheated Gr 1 No 101h Motor Overcurrent Detected The current to the motor exceeded the allowable cu...

Страница 513: ...in Fan Stopped The fan inside the SERVOPACK stopped Gr 1 Yes 810h Encoder Backup Alarm The power supplies to the encoder all failed and the position data was lost Gr 1 No 820h Encoder Checksum Alarm T...

Страница 514: ...nal program error 1 occurred in the SERVO PACK Gr 1 No bF2h System Alarm 2 Internal program error 2 occurred in the SERVO PACK Gr 1 No bF3h System Alarm 3 Internal program error 3 occurred in the SERV...

Страница 515: ...servo was ON Gr 1 Yes d01h Position Deviation Over flow Alarm at Servo ON The servo was turned ON after the position devi ation exceeded the setting of Pn526 2526h Excessive Position Deviation Alarm L...

Страница 516: ...Phase The voltage was low for more than one second for phase R S or T when the main power supply was ON Gr 2 Yes F30h Dynamic Brake Circuit Error An error occurred in the dynamic brake circuit Gr 2 Y...

Страница 517: ...entered 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 po...

Страница 518: ...212h Encoder Out put Pulses or Pn281 2281h Encoder Out put Resolution is out side of the setting range or does not sat isfy the setting condi tions Check the setting of Pn212 2212h or Pn281 2281h Set...

Страница 519: ...the linear encoder page 6 16 An unsupported Serial Converter Unit or encoder e g an external encoder is connected to the SERVOPACK Check the product combination specifica tions Change to a correct co...

Страница 520: ...4 18 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 D...

Страница 521: ...e Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the SERVOPACK Check for short circuits across the Servomotor connection terminals U V and W on the SE...

Страница 522: ...the jumper connected between B2 and B3 Correctly connect a jumper page 4 18 The External Regener ative Resistor is not wired correctly or was removed or discon nected Check the wiring of the External...

Страница 523: ...the setting of Pn603 2603h page 6 55 The external regener ative resistance is too high Check the regenerative resistance Change the regenerative resistance to a correct value or use an External Regene...

Страница 524: ...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...

Страница 525: ...eed Loop Gain page 9 77 The setting of Pn103 2103h 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 Correct t...

Страница 526: ...CK 730h and 731h 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...

Страница 527: ...empera 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 install...

Страница 528: ...he SERVOPACK may be faulty Replace the SER VOPACK 7Abh SERVOPACK Built in Fan Stopped The fan inside the SERVOPACK stopped Check for foreign matter inside the SERVOPACK Remove foreign matter from the...

Страница 529: ...ed in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK 840h Encoder Data Alarm Detected at the encoder The encoder malfunc tioned Turn the power supply to the SERVOPACK OFF and ON agai...

Страница 530: ...PACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK 860h Encoder Over heated Detected at the encoder but only when a...

Страница 531: ...t circuited Check the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload...

Страница 532: ...ncoder Check the maximum speed of the external encoder Keep the external encoder below its maxi mum speed 8A6h External Encoder Overheated An overheating error was detected in the external encoder Rep...

Страница 533: ...41h Communications Device Initializa tion Error A failure occurred in the SERVOPACK Replace the SERVO PACK A47h Loading Servo Information Error User parameter con figuration 2700h was executed while a...

Страница 534: ...Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK bF1h System Alarm 1 A failure occurred in the SERVOPACK Turn the pow...

Страница 535: ...e power supply OFF and ON again 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...

Страница 536: ...sensor is not wired correctly Check the wiring of the polarity sensor Correct the wiring of the polarity sensor The polarity sensor failed Replace the polarity sen sor C22h Phase Informa tion Disagre...

Страница 537: ...er 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 f...

Страница 538: ...n48E 248Eh Polarity Detection Range Or increase the setting of Pn481 2481h Polarity Detection Speed Loop Gain C54h Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increa...

Страница 539: ...encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder page 4 5 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK an...

Страница 540: ...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 Replac...

Страница 541: ...e vibration or shock was applied to the encoder Check the operating conditions Reduce machine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the...

Страница 542: ...ailure occurred in the Serial Converter Unit Replace the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK d00h Position Devia tion Overflow The setting of Pn520 2520h...

Страница 543: ...l encoder in the opposite direction or change the setting of Pn002 2002h n X External Encoder Usage to reverse the direction page 11 6 There is an error in the connection between the load e g stage an...

