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1.  Choose "0: A moment of inertia is presumed" (We already calculated the inertia above)
2.  Choose "2: Position"
3.  Choose appropriate mechanism. Default use Belt Mechanism even for ball screw unless you

need very rigid tuning.

4. Edit distance if necessary (3 revs is default)
5. Select "Start tuning using the default settings" (can be done without this option, but this is the

typical way to do your first tune).

9. Select "Next"

1.  Turn the "Servo ON"
2.  Select "Start Tuning"
3.  Software will run the motor through it's pre-programmed moves
4.  Click "Finish"
5.  The drive is tuned
6.  Click "Finish" again to exit tuning mode

Tuning Process

Final Parameter Setup

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Содержание SGDV-120A

Страница 1: ...2 10 Yaskawa Analog Drive Interface Board Diagram Sigma5 User Manual EtherCAT Network Module Yaskawa Sigma 7 Ethercat RapidPath Absolute Encoders Homing Yaskawa Analog Monitor Output Yaskawa Drive Resolution Yaskawa Absolute Encoders with Apollo III Yaskawa Auto Tuning Updating Yaskawa Parameters Updating EtherCAT Firmware on Yaskawa Drive Yaskawa Fully Closed Loop Control Drives Servo Yaskawa ...

Страница 2: ...A 1 2 R90A 1 2 1R6A 2 4 2R8A 3 4 3R8A 3 4 5R5A 6 8 7R6A 6 8 120A 7 5 8 180A 10 10 200A 15 16 330A 25 25 470A 29 32 550A 37 Breaker 590A 54 Breaker 780A 73 Breaker 1R9D 1 4 2 3R5D 2 9 4 5R4D 4 3 6 8R4D 5 8 6 120D 8 6 10 170D 14 5 16 210D 17 4 25 260D 21 7 25 280D 31 8 32 370D 43 4 Breaker Fuse Sizing Chart Yaskawa ...

Страница 3: ...in the SERVOPACK is incorrect The software version of SERVOPACK that caused the alarm is older than that of the written parameter Check Fn012 to see if the set software version agrees with that of the SERVOPACK If not an alarm may occur Write the parameter of another SERVOPACK of the same model with the same software version Then turn the power OFF and then ON again A SERVOPACK fault occurred The ...

Страница 4: ...ratio Pn20E Pn210 A 044 Semi closed Fullyclosed Loop Control Parameter Setting Error The setting of the fully closed module does not match with that of Pn002 3 Check the settings of Pn002 3 The setting of fully closed module must be compatible with the setting of Pn002 3 A 050 Combination Error The SERVOPACK and servomotor capacities do not correspond The SERVOPACK and servomotor capacities do not...

Страница 5: ...be used so frequently The generated regenerative resistor value exceeded the SERVOPACK regenerative energy processing capacity Check the regenerative load ratio Un00A to see how many times the regenerative resistor has been used Check the operating condition including overload and reconsider the regenerative resistor value The SERVOPACK regenerative resistance is too small Check the regenerative l...

Страница 6: ...operation Reconsider the system including servo machine and operating conditions The setting of parameter Pn600 is smaller than the external regenerative resistor s capacity Check the external regenerative resistor connection and the value of the Pn600 Set the Pn600 to a correct value The external regenerative resistance is too high Check the regenerative resistance Change the regenerative resista...

Страница 7: ...ly voltage within the specified range The external regenerative resistance is too high for the actual operating conditions Check the operating conditions and the regenerative resistance Select a regenerative resistance value appropriate for the operating conditions and load The moment of inertia ratio exceeded the allowable value Confirm that the moment of inertia ratio is within the allowable ran...

Страница 8: ...p gain Pn100 The moment of inertia ratio Pn103 value is greater than the actual value or is greatly changed Check the moment of inertia ratio Set the moment of inertia ratio Pn103 to an appropriate value A 521 Autotuning Alarm Vibration was detected while executing the advanced autotuning one parameter tuning EasyFFT or tuning less function The servomotor vibrated considerably while performing tun...

Страница 9: ...display Fn000 to see if the overload alarm was reported Change the method for resetting the alarm A 7A0 cont Heat Sink Overheated Detected when the heat sink temperature exceeds 100 C Excessive load or operation beyond the regenerative energy processing capacity Check the accumulated load ratio Un009 to see the load during operation and the regenerative load ratio Un00A to see the regenerative ene...

