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4.3 FT82 SERVOPACK with MECHATROLINK-III Communications References

4.3.1 List of Servo Parameters

4-74

Pn106

Second Position Loop
Gain

10 to 20,000

0.1/s

400

All

Immedi-

ately

Tuning

Pn109

Feedforward

0 to 100

All

Immedi-

ately

Tuning

Pn10A

Feedforward Filter Time
Constant

0 to 6,400

0.01 ms

All

Immedi-

ately

Tuning

Pn10B

Gain Application Selec-
tions

0000h to

5334h

–

0000h

All

–

Setup

–

Continued on next page.

Continued from previous page.

Parameter

No.

Siz

Name

Setting

Range

Setting

Unit

Default
Setting

Applicable

Motors

When

Enabled

Classi-

fication

Refer-

ence



Mode Switching Selection

When

Enabled

Reference

Use the internal torque reference as the condition
(level setting: Pn10C).

Immedi-

ately

Use the speed reference as the condition (level set-
ting: Pn10D).

Use the speed reference as the condition (level set-
ting: Pn181).

Use the acceleration reference as the condition (level
setting: Pn10E).

Use the acceleration reference as the condition (level
setting: Pn182).

Use the position deviation as the condition (level set-
ting: Pn10F).

Do not use mode switching.





Speed Loop Control Method

When

Enabled

Reference

PI control

After

restart

I-P control

2 to 3

Reserved settings (Do not use.)





Reserved parameter (Do not change.)

n.X



Reserved parameter (Do not change.)

Содержание SGM7D-30F

Страница 1: ...th FT EX Specification for Application with Special Motor SGM7D Motor 7 Series AC Servo Drive Product Manual MANUAL NO SIEP S800001 91D 1 2 3 4 Maintenance Parameter Lists Basic Information on SERVOPA...

Страница 2: ...liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Страница 3: ...0001 27 7S SERVO PACK with MECHATROLINK III Communica tions References Product Manual Manual No SIEP S800001 28 7S SERVO PACK Command Option Attachable Type with INDEXER Module Product Manual Manual N...

Страница 4: ...odule Alarm Displays and Troubleshooting 3 4 4 Resetting Alarms 12 2 3 12 2 3 12 2 3 15 2 4 Displaying the Alarm History 12 2 4 12 2 4 12 2 4 15 2 5 Clearing the Alarm History 12 2 5 12 2 5 12 2 5 15...

Страница 5: ...3 2 Parameter Recording Table 14 2 13 2 13 3 16 3 Appendix Chapter 15 Chapter 14 Chapter 14 Chapter 17 Continued from previous page Item This Man ual 7S SERVO PACK with Analog Voltage Pulse Train Refe...

Страница 6: ...iring and Connecting SERVOPACKs Wiring Precautions 4 1 Basic Wiring Diagrams 3 1 Wiring the Power Supply to the SERVOPACK 4 3 Wiring Servomotors 4 4 I O Signal Connections 3 2 Connecting Safety Functi...

Страница 7: ...ules 12 2 6 Resetting Motor Type Alarms 12 2 7 Warning Displays 3 5 5 List of Warnings 3 5 6 Troubleshooting Warnings 3 5 7 INDEXER Warning Displays and Troubleshooting 3 5 8 Troubleshooting Based on...

Страница 8: ...CKs 7S and 7W SERVOPACKs with Built in Controllers 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals 7 Series 7S 7W SERVOPACK Hardware Option Product Ma...

Страница 9: ...ailed information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and 7 Series...

Страница 10: ...procedures for installing the Safety Module in a SERVOPACK V Series V Series for Large Capacity Models 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for inst...

Страница 11: ...Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001...

Страница 12: ...anual SIEP S800001 95 7 Series AC Servo Drive 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 7 Series AC Servo Drive 7S SER...

Страница 13: ...nications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a 7 Series Servo System 7 Series AC Servo Drive MECHATROLINK II...

Страница 14: ...ries Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a 7 Series Servo System Distr...

Страница 15: ...to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A...

Страница 16: ...d Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification T...

Страница 17: ...ed to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in...

Страница 18: ...mation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in lo...

Страница 19: ...y the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Br...

Страница 20: ...y of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative...

Страница 21: ...amaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of th...

Страница 22: ...RVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of fail...