Страница 544: ...configuration error and turn the power supply to the SERVOPACK OFF and ON again page 16 45 A failure occurred in the Feedback Option Module Replace the Feedback Option Module A failure occurred in th...

Страница 545: ...ERVOPACK Replace the SERVO PACK EC8h Gate Drive Error 1 An error occurred in the gate drive circuit A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an al...

Страница 546: ...mic brake circuit is broken Replace the broken cable Dynamic brake circuit wiring is not correct Check the wiring of the relay and Magnetic Contactor used in the dynamic brake circuit Wire the relay a...

Страница 547: ...that change the polarity of the DBON signal Set the polarity of the DBON signal correctly with Pn512 and Pn513 Digital Outputs 60FEh is set to the terminal that was allo cated the DBON Dynamic Brake O...

Страница 548: ...con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was caused by noise Keep the Digit...

Страница 549: ...ab The following display will appear and you can check the alarms that occurred in the past This concludes the procedure to display the alarm history Tool Function Reference Digital Operator Fn000 7 S...

Страница 550: ...ists the 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 i...

Страница 551: ...Use the following procedure to reset alarms detected in Option Modules 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Reset Option Module Configuration Er...

Страница 552: ...Type Alarm utility function Preparations Always check the following before you clear a motor type alarm The parameters must not be write prohibited Applicable Tools The following table lists the tool...

Страница 553: ...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...

Страница 554: ...901h Position Deviation Overflow Alarm at Servo ON The position deviation when the servo was turned ON exceeded the per centage set with the following formula Pn526 2526h Pn528 2528h 100 910h Overload...

Страница 555: ...page 16 3 942h Pn423 2423h n X Speed Ripple Compensation Information Disagreement Warning Detection Selection page 9 59 971h Pn008 2008h n X Function Selection for Undervoltage Not affected by the se...

Страница 556: ...and motor speed Remove the mechanical problem The overload warning level Pn52B 252Bh is not suitable Check that the overload warning level Pn52B 252Bh is suitable Set a suitable overload warning leve...

Страница 557: ...rred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK 913h Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surround...

Страница 558: ...namic 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 Reconsi...

Страница 559: ...does not agree with the speed ripple compensa tion information stored in the SER VOPACK Reset the speed ripple compensation value on the SigmaWin page 9 59 Set Pn423 2423h to n 1 Do not detect A 942 a...

Страница 560: ...y have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures...

Страница 561: ...vomotor with a Servo motor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 2002h n X Encoder Usage Check the type of the encoder that is being us...

Страница 562: ...using an absolute linear encoder execute polarity detection page 6 23 Servomotor Moves Instanta neously and Then Stops There is a mistake in the Ser vomotor wiring Turn OFF the Servo Sys tem Check th...

Страница 563: ...arity detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Correct the settings for the polarity detection relat...

Страница 564: ...nufacturer Noise interference occurred because of incorrect I O Sig nal Cable specifications Turn OFF the Servo Sys tem Check the I O Signal Cables to see if they sat isfy specifications Use shielded...

Страница 565: ...ion mounting surface precision securing state and alignment Check the linear encoder installation mounting sur face precision and secur ing method Reduce machine vibra tion Improve the mounting state...

Страница 566: ...an appropriate value The setting of Pn101 2101h Speed Loop Integral Time Constant is not appropriate Check the setting of Pn101 2101h The default setting is Ti 20 0 ms Set Pn101 2101h to an appropria...

Страница 567: ...oise interference occurred because the Encoder Cable is damaged Turn OFF the Servo Sys tem Check the Encoder Cable to see if it is pinched or the sheath is damaged Replace the Encoder Cable and correc...

Страница 568: ...coder A failure occurred in the encoder Turn OFF the Servo System Replace the Servomotor or linear encoder A failure occurred in the SER VOPACK Turn OFF the Servo System Replace the SERVOPACK Host con...

Страница 569: ...ches e g check for cable damage and loose screws Correct the wiring of the overtravel limit switches There is a mistake in the allo cation of the P OT or N OT Forward Drive Prohibit or Reverse Drive P...

Страница 570: ...m 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...

Страница 571: ...s that satisfy the specifications Noise interference occurred because an I O Signal Cable is too long Turn OFF the Servo Sys tem Check the lengths of the I O Signal Cables The I O Signal Cables must b...

