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8.6 Servo Gain Adjustment Functions

8-27

Operating Example

In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

Increase speed loop gain

Overshoot

Undershoot

Motor
speed

Time

Setting time

Motor
speed

Motor speed

Speed reference

Long Setting Time

Motor
speed

Without mode Switching

Without mode Switching

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Содержание SGDS Sigma III Series

Страница 1: ...Dlugosza 2 6 Street 51 162 Wroc aw Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS SGDS 08...

Страница 2: ...d with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS C...

Страница 3: ...SGDS Sigma III Servo Amplifier User Manual for Mechatrolink II Communications...

Страница 4: ...liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Страница 5: ...ed information Read the chapters marked with to get the information required for your purpose Chapter SERVOPACKs Servomotors and Peripheral Devices Ratings and Character istics System Design Panel Con...

Страница 6: ...Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example S ON S...

Страница 7: ...operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to i...

Страница 8: ...make the system modification The multi turn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreem...

Страница 9: ...age or installation temperature conditions Locations subject to humidity outside the range specified in the storage or installation humidity conditions Locations subject to condensation as the result...

Страница 10: ...nd prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in t...

Страница 11: ...uses main power devices like capacitors and fuses to deteriorate resulting in unexpected problems Observe the following precautions when wiring main circuit terminal blocks Remove the terminal block f...

Страница 12: ...un prohibited N OT signals are not effective during zero point search mode using parameter Fn003 When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall...

Страница 13: ...s shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this m...

Страница 14: ...5 2 3 III Series SERVOPACKs and Applicable Servomotors 2 6 2 4 Selecting Cables 2 7 2 4 1 Cables for SGMAH and SGMPH Servomotors 2 7 2 4 2 Cables for SGMSH Servomotor 2 12 2 4 3 Cables for SGMGH Serv...

Страница 15: ...of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 4 2 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 4 4 2 1 Spring Type Standard 4 4 4 2 2 Crimp Type...

Страница 16: ...of Linear Scale by Heidenhain 5 16 5 5 2 Connection Example of Linear Scale by Renishaw 5 17 5 6 Others 5 18 5 6 1 Wiring Precautions 5 18 5 6 2 Wiring for Noise Control 5 19 5 6 3 Using More Than On...

Страница 17: ...put Positioning EX_POSING 39H 6 34 6 3 29 Homing ZRET 3AH 6 36 6 3 30 Velocity Control VELCTRL 3CH 6 38 6 3 31 Torque Control TRQCTRL 3DH 6 39 6 3 32 Adjusting ADJ 3EH 6 40 6 3 33 General purpose Serv...

Страница 18: ...5 7 2 4 Supplementary Information on Trial Operation 7 6 7 3 Settings According to Machine Characteristics 7 8 7 3 1 Switching Servomotor Rotation Direction 7 8 7 3 2 Setting the Overtravel Limit Fun...

Страница 19: ...Procedure 8 18 8 5 Manual Tuning 8 20 8 5 1 Explanation of Servo Gain 8 20 8 5 2 Servo Gain Manual Tuning 8 20 8 5 3 Position Loop Gain 8 21 8 5 4 Speed Loop Gain 8 22 8 5 5 Speed Loop Integral Time...

Страница 20: ...nd Maintenance 10 24 10 2 1 Servomotor Inspection 10 24 10 2 2 SERVOPACK Inspection 10 24 10 2 3 SERVOPACK s Parts Replacement Schedule 10 25 11 Appendix 11 1 Servomotor Capacity Selection Examples 11...

Страница 21: ......

Страница 22: ...Servomotors 1 2 1 1 3 Servo Amplifiers 1 3 1 2 Product Part Names 1 3 1 2 1 Servomotors 1 3 1 3 2 Servo Amplifiers 1 5 1 4 Examples of Servo System Configurations 1 6 1 5 Applicable Standards 1 10 1 5...

Страница 23: ...on the servomotor and SERVOPACK Refer to the descriptions of model numbers in the following section Does the servomotor shaft rotate smoothly The servomotor shaft is normal if it can be turned smoothl...

Страница 24: ...CHARGE L1 L1C L2C B1 B2 U V W L2 SERVOPACK model Serial number Applicable power supply Applicable motor capacity SGDS 02A12A AC OUTPUT S N O N AC INPUT SERVOPACK MODEL YASKAWA ELECTRIC MADE IN JAPAN...

Страница 25: ...GH SGMSH SGMUH SGMBH 3000rpm 3000rpm 1500rpm 3000rpm 6000rpm 1500rpm 3000rpm 3000rpm 1500rpm 3000rpm 6000rpm 1500rpm A3 0 03 40 4 0 4 0 A5 0 05 44 4 4 01 0 1 0 1 50 5 0 02 0 2 0 2 55 5 5 04 0 4 0 4 75...

Страница 26: ...Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Therefore do not touch the SERVOPACK even after the po...

Страница 27: ...1 Outline 1 6 1 4 Examples of Servo System Configurations This section describes examples of basic servo system configuration 1 Connecting to SGMAH and SGMPH Servomotors...

Страница 28: ...he following manner Do not directly touch the connector pins provided with the servomotor Particularly the encoder may be damaged by static electricity etc 1 Remove the protective tape and cap from th...

Страница 29: ...1 Outline 1 8 2 Connecting to SGMSH SGMGH Servomotors Power Supply Three phase 200VAC SGMGH Servomotor...

Страница 30: ...ive resistor Noise filter Molded case circuit breaker MCCB Magnetic contactor I O signal cable SGDS SERVOPACK SGMCS Servomotor Power supply Single phase 100 or 200 VAC R T Protects the power supply li...

Страница 31: ...after being installed in the final product Model UL 1 Standards UL File No CSA 2 Standards Certifications SERVOPACK SGDS A12A UL508C E147823 CSA C22 2 No 14 UL Servomotor SGMAH SGMPH SGMSH SGMCS B C D...

Страница 32: ...ting Cables 2 7 2 4 1 Cables for SGMAH and SGMPH Servomotors 2 7 2 4 2 Cables for SGMSH Servomotor 2 12 2 4 3 Cables for SGMGH Servomotors 2 16 2 4 4 Cables for SGMCS Servomotor 2 20 2 5 Selecting Per...

Страница 33: ...16 bit 16384 x 4 Absolute Encoder SGMAH 01 A A F 4 1 Keyways shaft seals and holding brakes not available on motors with NEMA flanges revision level N Sigma II Servomotor Type Power Supply A Standard...

Страница 34: ...2 7hp 30 3 0kW 4 0hp 44 4 4kW 6 0hp 55 5 5kW 7 5hp 75 7 5kW 10hp Power Supply A 200V Accessories 1 Standard C 24VDC Brake S Shaft Seal E Brake and Shaft Seal Shaft Specifications 6 Straight Shaft with...

Страница 35: ...oder Specifications Code 3 Remarks Standard Option Specifications 20 bit absolute Flange Specifications Code 1 Remarks Standard Specifications Design Revision Order Code A Specifications Standard Opti...

Страница 36: ...ons MECHATROLINK II IF Serial fully closed Interface Supply Voltage Code A F Voltage 02 SGDS A 01 A R 200 V 100 V 100 V input 200 V output Doubled voltage 12 Design Revision Order A B Start from A III...

Страница 37: ...400 W 04F 04A 08A 750 W 08A SGMPH Flat Type 3000RPM 4 models 01A 100 W 01F 01A 02A 200 W 02F 02A 04A 400 W 04F 04A 08A 750 W 08A SGMSH Super High Power Capacity 3000RPM 1 model 10A 1 0 kW 10A 15A 1 5...

Страница 38: ...g Cables 2 4 1 Cables for SGMAH and SGMPH Servomotors Standard Connection Encoder cable extension from 20 m 65 6 ft up to 50 m 164 ft SGMAH and SGMPH 01 to 04 Servomotor for 100W to 400W SGMAH and 100...

Страница 39: ...Power Cable without Brake All JZSP CMM00 A These cables are available in five lengths Use two digits in the part number s last place 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock Power Cable with B...

Страница 40: ...hese connector kits include pin and socket Requires use of Amp Crimp Tool 90548 1 See below Stock Motor Power Mating Connector with Brake JZSP CMM9 2 Amp Crimp Tool 90548 1 Crimp tool for Motor Power...

Страница 41: ...A These UL and CE compliant cables are available in five lengths Use two digits in the part number s last place 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock 1 5 B5ICE A Power Cable with Interconne...

Страница 42: ...nectron Connector for Motor Power Cable with or without Brake IP67 0 1 0 2 0 4 0 8 1 5 FIN07S B2 Solder Cup Stock 2CN Amplifier Mating Connector JZSP CMP9 1 Interconnectron Connector for Encoder Cable...

Страница 43: ...tor Standard Connection Battery case SGDS SERVOPACK SGMSS Servomotor Servomotor main circuit cable Encoder cable Required when an absolute encoder is used YASKAWA SERVOPACK 200V SGDS 10A12A SW1 L1 L1C...

Страница 44: ...s of the part number 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock 3 0 B2E A B2BE A 4 0 5 0 B3E A B3BE A Encoder Cable incremental or absolute IP67 All JZSP CMP02 B These cables are available in fiv...

Страница 45: ...6B18 10S MS3106B20 15S Straight type connector Stock MS3108B18 10S MS3108B20 15S L type connector MS3057 10A MS3057 12A Cable clamp 3 0 4 0 5 0 MS3106B22 22S MS3106B24 10S Straight type connector MS31...

Страница 46: ...ize kW Part Number Comments Item Class without Brake with Brake Power Cable with Connectors IP67 1 0 1 5 2 0 B1CE A B1BCE A Use the following key to specify required cable length last digit of part nu...

Страница 47: ...tors Standard Connection Battery case SGDS SERVOPACK SGMSS Servomotor Servomotor main circuit cable Encoder cable Required when an absolute encoder is used YASKAWA SERVOPACK 200V SGDS 10A12A SW1 L1 L1...