Страница 23: ...cluding the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER VOPACK before you wire it Insert only one wi...

Страница 24: ...en problems such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of th...

Страница 25: ...rameter settings normal operation may not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being suppli...

Страница 26: ...ways insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main cir...

Страница 27: ...of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without no...

Страница 28: ...ered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for wh...

Страница 29: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar...

Страница 30: ...uct Model EU Directive Harmonized Standards SERVOPACKs SGD7S Machinery Directive 2006 42 EC EN ISO13849 1 2015 EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Ca...

Страница 31: ...C 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 PFH 4 05 10 9 1 h 4 05 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High...

Страница 32: ...tions 1 7 1 4 2 Function Application Restrictions 1 10 1 5 SigmaWin 1 11 1 6 Combining the SERVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool 1 12 SERVOPACK Ratings and Spec...

Страница 33: ...3 5 List of Warnings 3 128 3 3 6 Troubleshooting Warnings 3 130 3 3 7 Troubleshooting Based on the Operation and Conditions of the Servomotor 3 137 3 4 Command Option Attachable type FT82 SERVOPACKs w...

Страница 34: ...eferences 4 32 4 3 FT82 SERVOPACK with MECHATROLINK III Communications References 4 67 4 3 1 List of Servo Parameters 4 67 4 3 2 List of MECHATROLINK III Common Parameters 4 106 4 4 Command Option Att...

Страница 35: ...g FT82 SERVOPACK Model Numbers 1 3 1 2 2 Interpreting FT83 SERVOPACK Model Numbers 1 4 1 2 3 Interpreting Direct Drive Servomotor Model Numbers 1 5 1 3 Combinations of SERVOPACKs and Servomotors 1 6 1...

Страница 36: ...is manual were developed to drive SGM7D motors The SGM7D motors were designed for applications that require high torque easy operation and high precision The SERVOPACK will make the most of machine pe...

Страница 37: ...KAEP S800001 23 FT EX Specification None B None BTO specification Specification Code BTO Specification 5 001 SGD7S 2R8A and 2R8F SGD7S 120A 020 4 000 002 SGD7S 120A 008 Single phase 200 VAC power supp...

Страница 38: ...Specification None B None BTO specification Specification Code BTO Specification 4 001 SGD7S 2R8A and 2R8F SGD7S 120A 020 3 000 002 SGD7S 120A 008 Single phase 200 VAC power supply input No dynamic br...

Страница 39: ...4 5 With cable on side With cable on bottom 1 Standard mechanical precision Applicable models Specification 2 High mechanical precision L Non load side Direct Drive Servomotors SGM7D 4th digit 6th di...

Страница 40: ...W 2R8A and 2R8F SGM7D 05G 63 W SGM7D 08G 101 W 120A SGM7D 18G 226 W SGM7D 24G 302 W SGM7D 34G 320 W SGM7D 45G 565 W SGM7D 03H 38 W 2R8A and 2R8F SGM7D 28I 264 W 120A SGM7D 70I 440 W SGM7D 1ZI 628 W S...

Страница 41: ...s on restrictions to these functions 1 4 2 Function Application Restrictions on page 1 10 1 4 1 SERVOPACK Functions Functions Related to the Machine These functions can be used with SERVOPACKs with ME...

Страница 42: ...Zero Clamping V CMP Speed Coincidence Detection Signal Position Control Reference Pulse Form CLR Position Deviation Clear Signal Function and Set tings Reference Pulse Input Multiplication Switching C...

Страница 43: ...Control 1 Tuning less Function Autotuning without Host Reference Autotuning with a Host Reference Custom Tuning Anti resonance Control Adjustment Vibration Suppression Gain Selection Friction Compensa...

Страница 44: ...Linear Encoder Pitch Cannot be used Writing Linear Servomotor Param eters Cannot be used Selecting the Phase Sequence for a Linear Servomotor Cannot be used Polarity Sensor Setting Cannot be used Pola...

Страница 45: ...o use the SigmaWin a model information file for the SERVOPACK must be added to Sig maWin version 7 FT82 SERVOPACKs Add the FT82 model information file to SigmaWin to use the SigmaWin FT83 SERVOPACKs A...

Страница 46: ...Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP Series Machine Controller or the MPE720 Engi neering Tool it will be recognized as a SERVOPACK with s...