Страница 10: ...or by checking the grounding and other wiring A 850 Encoder Overspeed Detected when the control power supply was turned ON Detected on the encoderside The servomotor was running at 200 min 1 or higher when the control power supply was turned ON Check the motor rotating speed Un000 to confirm the servomotor speed when the power is turned ON Reduce the servomotor speed to a value less than 200 min 1...

Страница 11: ...replace the external encoder A b10 Speed Reference A D Error Detected when the servo is ON A malfunction occurred in the speed reference input section Clear and reset the alarm and restart the operation A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b11 Speed Reference A D Data Error A malfunction...

Страница 12: ... Replace the SERVOPACK A C10 Servo Overrun Detected Detected when the servomotor power is ON The order of phases U V and W in the servomotor wiring is incorrect Check the servomotor wiring Confirm that the servomotor is correctly wired An encoder fault occurred If the alarm still occurs after turning the power OFF and then ON again even though the servomotor is correctly wired the servomotor may b...

Страница 13: ...e from the encoder FG A C92 Encoder Communications Timer Error Noise interference occurred on the I O signal line from the encoder Take countermeasures against noise for the encoder wiring Excessive vibration and shocks were applied to the encoder Check the operating environment Reduce the machine vibration or correctly install the servomotor An encoder fault occurred Turn the power supply OFF and...

Страница 14: ...al converter unit and SERVOPACK is incorrect or contact is faulty Check the external encoder wiring Correct the cable wiring The specified cable is not used between serial converter unit and SERVOPACK Confirm the external encoder wiring specifications Use the specified cable Cable between serial converter unit and SERVOPACK is too long Measure the length of this cable Use 20 m cable max Sheath of ...

Страница 15: ... encoder in the opposite direction or change the setting of the external encoder usage method Pn002 3 to reverse the direction Mounting of the load e g stage and external encoder joint installation are incorrect Check the external encoder mechanical connection Check the mechanical joints A E72 Feedback Option Module Detection Failure The connection between the SERVOPACK and the Feedback Option Mod...

Страница 16: ...perator and the SERVOPACK is faulty Check the connector contact Insert securely the connector or replace the cable Malfunction caused by noise interference Keep the digital operator or the cable away from noise sources CPF01 Digital Operator Transmission Error 2 A digital operator fault occurred Disconnect the digital operator and then re connect it If the alarm still occurs the digital operator m...

Страница 17: ...File Type Document Name View Download Print Sigma 5 Series User Manual Launch Keywords Yaskawa software guide manual drive servo manufacturer list yaskawa Sigma 5 Series User Manual ...

Страница 18: ...File Type Document Name View Download Print Yaskawa Brake Wiring Launch Keywords Brake yaskawa wiringbrake 24vbrake 24v motors z axis stuck braking motor Brake Wiring for Yaskawa ...

Страница 19: ...ocument Name View Download Print Drive Interface Board Diagram for Yaskawa Launch Keywords Yaskawa boards pinout pin numbers schematic interface board X15 02 09 X15 02 09 Drive Interface Board Diagram for Yaskawa ...

Страница 20: ...iew Download Print Yaskawa Analog Drive Interface Board Diagram Launch Keywords cn1 analog yaskawa pinout diagram sheet layout analogio i o i o board yaskawaboard X15 02 10 X15 02 10 Yaskawa Analog Drive Interface Board Diagram ...

Страница 21: ...nload Print Sigma5 User Manual EtherCAT Network Module Launch Keywords Yaskawa network ethernet sigma 5 five sigma7 schematic manufacturer drives drive servo motor control yaskawa Sigma SIGMA Sigma5 User Manual EtherCAT Network Module ...

Страница 22: ... as you can and still get motion and jog into the hard stops and then manually turn ballscrew back 1 4 turn 3 Jog to middle of travel and scribe a line across the axis slide 2 Click Reset Absolute Encoder If grayed out try 1 clear hbb 2 set encoder as absolute 3 unplug and replug encoder 4 cycle power to drive 5 restart app 3 Cycle power to drives 4 Open monitor Yaskawa Sigma 7 Ethercat RapidPath ...