Страница 48: ...1 3 B1E A B1BE A Use the following key to specify needed cable length last two digits of the part number 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock 2 0 3 0 B2E A B2BE A 4 4 B3E A B3BE A 5 5 7 5 B...

Страница 49: ...8B18 10S MS3108B20 15S L type connector MS3057 10A MS3057 12A Cable clamp 2 0 3 0 4 4 MS3106B22 22S MS3106B24 10S Straight type connector MS3108B22 22S MS3108B24 10S L type connector MS3057 12A MS3057...

Страница 50: ...he part number 03 3m 05 5m 10 10m standard 15 15m 20 20m Limited Stock 2 0 3 0 B2CE A B3BCE A 4 4 B3CE A 5 5 7 5 B5CE A B5CE A B7BCE A 11 15 B6CE A B6CE A B7BCE A Connector Description D Motor Size kW...

Страница 51: ...uit cable Encoder cable Encoder cable SGMCS Servomotor YASKAWA SERVOPACK 200V SGDS 02A12A C N 3 C N 6 C N 1 A B C N 2 C N 4 SW1 CHARGE L1 L1C L2C B1 B2 U V W L2 A SGDS SERVOPACK SGMCS Servomotor YASKA...

Страница 52: ...bsolute encoder 3 m 9 84 ft JZSP CMP03 03 JZSP CMP13 03 5 m 16 4 ft JZSP CMP03 05 JZSP CMP13 05 10 m 32 8 ft JZSP CMP03 10 JZSP CMP13 10 15 m 49 2 ft JZSP CMP03 15 JZSP CMP13 15 20 m 65 6ft JZSP CMP03...

Страница 53: ...Aviation Electronics Industry Ltd Name Servomotor Model Length Type Specifications Standard Type Flexible Type 1 Servomo tor Main Circuit Cable Connectors Cont Servomotor end connector JN1DS04FK1 2 So...

Страница 54: ...operator Digital operator I O signal cable Battery for absolute encoder CN5 DF0300413 PC ON 1 POWER COM S N D0024B958810004 With front cover open Analog monitor cable Name Length Type Figure Refer enc...

Страница 55: ...it 3 m 9 84 ft JZSP CLP20 03 4 4 12 5 m 16 4 ft JZSP CLP20 05 10 m 32 8 ft JZSP CLP20 10 15 m 49 2 ft JZSP CLP20 15 20 m 65 6 ft JZSP CLP20 20 Serial Converter Unit For Linear Scale manufactured by He...

Страница 56: ...lude a protective grounding circuit Install a ground fault protector to protect the system against overload and short circuit or protective grounding combined with the molded case circuit breaker Main...

Страница 57: ...phase 250 VAC 6 A HI 11J 20 A R C M 601BQZ 4 X5053 0 10 01F 0 20 02F FN2070 10 07 Single phase 250 VAC 10 A X5054 0 40 04F FN2070 16 07 Single phase 250 VAC 16 A HI 15J 35 A X5061 Single phase 200 V 0...

Страница 58: ...s the manufacturers of each device Main Circuit Power Supply SERVOPACK Model Regenerative Resistor Refer to 4 4 3 and 5 7 Capacity kW SGDS Built in Externally Connected Resistance Capacity W Single ph...

Страница 59: ...2 System Selection 2 5 4 Regenerative Resistors 2 28...

Страница 60: ...ERVOPACK s Power Supply Capacities and Power Losses 3 12 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 13 3 5 1 Overload Characteristics 3 13 3 5 2 Starting and Stopping Time 3 1...

Страница 61: ...100 to 115 VAC 10 to 15 50 60 Hz Control Circuit Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control Method Single or three phase full wave rectification IGBT PWM sine wave driven Feedback Serial e...

Страница 62: ...istor Built in Overtravel Prevention OT Dynamic brake stop at P OT or N OT input deceleration to a stop or free run to a stop Electronic Gear 0 001 B A 1000 Protection Overcurrent overvoltage insuffic...

Страница 63: ...t average acceleration and deceleration Fully closed Control Position control using the fully closed feedback is available Fully closed Control System Specifications Interface Serial communications in...

Страница 64: ...tection class 1X Altitude 1000 m max Conforming to the following standards UL508C CSA C22 2 No 14 EN50178 EN55011 group 1 class A EN61000 6 2 Installation Site Installation in a Control Panel Design t...

Страница 65: ...cessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C 32 to 131 F Humidity 90 RH or less Vibrat...

Страница 66: ...supply 1KM L1 B1 B2 L2 L1C L2C U V W 15V 5V 12V 5V Digital Operator Personal computer CN3 Current sensor 1KM 1KM Surge protector Power OFF Power ON Open during Servo alarm 1Ry CN2 Servomotor PG Gate...

Страница 67: ...0 Control power supply 1KM L1 B1 B2 L2 L1C L2C U V W 15V 5V 12V 5V Digital Operator Personal computer CN3 Current sensor Dinamic brake circuit 1KM 1KM Surge protector Power OFF Power ON Open during Se...

Страница 68: ...3 3 SERVOPACK Internal Block Diagrams 3 9 3 3 3 Three phase 200 V 1 0 kW...

Страница 69: ...ition speed calculation etc Single phase 200 to 230 V 50 60 Hz 10 15 Noise filter Control power supply 1KM 1KM Surge protector Power OFF Power ON Open during Servo alarm 1Ry Servomotor Gate drive PG o...

Страница 70: ...ence calculation Analog voltage converter I O Monitor display R2 A D XX3 XX1 XX2 L1 L2 L3 1MC Noise filter 2 1 C1 FU1 P N R S T 5V 5V 15V 5V 12V 0V POWER L1C L2C Power OFF Power ON 1MC 1MC Surge suppr...

Страница 71: ...nstall an external regenerative resistor Note External regenerative resistors are optional Refer to 5 7 Connecting Regenerative Resistors and 4 4 3 External Regenerative Resistor for details Table 3 1...

Страница 72: ...apacity of 400 W max B Others like the SGMAH SGMPH and SGMSH servomotors 3 5 2 Starting and Stopping Time The motor starting time tr and stopping time tf under a constant load are calculated using the...

Страница 73: ...tor may generate a regeneration overload alarm Take one of the following steps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed Install an externally...

Страница 74: ...0 5 1 1 5 2 0 100 200 300 TORQUE N m TORQUE oz in B A SPEED rpm 4000 3000 2000 1000 5000 0 0 1 2 3 4 0 200 400 600 TORQUE N m TORQUE oz in B A SPEED rpm 4000 3000 2000 1000 5000 0 0 2 4 6 8 0 400 800...

Страница 75: ...5 0 5 0 75 1 0 TORQUE N m SGMPH 02 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 0 5 1 1 5 2 0 100 200 300 TORQUE N m TORQUE oz in SGMPH 04 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 1 2 3 4 TORQUE N m 0...

Страница 76: ...A A SPEED rpm 4000 3000 2000 1000 5000 0 B A TORQUE N m TORQUE lb in 0 10 20 30 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0 5 10 20 15 TORQUE N m 0 50 100 150 SPEED rpm 4000 3000 2000 1000 5000 0 B A 0...

Страница 77: ...00 min 1 SGMCS 16E 335W 300 400 100 200 0 0 3240 100 min 1 200 min 1 SGMCS 35E 550W 300 400 100 200 0 0 4470 100 min 1 Load moment of inertia 10 4 kg m2 Load moment of inertia 10 4 kg m 2 Load moment...

Страница 78: ...el Capacity Range Allowable Load Moment of Inertia Rotor Moment of Inertia Ratio SGMAH 200 V 50 W to 200 W 30 400 W to 750 W 20 SGMPH 200 V 100 W 25 200 W 15 400 W 7 750 W 5 SGMSH 200 V 1 0 kW 5 1 5kW...

Страница 79: ...awings SERVOPACK dimensional drawings are grouped according to the mounting method and capacity 1 Base mounted Type Supply Voltage Capacity Reference Section Single phase 100 V 50 W 100 W 200 W 3 7 1...

Страница 80: ...1 B2 U V W 5 5 8 45 32 0 5 5 5 139 5 0 5 YASKAWA ELECTRIC MADE IN JAPAN Ground terminal 2 M4 screws 2 M4 screw holes Terminal block Mounting pitch Mounting pitch Mounting Hole Diagram Nameplate 180 6...

Страница 81: ...ACK 200V SGDS Ground terminal 2 M4 screws 2 M4 screw holes Terminal block Mounting pitch Mounting Hole Diagram Nameplate Mounting pitch Approx mass 0 9 kg Unit mm CN4 CN2 CN1 CN3 CN6 70 150 180 6 75 1...

Страница 82: ...3 7 Dimensional Drawings of Base mounted SERVOPACK Model SGDS 12A 12A 3 23 Three phase 1 5kW...

Страница 83: ...3 SERVOPACK Specifications and Dimensional Drawings 3 7 4 Single phase 200 V 800 W Three phase 200 V 1 0 kW 3 24 Three phase 2 0kW 3 0kW...

Страница 84: ...Operator 4 8 4 4 2 Cables for Analog Monitor 4 8 4 4 3 External Regenerative Resistor 4 9 4 4 4 Absolute Encoder Battery 4 11 4 4 5 Molded case Circuit braker MCCB 4 12 4 4 6 Noise Filter 4 13 4 4 7...

Страница 85: ...F 40 C 104 F 50 C 122 F 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 12 3 5 7 0 8 5 41 33...

Страница 86: ...nt 4 Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate 5 Use cable within the allowable moment of inertia 6 Do not use in continuous r...

Страница 87: ...main circuit cable connector at SERVOPACK end 51446 0301 Molex Japan Co Ltd 7 pole For 50 to 400 W SERVOPACKs 51446 0701 10 pole For 1 0 kW SERVOPACKs 51446 1001 Connection lever 54932 0000 3 pole 7 p...

Страница 88: ...otor main circuit cable connector at SERVOPACK end 51241 0311 Molex Japan Co Ltd 7 pole For 50 to 400 W SERVOPACKs 51241 0711 10 pole For 0 5 to 1 0 kW SERVOPACKs 51241 1011 Plug chained 56125 0018 Pl...