Страница 47: ...ristics 2 4 2 3 Specifications 2 5 2 3 1 FT82 SERVOPACKs with Analog Voltage Pulse Train References 2 5 2 3 2 FT82 SERVOPACK with MECHATROLINK II Communications References 2 9 2 3 3 FT82 SERVOPACK wit...

Страница 48: ...ower Loss W 12 15 Built in Regenerative Resistor Power Loss W 10 Total Power Loss W 34 5 97 6 Regenerative Resistor Built In Regenerative Resistor Resistance 20 Capacity W 60 Minimum Allowable Externa...

Страница 49: ...2 8 Instantaneous Maximum Output Current Arms 9 3 Main Circuit Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 10 Control Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz...

Страница 50: ...Pulse Train References Product Manual Manual No SIEP S800001 26 7 Series 7S SERVOPACK with MECHATROLINK II Communications References Product Manual Manual No SIEP S800001 27 7 Series 7S SERVOPACK with...

Страница 51: ...or iron dust Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications 7 Series 7S SERVOPACK with Analog Voltage Puls...

Страница 52: ...BIT Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Reference Pulse Input Multiplication Switch signal SEN Absolute Data Request signal A signal can be...

Страница 53: ...Activated when a servo alarm or overtravel OT occurs or when the power supply to the main circuit or servo is OFF Regenerative Processing Built in Refer to the following catalog for details AC Servo D...

Страница 54: ...or another control method is used when both signals are OFF Posi tion Con trol Feedforward Compensation 0 to 100 Output Signal Posi tioning Completed Width Setting 0 to 1 073 741 824 reference units I...

Страница 55: ...n I Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 1 000 m max With derating usage is possible b...

Страница 56: ...tage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A phot...

Страница 57: ...etting data access monitoring adjustment etc MECHATROLINK II Communica tions Setting Switches Rotary switch S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output...

Страница 58: ...1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications 7 Series 7S SERVOPACK with MECHATROLINK III Communications References...

Страница 59: ...put Allowable voltage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of outpu...

Страница 60: ...rd servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 10 VDC...

Страница 61: ...on IP10 Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 000 m or less Others Do not use the SERVO...

Страница 62: ...DEXER Module Allowable voltage range 24 VDC 10 Number of input points 11 MODE 0 1 Mode Switch Input signal Mode 0 Mode 1 START STOP Program Table Operation Start Stop Input sig nal PGMRES Program Tabl...

Страница 63: ...pletion Output signal POUT0 Programmable Output 0 signal POUT1 Programmable Output 1 signal POUT2 Programmable Output 2 signal POUT3 Programmable Output 3 signal POUT4 Programmable Output 4 signal POU...

Страница 64: ...earity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs or when the power s...

Страница 65: ...00 m max Others Do not use the SERVOPACK in the following locations Locations subject to static electricity noise strong electro magnetic magnetic fields or radioactivity Applicable Standards Refer to...

Страница 66: ...rnal Set Speed Selection signals C SEL Control Selection signal ZCLAMP Zero Clamping signal INHIBIT Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Refe...

Страница 67: ...Output 4 signal POSRDY Origin Return Completed Output signal DEN Position Reference Distribution Completed signal A signal can be allocated and the positive and negative logic can be changed Communi...

Страница 68: ...BB1 and HWBB2 Base block signals for Power Mod ules Output EDM1 Monitors the status of built in safety circuit fixed out put Applicable Standards 3 ISO13849 1 PLe Category 3 and IEC61508 SIL3 Applicab...

Страница 69: ...s Refer ence Pulse Form One of the following is selected Sign pulse train CW CCW pulse trains and two phase pulse trains with 90 phase differential Input Form Line driver or open collector Maxi mum In...

Страница 70: ...ATROLINK II Communications References 3 50 3 2 1 Alarm Displays 3 50 3 2 2 List of Alarms 3 50 3 2 3 Troubleshooting Alarms 3 55 3 2 4 Warning Displays 3 80 3 2 5 List of Warnings 3 80 3 2 6 Troublesh...

Страница 71: ...and Troubleshooting 3 189 3 4 9 Troubleshooting Based on the Operation and Conditions of the Servomotor 3 197 3 5 FT83 SERVOPACKs with Analog Voltage Pulse Train References 3 205 3 5 1 Alarm Displays...

Страница 72: ...1 26 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear the alarm List of Alarms Example If...