Страница 572: ...ters and objects 17 1 List of Parameters 17 2 17 1 1 Interpreting the Parameter Lists 17 2 17 1 2 List of Parameters 17 3 17 2 Object List 17 33 17 3 SDO Abort Code List 17 42 17 4 Parameter Recording...

Страница 573: ...ates 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 6 14 Use the direction in which th...

Страница 574: ...coder Is Not Con nected Reference 0 When an encoder is not connected start as SERVOPACK for Rotary Servomotor page 6 13 1 When an encoder is not connected start as SERVOPACK for Lin ear Servomotor n X...

Страница 575: ...se 3 Reserved setting Do not use n X EtherCAT CoE Module Speed Limit Command Usage Selection Applicable Motors Reference 0 Disable speed limit commands from EtherCAT CoE during torque control All 1 Re...

Страница 576: ...05 V encoder 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 Reser...

Страница 577: ...lse 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 578: ...warning A 930 for low battery voltage n X Function Selection for Undervoltage Reference 0 Do not detect undervoltage page 7 15 1 Detect undervoltage warning and limit torque at host controller 2 Dete...

Страница 579: ...et in Pn30A 230Ah and then let the motor coast n X Stopping Method for Forced Stops Reference 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 2001h n X page...

Страница 580: ...r 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 Us...

Страница 581: ...d the current position of the workpiece is separated from the P OT sig nal or N OT signal n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change...

Страница 582: ...Gain Application Selec tions 0000h to 5334h 0000h All Setup Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors Whe...

Страница 583: ...age 9 65 Pn132 2132h 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning page 9 65 Pn135 2135h 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning page 9 65 Pn136...

Страница 584: ...000 0 1 1000 All Immedi ately Tuning page 9 65 Pn14A 214Ah 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning page 9 55 Pn14B 214Bh 2 Vibration Suppression 2 Correction...

Страница 585: ...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 Model Following Control Type S...

Страница 586: ...Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disabl...

Страница 587: ...0 All Immedi ately Setup 1 Pn306 2306h 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn308 2308h 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi at...

Страница 588: ...que Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 9 80 Pn402 2402h 2 Forward Torque Limit 0 to 800 1 1 800 Rotary Immedi ately Setup page 7 26 Pn403 2403h 2 Rever...

Страница 589: ...First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 9 65 Continued on next page Continued from previous page Parameter No Size Name Setting Ra...

Страница 590: ...ch Filter Depth 0 to 1 000 0 001 0 All Immedi ately Tuning page 9 81 Pn423 2423h 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup page 9 59 Pn424 2424h 2 Torque Limit at Main...

Страница 591: ...30 Linear Immedi ately Setup page 7 26 Pn484 2484h 2 Reverse Force Limit 0 to 800 1 1 30 Linear Immedi ately Setup page 7 26 Continued on next page Continued from previous page Parameter No Size Name...

Страница 592: ...Detection Allow able Error Range 0 to 30 1 deg 10 Linear Immedi ately Tuning Pn49F 249Fh 2 Speed Ripple Compen sation Enable Speed 0 to 10 000 1 mm s 0 Linear Immedi ately Tuning page 9 59 Pn502 2502...

Страница 593: ...2 Enable forward drive when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5 Enable forward d...

Страница 594: ...n CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signal...

Страница 595: ...TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 7 8 n X S RDY Servo Ready Signal Allocation R...

Страница 596: ...al from the CN1 27 or CN1 28 output terminal 5 Output the signal from the CN1 29 or CN1 30 output terminal 6 Reserved setting Do not use n X Reserved parameter Do not change n X Reserved parameter Do...

Страница 597: ...Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 27 and CN1 28 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inve...

Страница 598: ...Detect DB circuit error when CN1 10 input signal is ON closed while DBON signal is ON 5 Detect DB circuit error when CN1 11 input signal is ON closed while DBON signal is ON 6 Detect DB circuit error...

Страница 599: ...nal is ON closed 5 Enable drive when CN1 11 input signal is ON closed 6 Enable drive when CN1 12 input signal is ON closed 7 Set the signal to always prohibit drive always force the motor to stop 8 Se...

Страница 600: ...Accel eration Deceleration Time 2 to 10 000 1 ms 100 All Immedi ately Setup page 8 13 Pn535 2535h 2 Program Jogging Wait ing Time 0 to 10 000 1 ms 100 All Immedi ately Setup page 8 13 Pn536 2536h 2 Pr...