Страница 89: ...bles and Peripheral Devices 4 2 2 Crimp Type Option 4 6 3 Plugs Chained Detached 4 0 16 Trademark 4 0 16 17 1 0 67 25 9 1 02 3 1 0 12 6 3 0 25 3 0 12 1 8 0 07 0 3 0 01 min 2 6 0 10 6 8 0 27 0 8 0 03 6...

Страница 90: ...y Sumitomo 3M Ltd 1 Dimensional Drawings of Case 2 Cable Size Connector Type Case Connector Type Qty Type Qty DE9411354 10326 52A0 008 1 set 10126 3000VE Soldered 1 37 2 1 46 12 7 0 50 25 8 1 02 31 3...

Страница 91: ...al Drawings 4 4 2 Cables for Analog Monitor 1 Cable Type DE9404559 Connect the specified cables to CN5 connector for monitoring the analog monitor signals For the details refer to 8 7 Analog Monitor Y...

Страница 92: ...istors for the connection 1 References for External Regenerative Resistor 2 Model Designation Socket DF11 4DS 2C Connector DF11 2428SCF 1000 mm 39 37 in 0 20 0 0 79 Hirose Electric Corporation 3 4 1 2...

Страница 93: ...H500 A B G F E 3 5 0 14 4 5 0 18 D D C 4 5 0 18 Lead wire length L 300 11 81 A B C D E F G RH120 182 150 172 16 42 22 20 7 17 5 91 6 77 0 63 1 65 0 87 0 79 8 35 7 09 7 95 0 63 1 73 0 94 1 18 9 06 7 87...

Страница 94: ...der Install one of the absolute encoder batteries below 1 Battery Model JZSP BA01 lithium battery Battery ER3V battery made by Toshiba Battery Co Ltd 3 6 V 1000 mAh 2 Battery Installed on the Host Con...

Страница 95: ...acturer Encoder cable Lithium battery 3 6 V 1000 mAh ER3V Toshiba Battery Co Ltd Host controller Lithium battery 3 6 V 2000 mAh ER6VC3 Toshiba Battery Co Ltd 130 5 12 75 2 95 Units mm in Phase 3 3W Nu...

Страница 96: ...affner EMC Inc 52 Mayfield Ave Edison NJ 08837 1 800 367 5566 http www shaffner com Select one of the following noise filters according to SERVOPACK capacity For more details on selecting current capa...

Страница 97: ...4 3 70 130 5 5 14 98 5 3 88 F 0 3 0 012 103 4 06 143 5 63 109 4 29 J 0 2 0 0079 25 0 98 40 1 57 K 0 5 0 020 8 4 0 33 8 6 0 34 L 0 5 0 020 32 4 1 28 M 0 1 0 039 4 4 0 17 5 3 0 21 4 4 0 17 N 0 1 0 039 6...

Страница 98: ...l Main Circuit Wiring Examples Dimensions in mm in Model Tolerance FN258L 7 07 FN258L 16 07 A 1 0 039 255 10 04 305 12 01 B 126 0 8 4 96 0 031 142 0 8 5 59 0 031 C 0 6 0 024 50 1 97 55 2 17 D 225 0 8...

Страница 99: ...20J Dimensions in mm in Mounting Hole Dimensions in mm in Terminal Symbols Approx mass 0 25 kg 0 551 lb Dimensions in mm in Mounting Hole Dimensions in mm in Terminal Symbols Approx mass 0 38 kg 0 838...

Страница 100: ...nded surge protectors are listed below 2 Dimensional Drawings a R C M 601BQZ 4 b R C M 601BUZ 4 Dimensional Drawings Internal Connection Diagram Dimensional Drawings Internal Connection Diagram 4 2 0...

Страница 101: ...l Drawings Applicable SERVOPACK Model SGDS AC DC Reactor Model Reactor Specifications Impedance mH Rated Current A Single phase 100 V A5F X5053 20 0 2 0 01F X5053 02F X5054 5 0 3 0 04F X5056 2 0 5 0 S...

Страница 102: ...1 Model JEPMC W6022 2 Dimensional Drawings 3 Wiring Specifications Type Cable Model Cable length L MECHATROLINKCommunication Cable with connectors at both ends JEPMC W6003 A5 0 5 m JEPMC W6003 01 1 0...

Страница 103: ...al Drawings 4 4 13 Serial Converter Unit for Fully closed Control Converts the analog output of the encoder to digital data Serially input digital data must be used with the SERVOPACK s fully closed c...

Страница 104: ...arrangements refer to 5 5 Fully closed Encoder Connections 82 65 52 60 72 90 1 5 3 14 35 23 2 4 40 UNC tap CN2 2 4 40 UNC tap CN1 Nameplate 4 4 2 hole 2 4 2 hole 10 4 M5 tap depth 10 82 65 72 90 1 5...

Страница 105: ...4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 13 Serial Converter Unit for Fully closed Control 4 22...

Страница 106: ...NK II Communications 5 13 5 4 1 Wiring Example MECHATROLINK II Communications 5 13 5 4 2 MECHATROLINK II Communications Connectors CN6A CN6B 5 14 5 4 3 Precautions for Wiring MECHATROLINK II Cables 5...

Страница 107: ...W to 400 W Single phase 100 to 115 V 10 15 50 60 Hz 50 W to 400 W Single phase 200 to 230 V 10 15 50 60 Hz 800 W Single phase 200 to 230 V 10 15 50 60 Hz Note L3 terminal is not used Do not connect 1...

Страница 108: ...B Insert the hook of the lever into the top hole which provided with the SERVOPACK and press down to open the wire terminal as shown in Fig A Use a standard flat blade screwdriver blade width of 3 0...

Страница 109: ...CN1 1QF R T 1PL FIL 24V Indicator lamp Surge protector Flywhell diode 1PL 1PRT 1D 1QF FIL 1KM 1Ry Molded case circuit breaker Noise filter Magnetic contactor Relay L1 L1C PG SERVOPACK SGDS 12A U V W...

Страница 110: ...nic Waves If a countermeasure against power supply harmonic waves is needed for other requirements insert the AC reactor to AC power supply input of the SERVOPACK or insert the DC reactor to the inter...

Страница 111: ...inside the SERVOPACK when power is OFF Do not use a DC power supply for 100V SERVOPACK SGDS F A DC power supply will destroy the SERVOPACK which may cause a fatal accident or fire Do not change the f...

Страница 112: ...bles between encoder and SERVOPACK and wiring pin numbers differ depending on servomotor model Refer to 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details 5 2 1 Con...

Страница 113: ...t 5 8 5 2 2 CN2 Encoder Connector Terminal Layout 1 PG5V PG power supply 5 V 2 PG 0 V PG power supply 0 V 3 BAT Battery For an absolute encoder 4 BAT Battery For an absolute encoder 5 PS PG serial sig...

Страница 114: ...15 7 SO3 Control power supply for sequence signal Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF Extemal latch signal 1 Latched when ON Extemal latch signal 2 L...

Страница 115: ...eral purpose input General purpose input General purpose input General purpose input Zero point return deceleration switch input Reverse run prohibited input Servo alarm output Control power supply fo...

Страница 116: ...uit CN1 connector terminals 17 18 phase A signal 19 20 phase B signal 21 22 phase C signal are explained below Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PB...

Страница 117: ...quence output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Note The maximum allowable voltage and current capacities for photocoupler output circuits...

Страница 118: ...rmer SERVOPACK first station Pulse transformer Host controller Pulse transformer Terminating Multiple Axis Connections represents twisted pair wires Always connect a Terminator JEPMC W6020 120 between...

Страница 119: ...d is less than the max number of stations the remaining channels can be used as communications retry channels Number of communications retry channels Max number of stations Number of actual stations c...

Страница 120: ...g diagram is shown below Note 1 The total cable length must be L1 L2 Ln 50 2 The length of the cable stations L1 L2 Ln must be 0 5 m or more O N OF F Host controller L1 Ln L2 Terminator YASKAWA SERVOP...

Страница 121: ...SERVOPACK Serial converter unit SGDS 12A JZSP CLP20 Connection cable by Heidenhain Corp Linear encoder by Heidenhain Corp JZDP A003 000 CN4 CN1 CN2 17 series connector model 17JE 13090 02 D2C socket...

Страница 122: ...ons SERVOPACK Serial converter unit SGDS 12A JZSP CLP20 Linear encoder by Renishaw Inc JZDP A005 000 CN4 CN1 CN2 D sub 15 pin connector 17 series connector model 17 JE 13090 02 D2C socket by DDK Ltd S...

Страница 123: ...ovides no mechanism to prevent noise interference 5 To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as pos...

Страница 124: ...the machine a switching noise current will flow from the SERVOPACK power unit through motor stray capacitance The above grounding is required to prevent the adverse effects of switching noise For grou...

Страница 125: ...lines in the same duct or bundle them together Table 5 2 Noise Filters Main Circuit Power SERVOPACK Model Recommended Noise Filter Capacity kW SGDS Model Specifications Single phase 100 V 0 05 A5F FN...

Страница 126: ...nd wires 4 When grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to the gr...

Страница 127: ...can share a single molded case circuit braker QF or noise filter Always select a QF or noise filter that has enough specifications for the total power capacity load conditions of those servos For det...

Страница 128: ...ansfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary damaging the SERVOPACK CAUTION Primary Voltage Secondary Voltage 380 to 480 VAC 380 to 480 VAC 200 VAC 1...

Страница 129: ...ctor as shown in the following diagram Note 1 The DC reactor s 1 and 2 terminals are short circuited before shipment Remove the lead wire between these two terminals and connect the DC reactor 2 AC DC...

Страница 130: ...the amount of regenerative energy exceeds the processing capacity of the SERVOPACK then install an external regenerative resistor The following table shows the specifications of the SERVOPACK s built...

Страница 131: ...mperature increases to between 200 C and 300 C The resistors must be used at or below the rated values Check with the manufacturer for the resistor s load characteristics Use regenerative resistors at...