Страница 73: ...An overcurrent flowed through the power trans former or the heat sink over heated Gr 1 No L H H A 101 Motor Overcurrent Detected The current to the motor exceeded the allowable cur rent Gr 1 No L H H...

Страница 74: ...Tempera ture Error The surrounding tempera ture of the power PCB is abnormal Gr 2 Yes L L L A 7A3 Internal Temperature Sen sor Error An error occurred in the tem perature sensor circuit Gr 2 No L L L...

Страница 75: ...d Reference A D Data Error An error occurred in the A D conversion data for the speed reference Gr 2 Yes H H H A b20 Torque Reference A D Error An error occurred in the A D converter for the torque re...

Страница 76: ...nd the SERVOPACK Gr 1 No L H L A CF1 Reception Failed Error in Feedback Option Module Communications Receiving data from the Feedback Option Module failed Gr 1 No L H L A CF2 Timer Stopped Error in Fe...

Страница 77: ...Gr 1 No H L L A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function signal Gr 1 No H L L A EC8 Gate Drive Error 1 An error occurred in the gate...

Страница 78: ...or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVO...

Страница 79: ...k the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Output...

Страница 80: ...tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the encoder and check to see if the alarm still occurs Replace the Servomotor or encoder A failure occurre...

Страница 81: ...place the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK w...

Страница 82: ...ble phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or be...

Страница 83: ...enerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect...

Страница 84: ...applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity...

Страница 85: ...may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power suppl...

Страница 86: ...eded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK...

Страница 87: ...conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed...

Страница 88: ...ACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with t...

Страница 89: ...r and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPAC...

Страница 90: ...ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occ...

Страница 91: ...he input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by...

Страница 92: ...rs the SERVOPACK may be faulty Replace the SERVOPACK A b11 Speed Reference A D Data Error A malfunction occurred in the speed reference input sec tion Reset the alarm and restart operation 1 A failure...

Страница 93: ...d ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF5 System Alarm 5 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again I...

Страница 94: ...the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C80 Encoder Clea...

Страница 95: ...around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPAC...

Страница 96: ...ill occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be...

Страница 97: ...bra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the S...

Страница 98: ...occurred in the Serial Converter Unit Replace the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive...

Страница 99: ...motor direction and external encoder installation orientation are backward Check the motor direc tion and the external encoder installation ori entation Install the external encoder in the opposite d...

Страница 100: ...e catalog of the connected Safety Option Module Connect a compatible Safety Option Module A Eb1 Safety Function Signal Input Tim ing Error The delay between activation of the HWBB1 and HWBB2 input sig...

Страница 101: ...onnection The Servomotor did not operate or power was not supplied to the Servomotor even though the S ON Servo ON signal was input when the Servomotor was ready to receive it A failure occurred in th...

Страница 102: ...hey are only displayed on the panel display CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If an al...

Страница 103: ...PCB is abnormal H L H A 913 Internal Temperature Warning 2 Power Board Temperature Error The surrounding temperature of the power PCB is abnormal H L H A 920 Regenerative Overload This warning occurs...

Страница 104: ...X Preventative Maintenance Selection Continued from previous page Warning Number Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 Warning Number Warning Name Possible Cause Confirmation Correc...

Страница 105: ...otor was not driven because of mechanical prob lems Check the operation reference and motor speed Remove the mechanical problem The overload warning level Pn52B is not suitable Check that the overload...

Страница 106: ...ions A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too hig...

Страница 107: ...at the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resist...

Страница 108: ...compensa tion information stored in the SER VOPACK Reset the speed ripple compensation value on the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the...

Страница 109: ...al monitor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would cause o...

Страница 110: ...with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X S...

Страница 111: ...the HWBB1 and HWBB2 input signals Turn ON the HWBB1 and HWBB2 input sig nals If you are not using the safety function con nect the Safety Jumper Connector provided as an accessory to CN8 The FSTP Forc...

Страница 112: ...n control The refer ence pulse input is not appropriate Check the setting of Pn200 n X Refer ence Pulse Form and the sign and pulse signals Correctly set the con trol method and input method A failure...

Страница 113: ...tors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cable...

Страница 114: ...gral Time Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not...

Страница 115: ...of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a SERVOPACK p...

