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9.2 Parameter File Requirements for Encoders

Customer: ____________________

Date: ____________________

Encoder part number: ____________________

Encoder manufacturer: ____________________

Motor manufacturer & Part number (Semi-closed loop only): ____________________

Application:



Semi-closed loop (please fill out motor form)



Fully-closed loop

For “Semi-closed loop” applications only:

Zero set command:



yes



Hall sensor:



yes



Rotary Encoder Data

Value

Units

Encoder Type (absolute or incremental)



absolute



incremental

Periods in 1 turn

Interpolation factor

Bits

Multi-turn limit

Revolutions

Encoder power supply voltage

Volts

Linear Encoder Data

Value

Units

Encoder Type (absolute or incremental)



absolute



incremental

Scale pitch

μm

Interpolation factor

Bits

Encoder power supply voltage

Volts

Sigma-5 and Sigma-7 Series SERVOPACKs

Motor and Encoder / Scale Configuration

Parameter File Requirements for Encoders

| | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |

Содержание SGDV-OFB03A

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Страница 3: ...7 Personnel Training 23 2 8 Personnel Protective Equipment 23 2 9 Special Dangers 24 2 10 Electric Safety 24 2 11 Conduct in the Event of Danger and Accidents 25 2 12 Signs 25 3 Checking Products 26...

Страница 4: ...OPACK for Semi closed Loop Control with Linear Motor 79 11 4 Polarity Detection Functionality 81 12 SERVOPACK with Semi closed Loop Control for Rotary Motors 89 12 1 Magnetic Pole 89 12 2 Motor Rotati...

Страница 5: ...Work 110 16 5 Disassembly 110 16 6 Storage Conditions 111 16 7 Recommissioning 111 17 Disposal 112 17 1 Disposal 112 17 2 Safety Precautions 112 17 3 Safety Regulations 112 17 4 Requirements on the Pe...

Страница 6: ...y special attention to the safety instructions The operating manual is a component of the product and must be kept accessible in the immediate vicinity of the feedback module at all times YASKAWA Euro...

Страница 7: ...n appropriate collection point and not put it in the normal waste stream See also Chap 17 Disposal page 112 Our customer service is available for technical support Information on the competent contact...

Страница 8: ...ided DANGER notifies of an imminent dangerous situation which will lead to death or serious injuries if not avoided WARNING notifies of a potentially dangerous situation which can lead to death or ser...

Страница 9: ...s or due to the most recent changes in technology The user assumes the responsibility of conducting maintenance and commissioning in accordance with the safety regulations of the applicable standards...

Страница 10: ...Manual Setup Rotational Motor SIEP S800000 43 V Series User s Manual Setup Linear Motor SIEP S800000 44 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Re...

Страница 11: ...ns Reference SIEP S800000 65 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 V Series Option Module Safety Precautions YEU TOEP C720829 00 V S...

Страница 12: ...AT Communications References Product Manual SIEP S800001 55 7 Series AC Servo Drive 7S SERVOPACK with 400V Input Power and EtherCAT CoE Communications Refer ences FT EX Specification for Advanced Safe...

Страница 13: ...RVOPACK that supplies power to the motor Cursor A mark that indicates the input position of data displayed on the digital operator Digital Operator Hand held operator connected to SERVOPACKs Feedback...

Страница 14: ...to the SERVOPACK There is a risk of electric shock operational failure of the product or burning WARNING Use a power supply with specifications number of phases voltage frequency and AC DC type that a...

Страница 15: ...to use any components that are damaged or that have missing parts There is a risk of product failure NOTICE Prevent electrostatic impact on the feedback module and its connec tions There is a risk of...

Страница 16: ...s Servomotors UL 1004 1 UL 1004 6 E165827 Linear Servo motors n SGLGW n SGLFW n SGLFW2 n SGLTW UL 1004 1 UL 1004 6 E165827 Only products with derating specifications are in compliance with the UL Stan...