Страница 601: ...o ON 0 to 10 000 1 mm s 10000 Linear Immedi ately Setup page 9 10 Pn585 2585h 2 Program Jogging Move ment Speed 1 to 10 000 1 mm s 50 Linear Immedi ately Setup page 8 13 Pn586 2586h 2 Motor Running Co...

Страница 602: ...overheat protection 3 Monitor a positive voltage input from a sensor attached to the machine and use overheat protection n X Reserved parameter Do not change n X Reserved parameter Do not change n X R...

Страница 603: ...e of one Dynamic Brake Resistor multiplied by 8 The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function 9 Enabled only when Pn61A is set to n 2 or n 3 PnBA1 2753h 2 ZONE Output Si...

Страница 604: ...RW No No 0x00000001 0x00000000 0xFFFFFFFF PnC0A 3 3 Restore application default parameters UDINT RW No No 0x00000001 0x00000000 0xFFFFFFFF PnC0C 3 4 Restore manufac turer defined default parameters U...

Страница 605: ...th receive PDO mapping 0 Number of objects in this PDO USINT RW No Yes 2 0 8 PnCA3 1 Mapping entry 1 UDINT RW No Yes 0x60400010 0 0xFFFFFFFF PnC50 2 Mapping entry 2 UDINT RW No Yes 0x60710010 0 0xFFFF...

Страница 606: ...0 Number of objects in this PDO USINT RW No Yes 3 0 8 PnCA7 1 Mapping entry 1 UDINT RW No Yes 0x60410010 0 0xFFFFFFFF PnC90 2 Mapping entry 2 UDINT RW No Yes 0x60640020 0 0xFFFFFFFF PnC92 3 Mapping e...

Страница 607: ...ization parameters USINT RO No No 10 1 Synchronization type UINT RO No No 2 Cycle time UDINT RO No No 3 Shift time UDINT RW No Yes 0 0 Sync0event cycle 12 500 PnCCA 4 Synchronization types supported U...

Страница 608: ...8 Position data polarity USINT RW Yes No 0 0 1 PnCEF 9 Behavior after reach ing buffer position USINT RW Yes No 0 0 1 PnCF0 2731h Interpolation data configuration for 2nd profile 0 Number of entries U...

Страница 609: ...NE ID7 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA1C 9 ZONE ID8 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA20 10 ZONE ID9 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA24 11 ZONE...

Страница 610: ...s 0 2147483648 2147483647 Pos unit PnA3A 16 ZONE ID15 DINT RW No Yes 0 2147483648 2147483647 Pos unit PnA3E 2752h 0 ZONE output signal selection 1 USINT RW No Yes 0 0000 0xFFFF PnBA0 2753h 0 ZONE outp...

Страница 611: ...DINT RO No No mN m mN PnB3C 6077h 0 Torque actual value INT RO Yes No 0 1 PnB3E 607Ah 0 Target position DINT RW Yes No 0 2147483648 2147483647 Pos unit PnB40 607Ch Home offset DINT RW No Yes 0 5368709...

Страница 612: ...DINT RO Yes No Pos unit PnB68 60BCh 0 Touch probe pos2 pos value DINT RO Yes No Pos unit PnB6A 60C0h 0 Interpolation sub mode select INT RW No No 0 3 0 PnB92 60C1h Interpolation data record 0 Number o...

Страница 613: ...ty 0x06 04 00 47 General internal incompatibility in the device 0x06 06 00 00 Access failed due to a hardware error 0x06 07 00 10 Data type does not match length of service parameter does not match 0x...

Страница 614: ...lec tions B After restart Pn00C 200Ch 0000h Application Function Selec tions C After restart Pn00D 200Dh 0000h Application Function Selec tions D After restart Pn00F 200Fh 0000h Application Function S...

Страница 615: ...g Time 1 Immediately Pn136 2136h 0 Gain Switching Waiting Time 2 Immediately Pn139 2139h 0000h Automatic Gain Switching Selections 1 Immediately Pn13D 213Dh 2000 Current Gain Level Immediately Pn140 2...

Страница 616: ...erence Immediately Pn182 2182h 0 Mode Switching Level for Acceleration Immediately Pn205 2205h 65535 Multiturn Limit After restart Pn207 2207h 0010h Position Control Function Selections After restart...