Страница 132: ...when connecting an external regenerative resistor Connect an external regenerative resistor between B1 and B2 terminals Note The user must provide the regenerative resis tor Disconnect the wiring betw...

Страница 133: ...5 Wiring 5 7 2 Connecting Externally Regenerative Resistors 5 28...

Страница 134: ...8 Start Synchronous Communications SYNC_SET 0DH 6 14 6 3 9 MECHATROLINK II Connection CONNECT 0EH 6 15 6 3 10 Disconnection DISCONNECT 0FH 6 16 6 3 11 Read Non volatile Parameter PPRM_RD 1BH 6 17 6 3...

Страница 135: ...e Latch Mode LTMOD_OFF 29H 6 47 6 4 9 Status Monitoring SMON 30H 6 48 6 5 Command Data Field 6 49 6 5 1 Latch Signal Field Specifications LT_SGN 6 49 6 5 2 Option Field Specifications OPTION 6 50 6 5...

Страница 136: ...to the following manuals MECHATROLINK System User s Manual SIE S800 26 1 MECHATROLINK Servo Command User s Manual SIE S800 26 2 6 1 2 System Configuration The following illustration shows system conf...

Страница 137: ...ss than the max number of stations the remaining channels can be used as communications retry channels Number of communications retry channels Max number of stations Number of actual stations connecte...

Страница 138: ...he factory setting for the station address is 41H SW2 bit 3 OFF SW1 1 Table 6 2 Station Address Settings Bit 3 of SW2 SW1 Station Address Bit 3 of SW2 SW1 Station Address OFF 0 Disabled ON 0 50H OFF 1...

Страница 139: ...ion Command Response 1 00H 00H Processing classifications Network com mand group Synchronization classifications Asynchronous 2 ALARM Processing time Within transmis sion cycle Subcommand Can be used...

Страница 140: ...ine parameters The setting value is enabled with the Set Up Device command CONFIG Can be used during any phase A warning will occur and the command will be ignored in the following cases If a warning...

Страница 141: ...he Set Up Device command CONFIG transmission after setting Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During phases other than phases...

Страница 142: ...der version are 00 Byte ID_RD Description Command Response 1 03H 03H Processing classifications Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time...

Страница 143: ...K will change to Servo OFF if this command is received when the SERVOPACK is Servo ON A warning will occur and the command will be ignored in the following cases During phase 1 Command warning1 A 95A...

Страница 144: ...he latest alarm or warning codes A warning will occur and the command will be ignored in the following cases If a Digital Operator is connected Command warning1 A 95A If ALM_RD_MOD is not within range...

Страница 145: ...ERVOPACK The data format of alarm code is as follows Note 1 When ALM_RD_MOD 0 or 1 the alarm code 1 byte long of the II SERVOPACK is returned 2 When ALM_RD_MOD 2 or 3 the alarm code 2 byte long of the...

Страница 146: ...alarm or warning status Current alarm warning status Alarm status history warning history is not preserved The ALM_CLR_MOD specifications are shown in the following table A warning will occur and the...

Страница 147: ...ng edge However if WDT errors are being masked by parameter Pn800 0 processing is completed when this command is received During phase 1 a MECHATROLINK II command warning1 A 95A will occur and the com...

Страница 148: ...the transmission cycle is 0 5 ms transmission cycle ms COM_TIM 32 ms and the communications cycle is set in multiples of 0 5 ms A warning will occur and the command will be ignored in the following ca...

Страница 149: ...mand Cannot be used 3 STATUS Releases the MECHATROLINK II connection The SERVOPACK changes communication to phase 1 Can be used during any phase When this command is received the following operations...

Страница 150: ...s Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within communi cations cycle Subcommand Cannot be used 3 STATUS This command is not supported...

Страница 151: ...d with the Set Up Device command CONFIG transmission communication after setting Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During ph...

Страница 152: ...nica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within communi cation cycle Subcommand Cannot be used 3 STATUS Sets coordinates REFE can also enable home...

Страница 153: ...3 STATUS Applies brake This command is enabled when the parameter Pn50F 2 is not set to 0 This command is enabled only while the servo is OFF Can be used during phases 2 and 3 A warning will occur an...

Страница 154: ...cycle Subcommand Cannot be used 3 STATUS Applies brake This command is enabled when Pn50F 2 is set to 1 Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the f...

Страница 155: ...s the present position when an absolute encoder is used The reference point home position ZPOINT and software limits will be enabled when an absolute encoder is used Can be used during phases 2 and 3...

Страница 156: ...ot be used 3 STATUS Turns sensor OFF The position data is not specified The reference point home position ZPOINT and software limits will be enabled Can be used during phases 2 and 3 If an incremental...

Страница 157: ...or details Use DEN output complete to confirm stop completion Latch processing which is dependent on LATCH EX_POSING and SVCTRL will be cancelled ZRET latch processing and ZRET home position alignment...

Страница 158: ...r data such as SMON or POSING appended to the command response LPOS is forcefully returned to MONITOR2 for one communication cycle When there is no monitor data such as PRM_RD or ALM_RD appended to th...

Страница 159: ...cur and the command will be ignored Check that CMDRDY is 1 to confirm that the Release Latch Mode command has been received It takes 500 s max for the Release Latch Mode command to start Interference...

Страница 160: ...me Within communi cations cycle Subcommand Can be used 3 STATUS Reads the current status of the SERVOPACK Can be used during phases 2 and 3 During phase 1 Command warning 1 A 95A will occur and the co...

Страница 161: ...ing phase 1 During alarm occurrence when ALM of STATUS is 1 If SENS_ON has not been completed when the absolute encoder is used OPTION field can be selected Refer to 6 5 2 Option Field Specifications...

Страница 162: ...S Turns the SERVOPACK OFF Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning 1 A 95A will occur and the command will be ignored Processing time is set in Pn506 Brake re...

Страница 163: ...ommand will be ignored in the following cases During phases other than phase 3 Command warning 1 A 95A If the SERVOPACK is Servo OFF Command warning 1 A 95A If the output speed difference from the pre...

Страница 164: ...ications OPTION for details The target position TPOS is a signed 4 bytes It is set using an absolute position in the reference coordinate system The target speed TSPD is an unsigned 4 bytes Setting ra...

Страница 165: ...TSPD exceeds the limit Data setting warning 2 A 94B OPTION field can be used Refer to 6 5 2 Option Field Specifications OPTION for details The target speed TSPD is a signed 4 bytes The direction is d...

Страница 166: ...ed during phases 2 and 3 A command warning will occur and the command will be ignored in the following cases During phases other than phase 3 Command warning 1 A 95A If the SERVOPACK is Servo OFF Comm...

Страница 167: ...be used Refer to 6 5 2 Option Field Specifications OPTION for details The target position TPOS is a signed 4 bytes reference unit It is set using an absolute position in the reference coordinate syste...

Страница 168: ...positioning is performed according to the final travel distance for external positioning specified in the parameter Pn814 Final Travel Distance for External Positioning When no latch signal is input...

Страница 169: ...distance Pn819 After the completion of positioning the coordinate system is set so that the position reached is 0 Can be used during phases 2 and 3 A command warning will occur and the command will be...

Страница 170: ...inear Acceleration Parameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Sw...

Страница 171: ...gn Soft start acceleration deceleration can also be used by setting the parameters During execution of this command the following bits for STATUS are allocated D8 ZSPD zero speed bit 0 Zero speed not...

Страница 172: ...has signed 4 bytes of data The unit for torque reference is maximum motor torque 40000000H The direction is specified by the sign When the designation for TOREF is larger it is clamped at the maximum...

Страница 173: ...his command is for maintenance Data monitoring and adjustments can be done Use as SUBCODE 01H When SUBCODE 0 the operation is compatible with SERVOPACKs in the II series Refer to 11 3 Using the Adjust...

Страница 174: ...the SET_L command is set to 0 The latch signal cannot be changed while SET_L is set to 1 Motion Any of the motions listed in the following table can be executed Refer to each motion item for operating...

Страница 175: ...ase 1 Command warning 1 A 95A will occur for POSING and FEED and the commands will be ignored For INTERPOLATE in all other phases except phase 3 Command warning 1 A 95A will occur and the command will...

Страница 176: ...be used COM_MOD Communications mode Refer to the following table COM_TIM Communications cycle ms Set the multiple number of 2 ms in the range of 2 to 32 ms 2 ms COM_TIM 32 ms A command warning will o...

Страница 177: ...sponse Processing classifications Network com mand group Processing time Within communi cations cycle 17 00H 00H Not operation command This command can be used with any main commands 18 Substatus 19 2...

Страница 178: ...OFF INTERPOLATE POSING FEED LATCH EX_POSING ZRET VELCTRL TRQCTRL 18 Substatus 19 NO NO 20 21 SIZE SIZE 22 PARAMETER PARAMETER 23 24 25 26 27 28 29 Byte ALM_RD Description Command Response Processing c...

Страница 179: ...18 Substatus 19 NO NO 20 21 SIZE SIZE 22 PARAMETER 23 24 25 26 27 28 29 Byte PPRM_WR Description Command Response Processing classifications Data communica tions command group Processing time Within 2...

Страница 180: ...nds NOP SMON SV_ON OFF INTERPOLATE POSING FEED VELCTRL TRQCTRL 18 LT_SGN Substatus 19 SEL_MON3 4 SEL_MON3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 Byte LTMOD_OFF Description Command Response...

Страница 181: ...time Within communications cycle 17 30H 30H Reads the monitoring information specified in SEL_MON3 4 This command has the same function as the main command SMON This command can be used only with the...

Страница 182: ...e second byte of the above main commands or the eighteenth byte reserved area of the subcommands Refer to the following table for details on bit allocation Latch Signal Field Latch Signal Selection EX...

Страница 183: ...D8 N CL P CL P PI CLR V PPI 0 0 G SEL Bit Name Description Set Value Details D0 0 D1 0 D2 0 D3 ACCFIL Acceleration deceleration filter Note Never change acceleration deceleration filter during output...