Страница 17: ...tive 2011 65 EU EN 50581 Rotary Servo motors n SGMJV n SGMAV n SGMEV n SGMGV n SGMSV Low Voltage Direc tive 2006 95 EC EN 60034 1 EN 60034 5 EN 60034 8 EN 60034 9 EMC Directive 2014 30 EU EN55011 A2 g...

Страница 18: ...tive 2014 35 EU EN 60034 1 RoHS Directive 2011 65 EU EN 50581 1 Only models with E at the end of model numbers are in compliance with the standards Estimates are available for those models Contact yo...

Страница 19: ...abuse or use in unsuitable conditions or in environments not described in product catalogs or manuals or in any separately agreed upon specifica tions n Causes not attributable to the delivered produ...

Страница 20: ...ines and instal lations subject to separate industry or government regulations Systems machines and equipment that may present a risk to life or property Systems that require a high degree of reliabil...

Страница 21: ...ts and systems are developed manufactured and tested in compli ance with the applicable standards They may only be used under the specified environ mental conditions and only in connection with approv...

Страница 22: ...the intended purpose of use described here It enables the detection of the position of the controlled machine and the feedback of the machine position to the SERVOPACK with various types of third par...

Страница 23: ...operty damage Therefore only have certain activities carried out by persons specified in the respective chapters of this operating manual The following qualifications for various areas of operation ar...

Страница 24: ...K DC link and protect against switching it on again Observe the valid product safety standards when dealing with high voltage equipment WARNING Danger of injury due to moving parts Rotating and or lin...

Страница 25: ...ally EMERGENCY OFF n Keep people out of the danger zone n Introduce first aid measures n Inform the supervisors at the site n Notify a doctor and or fire department n Clear access routes for rescue ve...

Страница 26: ...f no damage from shipping can be found n Open the packaging of the device n Check the items included in the delivery against the bill of delivery The packaging consists of cardboard and plastic Follow...

Страница 27: ...awa Electric UK Ltd 1 Hunt Hill Cumbernauld Glasgow G68 9LF S N 123456789ABCDEF Firmware 10 Date 2023 04 Made in Czech Republic MODEL SGDV OFB03A G2 Use with SERVOPACK only Feedback Option Module Appl...

Страница 28: ...odule General purpose Option case specification 6th digit Design Revision Order SGDV 1st 2nd digits Module Type Code OZ 3rd 4th 5th digits Case Specifications Code A01 V Series SGDoo ooo oo A Series 6...

Страница 29: ...eplate Location OFBooA Nameplate Ratings Nameplate Model no OFB01A 1 Sigma 5 and Sigma 7 Series SERVOPACKs Checking Products Nameplate Location Feedback Option Module Type 3 Manual version C Revision...

Страница 30: ...ment Attached to the SERVOPACK Power Specification Power Supply Method Supplied from the control power supply of the SERVOPACK Operating Condi tions Surrounding Air Storage Tempera ture 0 C to 55 C 20...

Страница 31: ...nt the temperature around the SERVOPACK from exceeding 55 C take into account the size of the control panel the layout of the SERVOPACK and the cooling method For details refer to chapter SERVOPACK In...

Страница 32: ...tegory III Pollution degree 2 Protection class IP00 in installed condition depending on the IP class of the SERVOPACK used Installation Conditions EMC Directive Certification is required after install...

Страница 33: ...Sigma 5 and Sigma 7 Series SERVOPACKs Specifications Board Outline Feedback Option Module Type 3 Manual version C Revision 0 en 33...

Страница 34: ...4 5 Board Dimensions 73 mm 90 mm 11 mm 7 85 mm 18 85 mm 94 8 mm Sigma 5 and Sigma 7 Series SERVOPACKs Specifications Board Dimensions Feedback Option Module Type 3 Manual version C Revision 0 en 34...

Страница 35: ...only be carried out by qualified engi neers There is a risk of electric shock or product failure Check all wiring and power supplies carefully Incorrect wiring or incorrect voltage application to the...

Страница 36: ...d motor connection termi nals securely with the specified methods and tightening torque Insufficient tightening may cause wires and terminal blocks to gen erate heat due to faulty contact possibly res...