Страница 116: ...ocated in Pn50A n X If another signal is allo cated in Pn50A n X allocate the P OT signal instead Check to see if the N OT signal is allocated in Pn50B n X If another signal is allo cated in Pn50B n X...

Страница 117: ...improve the mounting conditions of the Servomotor The coupling between the machine and Servomotor is not suitable Check to see if position offset occurs at the cou pling between machine and Servomotor...

Страница 118: ...t dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK...

Страница 119: ...duct Man ual Manual No SIEP S800001 27 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear t...

Страница 120: ...or The AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes...

Страница 121: ...Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A3...

Страница 122: ...th the Feedback Option Module Gr 1 No A d00 Position Deviation Over flow The setting of Pn520 Excessive Position Devia tion Alarm Level was exceeded by the position deviation while the servo was ON Gr...

Страница 123: ...supported Safety Option Module An unsupported Safety Option Module was con nected Gr 1 No A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function s...

Страница 124: ...ps or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SER...

Страница 125: ...roper combina tion of SERVOPACK and Servomotor capacities 1 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A parameter setting is outside of the setting range C...

Страница 126: ...r 2 For 4 byte parameter bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceed...

Страница 127: ...Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK...

Страница 128: ...phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short cir...

Страница 129: ...generative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connec...

Страница 130: ...applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity...

Страница 131: ...CK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power sup...

Страница 132: ...eeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPAC...

Страница 133: ...g conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor spee...

Страница 134: ...PACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with...

Страница 135: ...er and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPA...

Страница 136: ...larm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK...

Страница 137: ...the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset...

Страница 138: ...supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATR...

Страница 139: ...y Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace th...

Страница 140: ...y vibration Check the operating environment Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the wi...

Страница 141: ...ccurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faul...

Страница 142: ...s Reduce machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be f...

Страница 143: ...e the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded b...

Страница 144: ...oder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mechanical coupl...

Страница 145: ...n the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E61 Synchronization Interval Error in MECHATROLINK...

Страница 146: ...input sig nals for the HWBB was ten second or longer Measure the time delay between the HWBB1 and HWBB2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SER VOPACK input signal...

Страница 147: ...connection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo ON command was input when the Servomotor was ready to receive it A failure occurred in...

Страница 148: ...ry They are only displayed on the panel display CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If a...

Страница 149: ...wer Board Temperature Error The surrounding temperature of the power PCB is abnormal A 920 Regenerative Overload This warning occurs before an A 320 alarm Regenerative Overload occurs If the warning i...

Страница 150: ...command was sent A 960 MECHATROLINK Communications Warning A communications error occurred during MECHATROLINK communica tions A 971 Undervoltage This warning occurs before an A 410 alarm Undervoltag...

Страница 151: ...erence is too high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference...

Страница 152: ...el Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace th...

Страница 153: ...A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Che...

Страница 154: ...ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic bra...

Страница 155: ...or An invalid param eter number was used Check the command that caused the warn ing Use the correct parameter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the...

Страница 156: ...ollowing countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring and implement countermeasures to pre vent noise from entering Attach a ferrite core to the MECHATROLIN...

Страница 157: ...ignal monitor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would caus...

Страница 158: ...ad and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Enc...

Страница 159: ...the wir ing Tighten any loose ter minals or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Doe...

Страница 160: ...tuning less level set tings The machine mounting is not secure Check to see if there are any loose mounting screws Tighten the mounting screws The machine mounting is not secure Check to see if there...

Страница 161: ...nce occurred because the Encoder Cable is damaged Check the Encoder Cable to see if it is pinched or the sheath is damaged Replace the Encoder Cable and correct the cable installation envi ronment The...

Страница 162: ...Motor Speed Overshoot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence The setting o...

Страница 163: ...e influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a...

Страница 164: ...el limit switches Check the wiring of the overtravel limit switches e g check for cable damage and loose screws Correct the wiring of the overtravel limit switches There is a mistake in the allo catio...

Страница 165: ...rate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Uni...

Страница 166: ...dirt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOP...

Страница 167: ...roduct Man ual Manual No SIEP S800001 28 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear...

Страница 168: ...or The AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes...

Страница 169: ...Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A...

Страница 170: ...back Option Module Gr 1 No A d00 Position Deviation Over flow The setting of Pn520 Excessive Position Devia tion Alarm Level was exceeded by the position deviation while the servo was ON Gr 1 Yes A d0...