Страница 184: ...Servo ON 0 Servo OFF 1 Servo ON D4 PON Main power supply ON 0 Main power supply OFF 1 Main power supply ON D5 MLOCK Machine lock status always released 0 Machine lock released D6 ZPOINT Home position...

Страница 185: ...tion control mode 1 Within positioning proximity range V_LIM Speed limit 0 Speed limit not detected Torque control mode 1 Speed limit detected D12 P_SOT Forward software limit 0 Out of range 1 Within...

Страница 186: ...reference units s Speed control Maximum speed 40000000H A TSPD Target speed Position torque control reference units s Speed control Maximum speed 40000000H B TRQ Torque reference The rated torque is 1...

Страница 187: ...CN1 input signal selected in Pn81E 0 0 OFF 1 ON D13 IO13 CN1 input signal selected in Pn81E 1 0 OFF 1 ON D14 IO14 CN1 input signal selected in Pn81E 2 0 OFF 1 ON D15 IO15 CN1 input signal selected in...

Страница 188: ...cution Timing Motion commands POSING INTERPOLATE and the OPTION command data field are executed 425 s after they are received 6 6 2 Monitor Data Input Timing The monitor I O and status data is the dat...

Страница 189: ...ONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent Proce dure Item Command Description Phase 1 Turn ON control and main circuit power sup...

Страница 190: ...nection CONNECT Establish communications Start the WDT count 2 or 3 4 Check information such as device ID ID_RD Read information such as device type 2 or 3 5 Set device PPRM_WR 2 Set the necessary par...

Страница 191: ...for processing or canceling when the OT signal is input 1 Processing When the OT Signal Is Input 1 Monitor the OT signal or send a stop command if the OT signal will be input Use either of the follow...

Страница 192: ...nction 7 8 7 3 3 Software Limit Settings 7 11 7 4 Settings According to Host Controller 7 13 7 4 1 Sequence I O Signals 7 13 7 4 2 Using the Electronic Gear Function 7 14 7 4 3 Acceleration Decelerati...

Страница 193: ...ameters Pn200 to Pn281 Pn803 to Pn808 Set position parameters such as the reference pulse input form and electric gear ratio Speed Parameters Pn300 to Pn384 Set speed parameters such as speed referenc...

Страница 194: ...t set parameters For these parameters the Y indicates the location of the bit where the setting is made to select a function The position of each digit in hexadecimal code is shown below Each hexadeci...

Страница 195: ...the trial operation procedure for MECHATROLINK II communications 1 Preparations for Trial Operation To prevent accidents initially conduct trial operation with no load connected to the servomotor Bef...

Страница 196: ...ning setting 10000 current position 10000 with absolute encoders Rapid traverse speed 400 Make sure the servomotor is operating in the proper direction according to the reference If the reference and...

Страница 197: ...y or external force when power is lost The SERVOPACK uses the brake interlock output BK signal to control holding brake operation when using servomotors with brakes To prevent faulty operation due to...

Страница 198: ...Power supply Three phase 200 V L1 L2 L3 SERVOPACK Servomotor with brakes U V W M PG Encoder C N 2 Magnetic Contactor Single phase 200 V Brake control relay Brake power supply LPDE 1H01 100 V input LPS...

Страница 199: ...n forces movable machine parts to stop if they exceed the allowable range of motion The forward reverse run prohibited function uses software to stop the SERVOPACK This method may not satisfy the stan...

Страница 200: ...N OT CN1 8 at low level when ON Reverse rotation allowed Normal operation status CN1 8 at high level when OFF Reverse run prohibited forward rotation allowed Forward rotation end Reverse rotation end...

Страница 201: ...Brake Parameter Description Pn001 n 0 Stops the servomotor the same way as changing to Servo OFF according to Pn001 0 n 1 Decelerates the servomotor to a stop at the preset torque value or less and t...

Страница 202: ...e software limits can be enabled under the following conditions Under all other circumstances the software limits will not be enabled even if a software limit is exceeded The ZRET command has been exe...

Страница 203: ...mit zone is set according to the or direction the negative limit must be less than the positive limit The negative limit must be less than the positive limit Parameter Description Pn801 n 0 No softwar...

Страница 204: ...er supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily...

Страница 205: ...enerating pulses to be used for control without having to consider the machine deceleration ratio or the number of encoder pulses SERVOPACK Photocoupler 4 3 24 23 2 1 26 25 CN1 24 V 0 V SO3 SO3 BK SO1...

Страница 206: ...in physics 0 01 mm 0 0004 in 0 001 mm 0 00004 in 0 1 0 01 inch 4 Determine the load travel distance per load shaft revolution in reference units When the ball screw pitch is 5 mm 0 20 in and the refe...

Страница 207: ...o Set the electronic gear ratio according to machine specifications Ball Screw Circular Table Belt and Pulley 5 0 001 5000 reference unit Load shaft P Pitch P 1 revolution P reference unit Load shaft...

Страница 208: ...0 00004 in Travel distance per load shaft revolution 6 mm 0 001 mm 6000 Electronic gear ratio B A 32768 4 1 6000 1 Pn20E Pn210 Preset Values Pn20E 13107200 Pn210 36000 17 bit incremental encoder Load...

Страница 209: ...Bias Speed loop Current loop M Pn210 Pn20E Pn210 Pn102 Pn210 Pn20E Pn10A Pn107 Pn109 Servomotor PG Position data inter polation SERVOP ACK position control Encoder Bias addition range Pn108 B A B A Po...

Страница 210: ...tion Parameter Set the first step linear deceleration when 2 step deceleration is used Speed Time Pn80B Pn80A Pn80C Pn80E Pn80F Pn80D Pn80A First step Linear Acceleration Parameter Setting Range Setti...

Страница 211: ...ntial function filter is used for the position reference filter 9 Movement Average Position Reference Filter Movement Average Time Set the average time of movement when a movement averaging filter is...

Страница 212: ...ed as the MECHATROLINK II NEAR width in STATUS The NEAR output signal width will also be changed 3 Home Position Width Set the home position detection ZPOINT width 4 Final Travel Distance for External...

Страница 213: ...on for homing When the set value of Pn819 is negative or not enough to decelerate a deceleration stop will be performed and the movement begins again in the reverse direction Parameter Meaning Pn816 n...

Страница 214: ...nput signal allocations This parameter is set to 1 Do not change this setting Parameter Function Pn000 to Pn825 Specify SERVOPACK functions set servo gains etc Fn000 to Fn01E Execute auxiliary functio...

Страница 215: ...factory set for the P OT input signal Any terminal from CN1 8 to 13 can be allocated to the P OT signal through the Pn50A 3 setting 13 SI0 7 SI1 8 SI2 9 SI3 10 SI4 11 SI5 12 SI6 CN1 P OT Parameter De...

Страница 216: ...R logic when multiple signals are allocated to the same input circuit 3 Allocating Other Input Signals Input signal allocation can be changed as shown below INFO Input Signal Parameter Description Nam...

Страница 217: ...l ON 8 Sets signal OFF D ON when CN1 10 input signal is OFF H level E ON when CN1 11 input signal is OFF H level F ON when CN1 12 input signal is OFF H level 9 to F Sets signal OFF External Latch Sign...

Страница 218: ...l on the left from the CN1 25 and 26 output terminal Speed Coinci dence Detection V CMP Pn50E 1 0 to 3 Same as above Rotation Detection TGON Pn50E 2 0 to 3 Same as above Servo Ready S RDY Pn50E 3 0 to...

Страница 219: ...ameter settings 2 Analog Monitor The monitor signal of analog monitor can be changed with parameters Pn006 and Pn007 Parameter Description Pn800 n 0 Check performed Factory setting n 1 Ignore communic...

Страница 220: ...rake is an emergency stop function Do not repeatedly start and stop the servomotor using the SV_ON SV_OFF command or by repeatedly turning power ON and OFF 1 Dynamic brake DB The dynamic brake is a co...

Страница 221: ...topped servomotor Brake torque is at least 120 of the rated motor torque 1 Wiring Example Use the SERVOPACK sequence output signal BK and the brake power supply to form a brake ON OFF circuit The foll...

Страница 222: ...machine may move slightly due to gravity depending on machine configuration and brake characteristics If this happens use this parameter to delay Servo OFF timing This setting sets the brake ON timin...

Страница 223: ...eration The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after Servo OFF The time set at Pn508 has elapsed since Servo OFF The actual setting w...

Страница 224: ...the multi turn data of absolute encoder is to be set to zero Perform the setup using a digital operator The absolute encoder can also be initialized by using a MECHATROLINK II Adjusting ADJ command Re...

Страница 225: ...ey Description Display Open the Utility Function Mode main menu and select Fn008 B B F U N C T I O N F n 0 0 7 F n 0 0 8 F n 0 0 9 F n 0 0 A Press the Key The display is switched to the execution disp...

Страница 226: ...ulti turn data will change to 0 Set Pn205 to m 1 The setting is enabled by turning OFF the control power and turning it ON again Changing the multi turn limit may change the absolute position data Be...

Страница 227: ...urred The setting is enabled by turning OFF the control power and turning it ON again Alarm Display Explanation A CC0 The multi turn limit values for the encoder and SERVOPACK are different A C C 0 F...

Страница 228: ...tings are as shown in the following figure To set encoder position X as the machine home position 0 set Pn808 to X Pn808 Pn809 Absolute Home Position Offset Setting Range Setting Unit Factory Setting...

Страница 229: ...7 Operation 7 7 4 Absolute Encoder Home Position Offset 7 38...

Страница 230: ...Machine Rigidity Setting 8 11 8 2 6 Saving the Results of Normal Autotuning 8 12 8 2 7 Procedure for Saving the Results of Normal Autotuning 8 12 8 3 Advanced Autotuning 8 13 8 3 1 Advanced Autotuning...

Страница 231: ...Bias 8 28 8 6 4 Speed Feedback Filter Time Constant 8 28 8 6 5 Speed Feedback Compensation 8 28 8 6 6 Switching Gain Settings 8 30 8 6 7 Predictive Control 8 35 8 6 8 Less Deviation Control 8 40 8 6...