Страница 37: ...bat teries resulting in a risk of damage or burning When connecting a battery connect the polarity correctly There is a risk of battery rupture or encoder failure If you use an external regenerative r...

Страница 38: ...onnector cover from the SERVOPACK Connector cover 3 Hold both ends of the board A as shown in the illustration and firmly insert the board connector into the connector port on the SERVOPACK A Board In...

Страница 39: ...cover is removed on the module cover Bottom Front panel L Module cover I SERVOPACK YA SK AW A EU RO PE GM BH MA DE IN UK OFB 01A I L Top Front I L 6 Fix the module cover to the SERVOPACK by pushing i...

Страница 40: ...teria at Yaskawa The EMC level may change under other conditions such as the actual installation structure and wiring conditions These Yaskawa products are designed to be built into equipment Therefor...

Страница 41: ...gnal Cable n Digital signals n Shielded1 or unshielded cable n Analog signals n Shielded cable 2 Safety Function Device Cable Shielded cable 3 Servomotor Main Circuit Cable Shielded cable 4 Encoder Ca...

Страница 42: ...party linear motor Sensor Motor feedback sensor UVW Current command for motor drive CN2 SERVOPACK encoder connector FB OPTION SGDV OFB03A 6 2 SERVOPACK with Fully closed Loop Control Motor Scale Inter...

Страница 43: ...r M Sigma 5 or Sigma 7 servo motor PG Motor encoder Sensor External feedback sensor UVW Current command for motor drive CN2 SERVOPACK encoder connector FB OPTION SGDV OFB03A Parameter Setting Sigma 5...

Страница 44: ...Serial I F 7 1 2 Technical Data Items Description Encoder Supply Output voltage Typically 5 V Incremental Encoder Input Signal form Square wave pulse Evaluation 4x Max input frequency 1 MHz 4 MHz SGDV...

Страница 45: ...46 too 2 Pins denoted as N C do not connect to any signals 3 If higher voltage is necessary e g for compensation of long cables contact YASKAWA support 6 5 4 1 14 26 3 13 2 15 4 Pin View from solder s...

Страница 46: ...ed on the SERVOPACK The sensor devices used must each output U V W Hall sensor sig nals The block diagram of the interface is shown below Hall sensor Encoder Master FPGA W Servo Serial I F V U 5V GND...

Страница 47: ...p operation please complete the Parameter File Requirements for Encoders form and the Parameter File Requirements for SERVOPACKs for Rotary Motors form or Parameter File Requirements for SERVOPACKs fo...

Страница 48: ...command yes no Hall sensor yes no Rotary Encoder Data Value Units Encoder Type absolute or incremental absolute incremental Periods in 1 turn Interpolation factor Bits Multi turn limit Revolutions En...

Страница 49: ...otor serial number ____________________ Encoder type ____________________ Please include complete original manufacturer s motor and encoder data sheets Motor Data Value Units Motor Voltage V Rated Pow...

Страница 50: ...d Detection Torque 1 Overload Protection Torque Time sec Overload Detection Torque 2 Base Torque for Overload Detection A720 A710 100 100 YASKAWA determines overload limits based on this diagram Sigma...

Страница 51: ..._ Motor serial number ____________________ Encoder type ____________________ Please include complete original manufacturer s motor and encoder data sheets Motor Data Value Units Motor Voltage V Rated...

Страница 52: ...ad Detection Torque 1 Overload Protection Force Time sec Overload Detection Torque 2 Base Torque for Overload Detection A720 A710 100 100 YASKAWA determines overload limits based on this diagram Sigma...

Страница 53: ...chine to prevent unexpected accidents There is a risk of machine damage or injury For trial operation securely mount the Servomotor and disconnect it from the machine There is a risk of injury Forcing...

Страница 54: ...omotor will stop as follows If you turn OFF the main circuit power supply during operation without turning OFF the servo the Servomotor will stop abruptly with the dynamic brake or it will coast to a...

Страница 55: ...fan must be made at least once a year 10 2 Related Manuals and Steps to Follow Follow the procedures and instructions provided in this manual and the following user s manuals for trial operation Manu...