Страница 617: ...tart Pn401 2401h 100 First Stage First Torque Reference Filter Time Con stant Immediately Pn402 2402h 800 Forward Torque Limit Immediately Pn403 2403h 800 Reverse Torque Limit Immediately Pn404 2404h...

Страница 618: ...241Eh 70 Fifth Stage Notch Filter Q Value Immediately Pn41F 241Fh 0 Fifth Stage Notch Filter Depth Immediately Pn423 2423h 0000h Speed Ripple Compensa tion Selections Pn424 2424h 50 Torque Limit at M...

Страница 619: ...ediately Pn503 2503h 10 Speed Coincidence Detec tion Signal Output Width Immediately Pn506 2506h 0 Brake Reference Servo OFF Delay Time Immediately Pn507 2507h 100 Brake Reference Output Speed Level I...

Страница 620: ...ultiplier per Fully closed Rotation Immediately Pn52B 252Bh 20 Overload Warning Level Immediately Pn52C 252Ch 100 Base Current Derating at Motor Overload Detection After restart Pn530 2530h 0000h Prog...

Страница 621: ...Immediately Pn587 2587h 0000h Polarity Detection Execu tion Selection for Absolute Linear Encoder Immediately Pn600 2600h 0 Regenerative Resistor Capacity Immediately Pn601 2601h 0 Dynamic Brake Resi...

Страница 622: ...18 2 18 1 2 Alarm and Warning Displays 18 2 18 1 3 Hard Wire Base Block Active Display 18 2 18 1 4 Overtravel Display 18 2 18 1 5 Forced Stop Display 18 2 18 1 6 EtherCAT Communications Indicators 18...

Страница 623: ...has occurred the display will change in the following order 18 1 5 Forced Stop Display During a forced stop the following display will appear Display Meaning Display Meaning TGON Rotation Detection S...

Страница 624: ...ions are in OPERATIONAL state Flickering EtherCAT CoE communications have been started but are not yet in INIT state Indicator Description Status Pattern Off Never lit EtherCAT communications are bein...

Страница 625: ...ed to the CN6A and CN6B connectors and whether communications are active Indicator Description Status Pattern Off Never lit A Communications Cable is not connected and the EtherCAT CoE controller is n...

Страница 626: ...n Module Configuration Error Initialize Vibration Detection Level Fn01B Initialize Vibration Detection Level Set Origin Fn020 Set Absolute Linear Encoder Origin Reset Motor Type Alarm Fn021 Reset Moto...

Страница 627: ...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...

Страница 628: ...coder Multiturn Data Un040 Absolute Encoder Multiturn Data Position within One Rotation of Absolute Encoder encoder pulses Un041 Position within One Rotation of Absolute Encoder encoder pulses Lower B...

Страница 629: ...ses If Pn080 n 0 the encoder output resolution Pn281 that can be set is displayed If Pn080 n 1 the maximum motor speed Pn385 that can be set is displayed in mm s 2 This applies to the following motors...

Страница 630: ...lters 9 31 autotuning with a host reference 9 34 autotuning without a host reference 9 23 B backlash compensation 9 72 base block BB vii battery replacement 16 3 block diagram 2 8 C CCW 6 14 CiA402 dr...

Страница 631: ...13 8 friction compensation 9 32 9 68 fully closed system 11 2 G gain switching 9 65 gravity compensation 9 69 grounding 4 8 group 1 alarms 6 38 group 2 alarms 6 38 H Halt Option Code 605Dh 15 26 hard...

Страница 632: ...Noise Filter connection precautions 4 7 N OT 6 26 N OT Reverse Drive Prohibit signal 6 26 notch filters 9 80 O object dictionary 13 6 object dictionary list 15 3 object list 17 33 operation for momen...

Страница 633: ...VOPACK vii inspections and part replacement 16 2 part names 1 7 ratings 2 2 specifications 2 4 status displays 18 2 setting the origin 6 52 setting the position deviation overflow alarm level 9 8 sett...

Страница 634: ...h Probe 2 Position Value 60BCh 15 46 touch probe function 15 45 Touch Probe Function 60B8h 15 45 Touch Probe Status 60B9h 15 45 Transmit PDO Mapping 15 11 trial operation EtherCAT CoE Communications 8...

Страница 635: ...rmation on Servomotor brake control All chapters Partly revised March 2016 2 Preface Revision Information on Servomotor UL standards and EU Directives 1 2 6 Revision Information on torque user unit 1...

Страница 636: ...kawa 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 LT...

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