Страница 232: ...the servo gain adjustment methods consider the following possible causes Autotuning does not suit the operating conditions Adjust gain with manual adjustments Refer to 8 5 Manual Tuning The selection...

Страница 233: ...ed automatically and a notch filter is automatically adjusted while detecting vibration to find servo gains suitable for the machine characteristics This autotuning function is performed using utility...

Страница 234: ...the compensation can be set as a percentage If the speed loop gain increases the position loop gain also increases however sometimes the servo rigidity decreases Position Speed 8 6 5 Gain Switching P...

Страница 235: ...Pn308 A standard 1st order delay filter for the speed feedback The feedback speed is smoother The response is delayed if a larger value is set Position Speed 8 6 4 Torque Reference Filters Pn401 Pn40...

Страница 236: ...s low and mechanical vibration occurs easily such as a belt driven mechanism or a friction is high The speed reference is a stepwise reference If your system s operation conditions include any of thes...

Страница 237: ...nfirming motor operation WARNING START Operate with factory settings Set Pn110 0 to 0 Operation OK Load moment of interia varies Operation OK Perform normal autotuning Set Pn110 0 to 1 Adjust the mach...

Страница 238: ...at the beginning of operation may cause minor differences in the calculation results of the load moment of inertia causing differences in the SERVOPACK responsiveness each time the power supply is tu...

Страница 239: ...will decrease If the setting is too large however vibration may result depending on the machine configuration Set the machine rigidity starting at a low value and increasing it within the range where...

Страница 240: ...t o t u n i n g 0 6 D o n e M a c h i n e R i g i d i t y S e t t i n g s f o r O n l i n e A u t o t u n i n g 0 6 Operation Key Description Display Display the main menu of the utility function mode...

Страница 241: ...e that was saved for the Moment of Inertia Ratio Pn103 will be used to start normal autotuning Always set the correct moment of inertia ratio when normal autotuning is not used If the moment of inerti...

Страница 242: ...ngs are changed if required Torque related function switch Pn408 0 or Pn408 2 1st step notch filter frequency Pn409 2nd step notch filter frequency Pn40C Advanced Autotuning Operation Example Advanced...

Страница 243: ...a ratio in Pn103 before using this function 3 Advanced autotuning sets the servo gain according to the Positioning Completed Width Pn522 Set the Positioning Completed Width to the value that will be u...

Страница 244: ...vibration occurs or 60 of the gain limit Kv 15 Hz to 100 Hz about five seconds to complete the tuning 1 Normal 70 of the gain where vibration occurs or 70 of the gain limit Kv 30 Hz to 140 Hz about 10...

Страница 245: ...he utility function mode appears If the tuning operation or the calculation of the moment of inertia is disabled NO OP is displayed and highlighted and then the main menu of the utility function mode...

Страница 246: ...he gain setting level LEVEL for example from 0 Loose to 1 Normal or increase the set value for Pn522 positioning completion width and re execute the advanced autotuning B B F U N C T I O N P n 0 1 6 P...

Страница 247: ...dure is used for one parameter autotuning Press the Key and the values of each gain before tuning are displayed Press the Key The tuning level change screen appears Level tuning level setting range 1...

Страница 248: ...0 9 7 Operation Key Description Display If you change the value of the Level by pressing the or Key the values for the other servo gains will change To move the cursor between the lower two digits pre...

Страница 249: ...ness The positioning time in position control can be reduced Perform the manual tuning in the following cases If the advanced autotuning and one parameter tuning did not give a satisfactory result To...

Страница 250: ...s not vibrate Pn102 Position Loop Gain Kp Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 0 1 s 40 0 s Immediately The responsiveness of the position loop in the SERVOPA...

Страница 251: ...on of the speed reference The SERVOPACK will be most stable and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the mechanical system T...

Страница 252: ...eed Forward Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 1 0 Immediately Pn10A Feed Forward Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation...

Страница 253: ...time constant the SERVOPACK s Soft Start Time Constants Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn216 1 Selecting the Mode Switch Setting The SERVOPACK provides the...

Страница 254: ...e Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed set in parameter Pn10D Operating Example In...

Страница 255: ...acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed Using the Error Pulse Level to Switch Modes This...

Страница 256: ...increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Increase speed loop gain Overshoot Undershoot...

Страница 257: ...acteristics The Bias Addition Width Pn108 specifies when the Bias Pn107 is added and the width is expressed in position error pulse units The bias input will be added when the position error pulse val...

Страница 258: ...ain even though the speed loop gain units 0 1 Hz are different form the position loop gain units 0 1 s 3 Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analo...

Страница 259: ...1 when Condition B is established Switching Delay stays unchanged if the switching condition is established This function is effective when the switching conditions are not stable or a precised timin...

Страница 260: ...ng table shows the gain combinations for Less Deviation Control The setting methods for the Switching Condition Switching Delay and Switching Time are the same as for PI and I P control Refer to 8 6 8...

Страница 261: ...ation No integral compensation Use integral compensation IMPORTANT Parameter Function Pn139 n 0 Manual gain switching n 1 Automatic switching pattern 1 n 0 Switching condition A Positioning completion...

Страница 262: ...etting Setting Validation 0 15 to 512 00 ms 0 01 ms 20 00 ms Immediately Pn130 4th Position Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 0 1 s 40 0 s Immedi...

Страница 263: ...Setting Unit Factory Setting Setting Validation 0 30 to 32 00 ms 0 01 ms 0 72 ms Immediately Pn1A7 Auxiliary Control Switches Setting Range Setting Unit Factory Setting Setting Validation 1121 Immedia...

Страница 264: ...operates by anticipating the future position reference in order to perform high speed positioning In contrast Predictive Control for Locus Tracking follows the actual locus of the position reference b...

Страница 265: ...reference For low rigidity machines use the Predictive Control for Locus Tracking if the vibration increases when stopping with this method n X Reserved Do not change n X Reserved Do not change Pn151...

Страница 266: ...ratio will also have the benefit of reducing the settling time If the weighting ratio is set too high the torque may become oscillating and overshooting may occur The following diagram shows the typic...

Страница 267: ...ol for Positioning Pn150 n 1 The machine is controlled by anticipating the position reference to be input The operation starts at the same time as the command input which reduces the positioning time...

Страница 268: ...ing Pn150 1 0 Operation with the Predictive Control function s basic adjustments Is Positioning Control or Locus Tracking Control being used Locus Tracking Control Positioning Control The position loo...

Страница 269: ...iation Control Not using Less Deviation Control Position Position Error Time Time Position reference Host reference Using Less Deviation Control with Reference filter Using Less Deviation Control with...

Страница 270: ...Setting Setting Validation 0 to 500 Hz 1 Hz 37 Hz Immediately Pn1AA Position Proportional Gain Setting Range Setting Unit Factory Setting Setting Validation 0 to 500 Hz 1 Hz 60 Hz Immediately Pn1AB Sp...

Страница 271: ...will be disabled regardless of the setting in Pn110 n x Parameter Meaning Pn10B n 0 Standard position control n 1 Use Less Deviation Control n 2 Use Less Deviation Control with Reference filter n 3 Re...

Страница 272: ...changes of Pn119 Set the Gain related Application Switches to Use Less Deviation Control with Reference filter Pn10B 2 2 Turn the power OFF and ON again No Yes No Yes No Yes Are the response results s...

Страница 273: ...F n 0 1 6 F n 0 1 7 Operation Key Description Display Display the main menu of the utility function mode and select Fn015 Press the Key The gain values before the tuning are displayed Scroll the displ...

Страница 274: ...Control function a Utility Functions The following utility functions will be disabled even if they are selected Rigidity setting during normal autotuning Fn001 Save moment of inertia ratio data obtain...

Страница 275: ...actory setting 3rd Step Torque Reference Filter Pn411 Torque reference after filternng 2nd Step 2nd Torque Reference Filter Pn40F Pn410 1st Step Notch Filter Pn409 Pn40A Pn408 Torque Relqted Function...

Страница 276: ...104 2 10 10 3 104 Phase Frequency Hz 400 300 200 100 0 deg 300 200 100 0 100 2 10 10 3 10 4 2 10 10 3 10 4 400 300 200 100 0 Notch filter Gain db Frequency Hz Notch filter Phase deg Frequency Hz Para...

Страница 277: ...ration on stopping lowers the internal servo gain only when stopping After the time specified for the Vibration Suppression Starting Time Pn421 has elapsed from the time the difference of position ref...

Страница 278: ...idation 0 00 to 655 35 ms 0 01 ms 0 00 ms Immediately Position Position Parameter Meaning Pn207 n 0 Disabled Factory Setting n 1 Compensate in forward direction n 2 Compensate in reverse direction Pn2...

Страница 279: ...1 and 2 are calculated by the following equations Pin Number Line Color Signal Name Description 1 Red Analog monitor 2 Motor speed 1 V 1000 RPM 2 White Analog monitor 1 Torque reference 1 V 100 Rated...

Страница 280: ...ation Torque Pn422 subtract from Torque reference 1 V 100 Rated torque Pn006 Factory Setting n 03 Position error 0 05 V reference unit n 04 Position amp error 0 05 V reference unit Position error afte...

Страница 281: ...0 Pn550 Analog Monitor 1 Offset Voltage Setting Range Setting Unit Factory Setting Setting Validation 1000 0 to 1000 0 0 1 V 0 0 V Immediately Pn551 Analog Monitor 2 Offset Voltage Setting Range Setti...

Страница 282: ...2 1 Specifications 9 3 9 2 2 Analog Signal Input Timing 9 4 9 2 3 Connection Example of Linear Scale by Heidenhain 9 5 9 2 4 Connection Example of Linear Scale by Renishaw 9 6 9 2 5 Connection Cable b...

Страница 283: ...closed control The SERVOPACK model for fully closed control is SGDS 02A Serial converter unit Encoder cable Cable with connectors at both ends Linear encoder Provided by the customer SGDS 02A SERVOPA...