Страница 56: ...levant infor mation in the manual for your SERVOPACK 2 Power supply Turn ON the control power supply 3 SERVOPACK Set up Set SERVOPACK parameters correctly in accordance with the usage Refer to the rel...

Страница 57: ...an mgf file which is transferred to the SERVOPACK n a txt file representing the summary The parameter file extension mgf must be written into the module via the SERVOPACK using the SigmaWin software...

Страница 58: ...using SigmaWin version 7 42 or higher 3 Before the feedback module is activated it is not visible in the options 1 Set up Procedure for Parameter File Sigma 5 and Sigma 7 Series SERVOPACKs Set up Pro...

Страница 59: ...ameters Step 1 5 Set parameter Pn00B 3 Feedback Option Module Usage to 1 Uses for Semi Closed Loop Control Sigma 5 and Sigma 7 Series SERVOPACKs Set up Procedure Feedback Option Module Set up Feedback...

Страница 60: ...parame ters 7 Turn the power supply OFF and then ON again 8 Establish a connection using SigmaWin version 7 42 or higher Sigma 5 and Sigma 7 Series SERVOPACKs Set up Procedure Feedback Option Module...

Страница 61: ...eedback module then appears in the table 10 Select the connection method and click Search for SERVOPACKs Sigma 5 and Sigma 7 Series SERVOPACKs Set up Procedure Feedback Option Module Set up Feedback O...

Страница 62: ...lected SERVOPACK 12 It may take a moment to establish the connection to the SERVOPACK Sigma 5 and Sigma 7 Series SERVOPACKs Set up Procedure Feedback Option Module Set up Feedback Option Module Type 3...

Страница 63: ...alarms in this context can be found below in This procedure is valid for semi closed operation and for fully closed operation 2 Write Parameters using SigmaWin Sigma 5 and Sigma 7 Series SERVOPACKs Se...

Страница 64: ...dialogue box with OK Click on Cancel to return to the main window without writing motor parameters to the scale After clicking OK the SERVOPACK starts reading the parameter information from the scale...

Страница 65: ...Europe GmbH and click Open The parameter file information is displayed Make sure that the parameter file information of the installed motor is displayed Click Next to prepare writing the parameters Si...

Страница 66: ...eter file or click Cancel to return to the main window without writing parame ters to the scale Confirm the text in the displayed dialogue box with OK 6 Confirm the message with Yes to start the writi...

Страница 67: ...the next step 8 Confirm the message box with OK 9 Then restart the SERVOPACK by switching the control power supply OFF and ON again It is mandatory to search for the SERVOPACK again and to reconnect...

Страница 68: ...g two values depending on the use n 0 Uses for Fully Closed Loop Control n 1 Uses for Semi Closed Loop Control 3 Select Fully closed Operation or Semi closed Operation Sigma 5 and Sigma 7 Series SERVO...

Страница 69: ...on for CCW motor rotation For Semi closed Loop operation parameter Pn002 3 External Encoder Usage must be set to 0 The external encoder moves in the forward direction for CCW motor rotation 4 Write th...

Страница 70: ...n the module A CF1 or A CA0 Encoder Parameter Error will occur when the power is turned ON Monitor the encoder or scale data using the monitoring function to see if the encoder or scale parameters are...

Страница 71: ...ule is not connected the following message will appear B B FBOpMotID Not connect Even if a feedback option module is connected the following message will appear if the option module contains no motor...

Страница 72: ...Sigma 5 and Sigma 7 Series SERVOPACKs Set up Procedure Feedback Option Module Set up Feedback Option Module Type 3 Manual version C Revision 0 en 72...

Страница 73: ...on Use the direction in which the linear encoder counts up as the forward direction 1 Use CW as the forward direction Reverse Rota tion Mode Use the direction in which the linear encoder counts down a...

Страница 74: ...00D decrease Un00D increase Pn000 0 0 Pn002 3 1 Pn000 0 0 Pn002 3 3 Pn000 0 1 Pn002 3 3 Pn000 0 1 Pn002 3 1 Please set surely Pn000 0 and Pn002 3 by the situation above Other wise the motor load posit...