Страница 23: ...5 Read Position actual internal value 6 Set the negative of that value to home offset 7 Cycle power to drive ...

Страница 24: ...Wire the analog input to the analog monitors on CN5 Use a cable as shown below Yaskawa Analog Monitor Output Sigma 7 Pulse and Direction Drive Wiring Setup Options ...

Страница 25: ...Factor and Offset Analog Monitor 1 Pn006 XX02 Load Meter ...

Страница 26: ...2 to 20 00 Proof Actual Output Voltage Pn552 0 01 Actual Rated Torque Substitute Max Output Voltage for Actual Output Voltage and Max Torque for Actual Rated Torque Max Output Voltage Pn552 0 01 Max Rated Torque Solve for Pn552 Pn552 Max Output Voltage 0 01 Max Rated Torque Set Max Output Voltage to 10V Pn552 10V 0 01 Max Rated Torque If using the Siemens PLC see this document Siemens PLC Wiring S...

Страница 27: ...aring Pn20E 64 Encoder Output Pn212 4096 Double Resolution Step pulses per motor turn 32 768 Description Parameter Value Electronic Gearing Pn20E 32 Encoder Output Pn212 8192 Mach4 or Mach3 Adjustment For double resolution adjust the steps per to steps per value 2 Also adjust the motor velocity and acceleration Keywords gearing ratio yaskawa encoder Yaskawa Drive Resolution ...

Страница 28: ...S ENC EXTN Cbl W BAT 0 3M Battery adapter 100536 Hex6 35x17 46 Standoff for Apollo III board 150063 6 32 1 4 SS PAN PH Apollo III Absolute Encoder license Use the VSI Device Manager to confirm the Absolute Encoders feature is active Or you need to purchase it and the software license part number is ABS 57 This board is used to send the SEN command to the Yaskawa servo drive through the Servo Adapt...

Страница 29: ...it will not work with the Absolute Encoder interface Yaskawa servo motors need a battery on the encoder cable to use the Absolute Encoder feature A new encoder cable can be purchased with the battery installed or a adaptor can be used like the one in the following photo Digital Servo Adaptor board X15 02 09 Motor Encoder Cable with Battery JZSP CSP12 E ...

Страница 30: ... Servo Adaptor board part number X15 02 09 with jumper installed Motor Encoder cable with batter or battery adaptor JZSP CSP12 E Standoff MPN number Hex6 35x17 46 and MM number 100536 Installation Hardware Kit Remove cover Remove mounting screw ...

Страница 31: ...Install Standoff Install Buffer Board ...

Страница 32: ...Reinstall mounting screw Install jumper on servo adaptor J5 pin 2 3 next to the labeled SEN ...

Страница 33: ...Install wire from Buffer Board to all Yaskawa servo adaptors for SEN signal ...

Страница 34: ...Install Motor Encoder Cable with Battery ...

Страница 35: ... on Setup Set up the encoder when the servo ON signal S ON is OFF Software and Parameters Setup Yaskawa Servo Drive Servo Drive Parameters Servo Drive Absolute Encoder Setup The rotational data will be a value between 2 and 2 rotations when the absolute encoder setup is executed The reference position of the machine system will change Set the reference position of the host controller to the positi...

Страница 36: ... the absolute encoder Read the number of encoder pulses per revolution in parameter Pn212 Now we need to multiply the encoder pulses by 4 to convert them to encoder counts Example Encoder Pulses Pn212 4096 Encoder Counts 16384 4096 4 Now we can enter the calculated value into the Control parameter Encoder Counts Per Rev Motor x under the Absolute Encoders section Navigate to the Control Parameters...

Страница 37: ...e encoder positions from the Servo Drives and mark each axis as Homed When the Control software is disabled and you press Reset the control will update the encoder positions again Another option is to press Compile Scrips to read the encoder positions Manually position the motors ball screws or pinions so the axis is square and not mechanically binding Configure the following parameters for each m...

Страница 38: ...om all the motors mapped to the axis and find the difference between the master motor encoder and the slave motor encoder If the motor encoder positions match then all motors are synced and ready for motion Navigate to the Control Parameters and enter Absolute Encoder into the filter box Find the first slave motor and enter the difference between the master motor encoder counts and the slave motor...