Страница 284: ...al Resolution Input 2 phase sine wave 1 256 pitch Max Response Frequency 250 kHz Analog Input Signals cos sin Ref Differential input amplitude 0 4 V to 1 2V Input signal level 1 5 V to 3 5V Pole Senso...

Страница 285: ...l be counted up Precautions 1 Never perform insulation resistance and withstand voltage tests 2 When analog signals are input to the serial converter unit noise influence on the analog signals affects...

Страница 286: ...5 0 59 3 0 12 14 35 0 57 23 0 91 2 4 40 UNC tapped holes CN2 2 4 40 UNC tapped holes CN1 Nameplate 4 4 2 0 17 holes 2 4 2 0 17 holes 10 4 M5 tapped holes depth 10 0 39 Dimensions in mm in 17 series co...

Страница 287: ...3 23 65 2 56 72 2 84 90 3 54 1 5 0 59 3 0 12 14 35 0 57 23 0 906 300 30 11 81 1 18 4 M5 tapped holes depth 10 0 39 2 4 40 UNC tapped holes CN1 CN2 Nameplate 4 4 2 0 17 holes 2 4 2 0 17 holes 10 0 39 5...

Страница 288: ...ngth L Cable with connectors at both ends Connection between SERVOPACK connector CN4 and serial converter unit JZSP CLP20 03 JZSP CLP20 05 JZSP CLP20 10 JZSP CLP20 15 JZSP CLP20 20 3 m 9 84 in 5 m 15...

Страница 289: ...losed Control Note Either an incremental or an absolute encoder can be used SERVOPACK MECHATROLINK II movement reference Elec tronic gear Divider Error counter Pitch M PG Machine Serial converter unit...

Страница 290: ...using a fully closed encoder for the reversed rotation mode the signal PBO is reversed and output Pn51B Excessive Error Level Between Servomotor and Load Position Setting Range Setting Unit Factory S...

Страница 291: ...ameters must be set Pn000 n X for semi closed control and Pn002 n X for fully closed control Change the settings according to your required specifications Incorrect settings may cause run away of the...

Страница 292: ...Alarm Display Table 10 3 10 1 3 Warning Displays 10 6 10 1 4 Troubleshooting of Alarm and Warning 10 7 10 1 5 Troubleshooting for Malfunction without Alarm Display 10 20 10 2 Inspection and Maintenanc...

Страница 293: ...splayed letter by letter on the indicator on the front panel of the SERVOPACK Bit data Bit Position as shown in the figure Bit Data Display Contents Motor rotation detection Lit when the servomotor is...

Страница 294: ...the setting conditions DB stop N A A 050 Combination Error SERVOPACK and servomotor capacities do not match each other DB stop Available A 100 Overcurrent or Heat Sink Overheated An overcurrent flowed...

Страница 295: ...A A b33 Current Detection Error 3 Phase W current sensor is faulty DB stop N A A bF0 System Alarm 0 Internal program error 0 of SERVOPACK occurred DB stop N A A bF1 System Alarm 1 Internal program er...

Страница 296: ...or 7 Zero speed stop N A A E40 MECHATROLINK II Transmission Cycle Setting Error Transmission cycle setting of MECHATROLINK II is incorrect Zero speed stop Available A E50 MECHATROLINK II Synchronizati...

Страница 297: ...itch of Pn310 A 920 Regenerative Overload This warning occurs before the regenerative overload alarm A 320 occurs If the warning is ignored and operation continues a regenerative overload alarm may oc...

Страница 298: ...ned ON The control power supply lowered and sometimes ranged from 30 VAC to 60 VAC Correct the power supply and set Fn005 to initialize the parameter The SERVOPACK EEPROM and the related circuit are f...

Страница 299: ...range by changing program JOG movement speed Pn533 Increase program JOG movement speed Pn533 Occurred when attempting to execute advanced autotuning F017 after changing electronic gear ratio Pn20E Pn2...

Страница 300: ...m has been reset by turning OFF the power too many times Change the method to reset the alarm The overload or regenerative power exceeds the regenerative resistor s capacity Reconsider the load and op...

Страница 301: ...curred when the main circuit power supply was turned ON In the DC power input mode AC power is supplied through L1 and L2 or L1 L2 and L3 For AC power input Pn001 2 0 For DC power input Pn001 2 1 In t...

Страница 302: ...wiring The encoder wiring is incorrect Correct the encoder wiring Malfunction occurred due to noise interference in the encoder wiring Take measures against noise for the encoder wiring A SERVOPACK f...

Страница 303: ...turned ON A SERVOPACK board fault occurred Replace the SERVOPACK Occurred during operations other than the turning ON OFF of the main circuit A SERVOPACK board fault occurred Replace the SERVOPACK Oc...

Страница 304: ...n the absolute encoder was used as an incremental a SERVOPACK board fault occurred Replace the SERVOPACK When the control power supply was turned ON using an absolute encoder Setting Pn002 2 0 The bat...

Страница 305: ...again If this alarm occurs frequently replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK Occurred during operation A serial converter unit malfunctioned Turn the SERVO...

Страница 306: ...ct encoder cable specifications Use tinned annealed copper twisted pair or twisted pair shielded wire with a core of at least 0 12 mm2 0 0002 in2 Noise interference occurred because the wiring distanc...

Страница 307: ...on Wiring of cable between serial converter unit and SERVOPACK is incorrect or faulty contact Correct the cable wiring The specified cable is not used between serial converter unit and SERVOPACK Use t...

Страница 308: ...uring MECHATROLINK II communications WDT data of host controller was not updated correctly Update the WDT data at the host controller correctly A SERVOPACK fault occurred Replace the SERVOPACK A E51 M...

Страница 309: ...ault occurred Replace the SERVOPACK Occurred when the servomotor was running The contact in three phase power supply wiring is faulty Correct the power supply wiring Three phase power supply is unbala...

Страница 310: ...running Do not run the servomotor in servo OFF status Make the setting so that the errors are cleared in servo OFF status Adjust the detection level A 910 Overload Warning for the alarms A710 and A72...

Страница 311: ...etting To validate new setting of this parameter turn OFF the power and ON again Turn OFF the power and ON again A 94A Data Setting Warning 1 Occurred when PRM_RD PRM_WR or PPRM_WR command was sent Di...

Страница 312: ...election Encoder type differs from parameter setting Check incremental or absolute encoder Set parameter Pn002 2 to the encoder type being used Servo ON SV_ON command is not sent Check the command sen...

Страница 313: ...or near the high current line Install a surge protector to the encoder cable FG varies by influence of machines such as welder on the servomotor side Check if the machine is correctly grounded Ground...

Страница 314: ...er cable with the specified specifications Noise interference because the encoder cable distance is too long The wiring distance must be 20 m 65 6 ft max The encoder cable distance must be within the...

Страница 315: ...ft max The encoder cable distance must be within the specified range Noise influence due to damaged encoder cable Check if the encoder cable is bent or its sheath is damaged Correct the encoder cable...

Страница 316: ...higher than normal Exterior According to degree of contamination Clean with cloth or compressed air Insulation Resistance Measurement At least once a year Disconnect SERVOPACK and test insulation resi...

Страница 317: ...before shipping Be sure to confirm that the parameters are properly set before starting operation Table 10 8 Periodical Part Replacement Part Standard Replacement Period Replacement Method Operating C...

Страница 318: ...tive Resistors 11 6 11 2 List of Parameters 11 11 11 2 1 Utility Functions List 11 11 11 2 2 List of Parameters 11 12 11 2 3 Monitor Modes 11 37 11 3 Using the Adjusting Command ADJ 3EH 11 38 11 3 1 A...

Страница 319: ...Feeding distance 0 275 m Ball screw length LB 1 0 m Feeding time tm 1 2 s max Ball screw diameter DB 0 03 m Friction coefficient 0 2 Ball screw lead PB 0 01 m Mechanical efficiency 0 9 90 Coupling ma...

Страница 320: ...ue 2 39 N m Instantaneous peak torque 7 16 N m Servomotor moment of inertia 2 10 10 4 kg m2 SERVOPACK allowable load moment of inertia 31 5 10 4 kg m2 8 Verification on the Provisionally Selected Serv...

Страница 321: ...in Linear motion section mass M 80 kg Positioning distance 0 25 m Ball screw length LB 0 8 m Positioning time tm Less than 1 2 s Ball screw diameter DB 0 016 m Electrical stop accuracy 0 01 mm Ball sc...

Страница 322: ...ERVOPACK Rated output 200 W Rated motor speed 3000 RPM Rated torque 0 637 N m Instantaneous peak torque 1 91 N m Motor moment of inertia 0 116 10 4 kg m2 SERVOPACK allowable load moment of inertia 3 4...

Страница 323: ...rative Resistors 1 Simple Calculation When driving a servomotor with the horizontal axis check the external regenerative resistor requirements using the calculation method shown below a SERVOPACKs wit...

Страница 324: ...rnal regenerative resistor is needed Operating Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regeneration mode operati...

Страница 325: ...on speed RPM If the above calculation determines that the amount of regenerative power Wk processed by the built in resistor is not exceeded then an external regenerative resistor is not required If t...

Страница 326: ...generated torque N m in continuous regeneration mode operation period NMG Servomotor rotation speed RPM for same operation period as above tG Same operation period s as above b Servomotor Winding Resi...

Страница 327: ...t power supply voltage and its absorbable energy A5F to 02F AC Input Power Supply Voltage Vms SERVOPACK for 100 V Absorb able Energy J 04F 0 15 20 30 39 29 14 20 47 50 35 10 5 25 40 100 110 120 90 Mod...

Страница 328: ...rtia ratio data obtained from normal autotuning Fn008 Absolute encoder multi turn reset and encoder alarm reset Fn00C Manual zero adjustment of analog monitor output Fn00D Manual gain adjustment of an...

Страница 329: ...rward direction Sets CW as forward direction Reverse Rotation Mode Reserved Do not change Rotation Direction Selection Reserved Do not change Reserved Do not change Reserved Do not change 4th digit 3r...