Страница 75: ...h shows the edge position In this example the set value is 20 therefore the number of is 20 The upper limit of the encoder signal output frequency multiplied by 4 is 6 4 Mpps Do not set a value that w...

Страница 76: ...Value Required value Cat When ena bled No Dig Pn000 Basic Function Selections 0 0 Rotation Movement Direction Selection 0 1 O After restart 0 Use CCW as the forward direction Use the direction in whi...

Страница 77: ...Pn080 Application Function Selections 80 0 Polarity Sensor Selection 0 1 O After restart 0 Use polarity sensor 1 Do not use polarity sensor 1 Motor Phase Sequence Selection 0 1 O After restart 0 Set...

Страница 78: ...ty Detection Reference Waiting Time ms 100 1 O Imme diately Pn490 Polarity Detection Load Level 100 1 O Imme diately Pn493 Polarity Detection Command Speed min 1 50 1 O Imme diately Pn494 Polarity Det...

Страница 79: ...inear encoder counts down as the for ward direction Reverse Movement Mode Pn002 Application Function Selections 2 2 Encoder Usage 0 1 O After restart 0 Use the encoder according to encoder specificati...

Страница 80: ...pulse output function Pn212 1 Disables the pulse output function 3 Hall Sensor Signal Inversion 0 1 O After restart 0 Does not inverse the sig nals Pos Logic 1 Inverses the signals Neg Logic Pn281 Enc...

Страница 81: ...ensor in the case of semi closed loop control with rotary motors if U V W are not wired when using an absolute encoder only the first time when using an incremental encoder always when using a rotary...

Страница 82: ...Friction on the guide is a few percentages of the rated force air slide not used The linear motor is turned ON during the function Take measures to avoid electric shock The linear motor will make larg...

Страница 83: ...e Servo Ready signal is monitored and then the Servo ON signal is output n When using different timing for the execution of the function and sending the Servo ON signal After the function has been com...

Страница 84: ...n Reference Waiting Time ms 100 Immediately Pn490 Polarity Detection Load Level 100 Immediately Pn493 Polarity Detection Command Speed min 1 50 Immediately Pn494 Polarity Detection Range 0 001 rev 0 2...

Страница 85: ...rity Detection Load Level 100 Immediately Pn493 Polarity Detection Command Speed min 1 50 Immediately Pn495 Polarity Detection Confirmation Force Refer ence 100 Immediately Pn498 Polarity Detection Al...

Страница 86: ...tection Then click on Continue Then click on Start Polarity Detection with SigmaWin Sigma 5 and Sigma 7 Series SERVOPACKs SERVOPACK Set up Polarity Detection Functionality Feedback Option Module Type...

Страница 87: ...load the saved project file Restart the SERVO PACK and reconnect then repeat the polarity detection If the detection was successful a complete message will appear Sigma 5 and Sigma 7 Series SERVOPACKs...

Страница 88: ...Your SERVOPACK is ready Sigma 5 and Sigma 7 Series SERVOPACKs SERVOPACK Set up Polarity Detection Functionality Feedback Option Module Type 3 Manual version C Revision 0 en 88...

Страница 89: ...n and U phase position 0 After restart 0 Both positions are same 1 The positions are different 3 Hall Sensor Signal Inversion 0 Does not inverse the signals Pos Logic 0 After restart 1 Inverses the si...

Страница 90: ...direction Reverse Rotation Mode Use the direction in which the linear encoder counts down as the forward direction Reverse Movement Mode Pn080 Application Function Selections 80 1 Motor Phase Sequence...

Страница 91: ...tion does not use this encoder pulse output e g network application the functionality can be disabled by the parameter Pn081 1 1 This specification is applied to the usage with the encoder feedback In...

Страница 92: ...Does not inverse the signals Pos Logic 0 After restart 1 Inverses the signals Neg Logic Parameter Setting Positive logic Pn080 0 0 Pn081 3 0 Pn080 0 0 Pn081 3 1 Pn080 0 1 Pn081 3 0 Negative logic Ava...