Страница 39: ...hanging the value to negative will fix this problem Control Parameters are where many of the features and machine functions are setup There are many common parameters that are the same across all machine types but each machine type can have additional parameters for machine specific settings Navigate to the Service Page Maintenance Page and click on Interface Config Appendix Control Parameters Vie...

Страница 40: ...Now you can view and edit any of the Control Parameters Use the Predefined Filters or enter your own search terms in the Filter box ...

Страница 41: ...in the USB folder copied over Open SigmaWin and connect to drive If drive is not showing go to device manager and find the yaskawa drive and update drivers found on server production product servo yaskawa software 1 Search and connect to the drive 2 Keep hardware enable on but turn off drive enable Do that with one of the following methods 1 Set Turn Off Enable Signals upon Disable to Drive Enable...

Страница 42: ...ready you will have to enter tuning less mode Press OK and then cycle power on the drive 6 Click the Execute button to calculate inertia NOTE If worse than 500 5 1 ratio your motor will likely not work Call MachMotion for engineering ...

Страница 43: ...7 Select the No Reference Input Option in the Autotuning Area and then click the Autotuning Button 8 Configure Conditions ...

Страница 44: ...ng 4 Edit distance if necessary 3 revs is default 5 Select Start tuning using the default settings can be done without this option but this is the typical way to do your first tune 9 Select Next 1 Turn the Servo ON 2 Select Start Tuning 3 Software will run the motor through it s pre programmed moves 4 Click Finish 5 The drive is tuned 6 Click Finish again to exit tuning mode Tuning Process Final P...

Страница 45: ...st value for each parameter 5 Then make both drives match each parameter If additional tuning is required you can run through the same procedure above but modify selections on Mode Selection and Mechanical Selection You may have to play with Pn100 Pn102 But MachMotion strongly recommends keeping the parameters matching in both drives You can also go through Chapter 8 Tuning of the attached manual ...

Страница 46: ...t parameter setting have to hold it for a second or two Record this number so you know your reference point Press the up down arrow to change the setting Press and hold the Data key when done Repeat for other parameters Power cycle the drive when done programming Through the Software with Tuning Programming cable Go the Start Menu on the control and search SigmaWin Open SigmaWin English Edition Cl...

Страница 47: ...e and select the needed parameter file It may give you a warning just select yes Check the Select all box in the lower left then click Write in the lower right The drive should now have the correct parameters Turn the power off to the drives and back on to enact the changes You can use the soft reset as well from the menu icon in the main software screen 9817 ...

Страница 48: ... manual was written for the full version of TwinCAT but will be mostly correct for using the EtherCATCfg exe Open EtherCATCfg exe from the desktop under MachMotion Programs and Drivers Shortcut Enter the company Robotic Systems and code 5RX4 ZIN4 FUHK SG84 9C8Y Loosely follow the manual to download the firmware ...

Страница 49: ...able the auto gain adjustment Run the first step of Auto Tuning with SigmaWin to calculate the Moment of Inertia Ratio and save that to the drive Also verify that the calculated percent is less than 400 if its greater than 400 then the motor is not sized correctly 1 Search and connect to the drive 2 Keep hardware enable on but turn off drive enable Do that with one of the following methods 1 Set T...

Страница 50: ...ready you will have to enter tuning less mode Press OK and then cycle power on the drive 6 Click the Execute button to calculate inertia NOTE If worse than 500 5 1 ratio your motor will likely not work Call MachMotion for engineering ...

Страница 51: ...7 Select the No Reference Input Option in the Autotuning Area and then click the Autotuning Button 8 Configure Conditions ...

Страница 52: ...ng 4 Edit distance if necessary 3 revs is default 5 Select Start tuning using the default settings can be done without this option but this is the typical way to do your first tune 9 Select Next 1 Turn the Servo ON 2 Select Start Tuning 3 Software will run the motor through it s pre programmed moves 4 Click Finish 5 The drive is tuned 6 Click Finish again to exit tuning mode Tuning Process Final P...

Страница 53: ...st value for each parameter 5 Then make both drives match each parameter If additional tuning is required you can run through the same procedure above but modify selections on Mode Selection and Mechanical Selection You may have to play with Pn100 Pn102 But MachMotion strongly recommends keeping the parameters matching in both drives You can also go through Chapter 8 Tuning of the attached manual ...

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