Страница 330: ...e N A Set VLIM to 0 VLIM operates as the speed limit value Velocity Control VELCTRL Option Refer to 6 3 30 Velocity Control 0 1 2 3 4 Unused Uses fully closed encoder pulse without phase C incremental...

Страница 331: ...reference speed 1 V 1000 min Reserved Do not change Motor load position error 0 01 V 1 reference unit Positioning completion signal positioning completed 5 V positioning not completed 0 V Speed feed f...

Страница 332: ...eference speed 1 V 1000 min Reserved Do not change Motor load position error 0 01 V 1 reference unit Positioning completion signal positioning completed 5V positioning not completed 0V Speed feed forw...

Страница 333: ...9 Feed Forward Gain 2 0 to 100 1 0 8 6 1 Pn10A Feed Forward Filter Time Constant 2 0 00 to 64 00 ms 0 01 ms 0 00 ms Note Can be changed at any time and immediately validated after changing Called an o...

Страница 334: ...nd is sent Parameter No Name Data Size Setting Range Units Factory Setting Changing Method Reference Section 0 1 2 3 4 0 1 Uses internal torque reference as the switching condition Level setting Pn10C...

Страница 335: ...0 ms Pn135 Gain Switching Waiting Time 1 2 0 to 65535 ms 1 ms 0 ms 8 6 6 Pn136 Gain Switching Waiting Time 2 2 0 to 65535 ms 1 ms 0 ms The parameter Pn111 setting is enabled only when the parameter P...

Страница 336: ...Units Factory Setting Changing Method Reference Section 0 1 0 1 2 3 4 5 Manual gain switching Automatic gain switching pattern 1 Changes automatically 1st gain to 2nd gain when the switching conditio...

Страница 337: ...01 ms 0 72 ms Pn1A4 Torque Reference Filter Time Constant 2 0 00 to 25 00 ms 0 01 ms 0 30 ms 8 6 8 Note Can be changed at any time and immediately validated after changing Called an online parameter V...

Страница 338: ...ing Changing Method Reference Section 0 1 2 3 0 1 2 0 1 n 4th digit 3rd digit 2nd digit 1st digit Do not perform integral compensation processing Perform integral compensation processing Factory setti...

Страница 339: ...changed at any time and immediately validated after changing Called an online parameter Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated whe...

Страница 340: ...s 8 6 9 Pn402 Forward Torque Limit 2 0 to 800 1 800 Pn403 Reverse Torque Limit 2 0 to 800 1 800 Pn404 Forward External Torque Limit 2 0 to 800 1 100 Pn405 Reverse External Torque Limit 2 0 to 800 1 10...

Страница 341: ...ravity Compensation Torque 2 200 00 to 200 00 0 01 0 00 Pn456 Sweep Torque Reference Amplitude 2 1 to 800 1 15 Pn501 Zero Clamp Level 2 0 to 10000 RPM 1 RPM 10 RPM Pn502 Zero Speed Level 2 1 to 10000...

Страница 342: ...3 4 5 6 7 8 9 A B 0 1 ON when CN1 13 input signal is ON L level ON when CN1 7 input signal is ON L level ON when CN1 8 input signal is ON L level ON when CN1 9 input signal is ON L level ON when CN1 1...

Страница 343: ...9 input signal is ON L level ON when CN1 10 input signal is ON L level ON when CN1 11 input signal is ON L level ON when CN1 12 input signal is ON L level Sets signal ON Sets signal OFF ON when CN1 13...

Страница 344: ...a Size Setting Range Unit Factory Setting Changing Method Reference Section Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change 4th digit 3rd digit 2nd digit 1s...

Страница 345: ...anging Method Reference Section 0 1 2 3 0 to 3 Do not use Outputs the signal from CN1 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output ter...

Страница 346: ...gnal ON Sets signal OFF Inputs the reversal signal from CN1 13 input terminal Inputs the reversal signal from CN1 7 input terminal Inputs the reversal signal from CN1 8 input terminal Inputs the rever...

Страница 347: ...er a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM_WR command...

Страница 348: ...0 0 V 8 7 Pn551 Analog Monitor 2 Offset Voltage 2 1000 0 to 1000 0 V 0 1 V 0 0 V 1 Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor 2 The...

Страница 349: ...A 95 Ignores communications warning A 96 Ignores both data setting warning A 94 and communications warning A 96 Ignores both command warning A 95 and communications warning A 96 Ignores data setting...

Страница 350: ...2 100 Pn80E 2nd Step Linear Deceleration Constant 2 1 to 65535 10000 reference units s2 100 Pn80F Deceleration Constant Switching Speed 2 0 to 65535 100 reference units s 0 Pn810 Exponential Function...

Страница 351: ...1823 Reference Unit 100 Pn81B Reserved Do not change Pn81C Reserved Do not change Pn81D Reserved Do not change Note Can be changed when DEN 1 Immediately validated after changing Do not change when DE...

Страница 352: ...r Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter...

Страница 353: ...bits Reference Unit 000DH Fully Closed Encoder Count Upper 32 bits Reference Unit 0010H Un000 Motor Rotation Speed RPM 0011H Un001 Speed Reference RPM 0012H Un002 Torque Reference 0013H Un003 Rotation...

Страница 354: ...nce pulse speed displayed only in position control mode RPM Un008 Error counter position error amount displayed only in position control mode reference unit Un009 Accumulated load ratio in percentage...

Страница 355: ...the load moment of inertia during operation in order to maintain the target value for speed loop gain or position loop gain Normal autotuning may not work well in the following cases When the cycle f...

Страница 356: ...rform tuning Set Pn110 0 to1 Adjust the machinerigidity setting Set Pn110 0 to 2 Y es Load moment of inertia changes Operation OK Adjust the friction compensation Set Pn110 0 to 2 End Make servogain a...

Страница 357: ...ng command ADJ 3EH The procedure for making changes is shown below The machine rigidity can be set also by changing the utility function Fn001 using a digital operator 1 By setting byte 1 of the MECHA...

Страница 358: ...rocessing the factory set values in the SERVOPACK To save the results of normal autotuning and use them as the initial values set in the SERVOPACK when the SERVOPACK is turned ON again it is necessary...

Страница 359: ...application makes few changes there is no need to continue calculating the moment of inertia while the system is in operation Instead continue to use the value that was calculated when the system was...

Страница 360: ...nter the Setup Mode 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 CMDRDY of STATUS is set to 1 and CAD...

Страница 361: ...etting Mode will be entered 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 CMDRDY of STATUS is set to 1...

Страница 362: ...can be set 2 Send the following data in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 100EH in the CDATA field 3 CMDRDY of STATUS is set to 1 and CADDR...

Страница 363: ...40 0 Hz Speed Loop Gain Pn101 20 00 ms Speed Loop Integral Time Constant Pn102 40 0 s Position Loop Gain Pn103 0 Moment of Inertia Ratio Pn104 40 0 Hz 2nd Speed Loop Gain Pn105 20 00 ms 2nd Speed Loop...

Страница 364: ...t Setting Pn207 0010 Position Reference Function Switch Pn209 Reserved Do not change Pn20A 32768 pitches Rev Number of External Scale Pitch Pn20E 4 Electronic Gear Ratio Numerator Pn210 1 Electronic G...

Страница 365: ...Torque Reference Filter Time Constant Pn420 100 Damping for Vibration Suppression on Stopping Pn421 1000 ms Vibration Suppression Starting Time Pn422 0 00 Gravity Compensation Torque Pn456 15 Sweep To...

Страница 366: ...me Pn536 one time Number of Times of Program JOG Movement Pn540 200 0 Hz Gain Limit Pn550 0 0 V Analog Monitor 1 Offset Voltage Pn551 0 0 V Analog Monitor 2 Offset Voltage Pn600 0 W Regenerative Resis...

Страница 367: ...proach Speed 2 Pn819 Pn81A 100 refer ence units Final Travel Distance for homing Pn81D Reserved Do not change Pn81E 0000 Input Signal Monitor Selection Pn820 Pn821 0 reference units Latching Area Uppe...

Страница 368: ...8 13 alarm display and troubleshooting 10 7 alarm display table 10 3 alarm reset 10 3 ALM 5 11 ALM_CLR 6 13 ALM_RD 6 11 6 45 aluminum electrolytic capacitor replacement 10 25 ambient storage humidity...

Страница 369: ...ol power input terminal 5 2 cooling fan replacement 10 25 CSA standards 1 10 D DC power supply input 5 6 DC reactor terminal connection 5 2 debug function 7 28 DEC 5 10 deceleration ratio 7 15 details...

Страница 370: ...tion control 8 40 line driver output circuit 5 11 load moment of inertia 3 14 11 38 load regulation 3 2 LT_SGN 6 41 6 49 LTMOD_OFF 6 26 6 47 LTMOD_ON 6 25 6 47 M machine rigidity changing 11 40 machin...

Страница 371: ...tion monitor 7 28 output circuit interface 5 11 output signal connections 7 14 output signals 5 11 output circuit signal allocation 7 26 output signal selections 7 26 overload characteristics 3 13 ove...

Страница 372: ...5 regenerative resistor capacity 5 26 regenerative resistor terminal 5 2 regenerative resistors 5 25 calculating the required capacity 11 6 selection 2 27 relays replacement 10 25 release brake 6 21 r...

Страница 373: ...dimensional drawings 3 20 installation 3 5 internal block diagrams 3 7 load moment of inertia 3 13 model designations 2 5 nameplate 1 3 overload characteristics 3 13 power losses 3 12 ratings and spec...

Страница 374: ...g of alarm 10 7 troubleshooting of warning 10 7 TRQCTRL 6 39 turn sensor OFF 6 23 turn sensor ON 6 22 U UL standards 1 10 undershooting 8 24 using more than one SERVOPACK 5 22 V V CMP 5 11 VELCTRL 6 3...

Страница 375: ...Sigma II User s Manual Index Index 8...

Страница 376: ...5000 Fax 44 12 3645 8182 Internet http www yaskawa co uk YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg 901 188 3 1 Ga Euljiro Joong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 2639 YASKAWA ELE...

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