Страница 93: ...000 0 1 Pn080 1 1 Pn000 0 1 Pn080 1 0 U W V U V W U V W U W V Un00D increase Un00D decrease Available Pn080 0 0 Forward Reverse Un00D decrease Un00D increase U W V U V W Hall Sensor Command Desired Di...

Страница 94: ...C pulse synchronizes to the edge of A B pulse Parameter Function Default Value When ena bled No Dig Pn081 Application Function Selections 81 1 Encoder Pulse Output Usage 0 After restart 0 Enables the...

Страница 95: ...m that the servo is OFF and ensure safety before you reset an alarm There is a risk of injury or machine damage Always insert a magnetic contactor in the line between the main cir cuit power supply an...

Страница 96: ...of units A E72 Feedback Option Module Detection Failure The connection between the SERVOPACK and the feed back option module is faulty Check the connection between the SERVOPACK and the feedback optio...

Страница 97: ...et ting Decrease the setting of the encoder output pulse Pn212 or of the encoder output resolution Pn281 A 8A0 External Encoder Error An external encoder fault occurred Replace the external encoder A...

Страница 98: ...e Alarm Description Cause Investigative Actions Corrective Actions A 041 Encoder Output Pulse Setting Error The setting of Pn212 Encoder Output Pulses is outside of the setting range or does not satis...

Страница 99: ...perature of the servomotor must be 40 C or less A C80 Encoder Clear Error or Multiturn Limit Setting Error The multiturn data for the absolute encoder was not correctly cleared or set Turn the power...

Страница 100: ...ing of Pn205 0 to 65535 A D30 Position Data Over flow The multi turn position data exceeded 32767 Correct the setting 32767 to 32767 14 5 Errors in Semi closed Loop Control with Linear Motors Alarm Nu...

Страница 101: ...ure of linear servomotor is too high Measure the ambient oper ating temperature around the linear servomotor The ambient operating tem perature of the linear servo motor must be 40 C or less A 890 Enc...

Страница 102: ...is no problem with the layout of the linear scale connection cable The encoder cable is bun dled with a high current line or near a high current line Check the layout of the linear scale connection c...

Страница 103: ...l sensor connectivity a Hall sensor must be con nected Disabling Hall sensor connectivity Pn080 0 1 and trying to work without the sensor will cause error A 840 A C20 Phase Detection Error The linear...

Страница 104: ...n The FG of the SERVO PACK is connected to the FG of the power supply n The linear scale connec tion cables are securely shielded Check to see if the detection reference is repeatedly output in one di...

Страница 105: ...The servo has been turned ON under the following cir cumstances n An absolute linear scale is being used n The polarity detection selection for the abso lute linear scale was set to not execute Pn587...

Страница 106: ...Overtravel Detected during Polarity Detection A C51 The OT signal was detected This alarm occurs when the OT signal is detected during the function Before executing the function place the motor to the...

Страница 107: ...vertravel Detected during Polarity Detection A C51 The OT signal was detected This alarm occurs when the OT signal is detected during the function Before executing the function place the motor to the...

Страница 108: ...ACK and confirm that they were copied correctly If you do not copy backed up parameter settings or if the copy opera tion is not completed normally normal operation may not be possible possibly result...

Страница 109: ...product specifications Locations that are subject to radiation If you store or install the product in any of the above locations the product may fail or be damaged Do not subject connectors to shock T...

Страница 110: ...prevent from being turned back on Using suitable measuring equipment check to make sure that none of the connections are carrying live current before beginning work on the electrical connections Only...

Страница 111: ...the disassembly or replacement of the additional system components if applicable 16 6 Storage Conditions Store the feedback module in an adequate package with regard to the storage conditions specifi...

Страница 112: ...properly see Chap 16 Dis assembly and Storage page 109 n Before disposing of the product destroy its functionality n Electronic scrap circuit boards which cannot be disassembled must be disposed of a...

Страница 113: ...2 09 13 0 1 1 Manual version 2 Date of publication 3 Date of original publication 4 Revision number Date of publication Manual version Rev no Section Revised content May 2023 C 0 All Major Update Apri...

Страница 114: ...uct is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefor...

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