Страница 171: ...y Option Module Detection Failure Detection of the Safety Option Module failed Gr 1 No A E72 Feedback Option Module Detection Failure Detection of the Feedback Option Module failed Gr 1 No A E74 Unsup...

Страница 172: ...ops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SE...

Страница 173: ...heck the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Outp...

Страница 174: ...or capaci ties do not match each other Confirm that the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci tie...

Страница 175: ...Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPAC...

Страница 176: ...e phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short ci...

Страница 177: ...egenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly conne...

Страница 178: ...d applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacit...

Страница 179: ...ACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power su...

Страница 180: ...ceeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPA...

Страница 181: ...ng conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor spe...

Страница 182: ...OPACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with...

Страница 183: ...der and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOP...

Страница 184: ...alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPAC...

Страница 185: ...k the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset...

Страница 186: ...supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHAT...

Страница 187: ...ty Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace t...

Страница 188: ...by vibration Check the operating environment Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the w...

Страница 189: ...occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be fau...

Страница 190: ...ns Reduce machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be...

Страница 191: ...ce the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded...

Страница 192: ...ction or change the setting of Pn002 n X External Encoder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupli...

Страница 193: ...till occurs the SERVOPACK may be faulty Replace the SERVOPACK A E51 MECHATROLINK Synchronization Failed The WDT data at the host controller was not updated correctly at the start of syn chronous commu...

Страница 194: ...K may be faulty Replace the SERVOPACK A E71 Safety Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Safety Option Module Check the connection between the SE...

Страница 195: ...An error occurred in the gate drive circuit A Ed1 Command Exe cution Timeout A timeout error occurred for a MECHATROLINK command Check the motor status when the command is executed Execute the SV_ON o...

Страница 196: ...in If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK FL 2 5 System Alarm FL 3 5 System Alarm FL 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator...

Страница 197: ...ed A 910 Overload This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and operation is continued an alarm may occur Required A 911 Vibration Abnormal vibration...

Страница 198: ...m mand Conditions A command was sent when the conditions for sending a command were not satisfied Automatically reset A 95b Command Warning 2 Unsupported Com mand An unsupported command was sent Autom...

Страница 199: ...ertravel Warning Detection Selection Not affected by the setting of Pn008 n X A 9b0 Pn00F n X Preventative Maintenance Selection Warning Number Warning Name Possible Cause Confirmation Correction Refe...

Страница 200: ...ause of mechanical prob lems Check the operation reference and motor speed Remove the mechanical problem The overload warning level Pn52B is not suitable Check that the over load warning level Pn52B i...

Страница 201: ...A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Ch...

Страница 202: ...ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic br...

Страница 203: ...94A Data Setting Warn ing 1 Parameter Number Error An invalid param eter number was used Check the command that caused the warn ing Use the correct parameter number A 94b Data Setting Warn ing 2 Out o...

Страница 204: ...oise Confirm the installation conditions Implement the following countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring and implement countermeasures to pre vent nois...

Страница 205: ...ting ranges A 9A0 Overtravel Over travel status was detected Overtravel was detected while the servo was ON Check the status of the overtravel signals on the input signal moni tor Even if an overtrave...

Страница 206: ...Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of...

Страница 207: ...r connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Ser...

Страница 208: ...bear ings Replace the Servomo tor There is a vibration source at the driven machine Check for any foreign matter damage or defor mation in the machine s moving parts Consult with the machine manufactu...

Страница 209: ...e on the signal line from the encoder Implement counter measures against noise for the encoder wiring The encoder was subjected to excessive vibration or shock Check to see if vibration from the machi...

Страница 210: ...posi tion when the power was next turned ON Noise interference occurred because of incorrect Encoder Cable specifications Check the Encoder Cable to see if it satisfies speci fications Use a shielded...

Страница 211: ...Drive Prohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition...

Страница 212: ...e cable installation envi ronment The Encoder Cable was sub jected to excessive noise interference Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur re...

Страница 213: ...re around the Servomotor Reduce the surround ing air temperature to 40 C or less The surface of the Servomo tor is dirty Visually check the surface for dirt Clean dirt dust and oil from the surface Th...

Страница 214: ...S SERVOPACK Command Option Attach able Type with INDEXER Module Product Manual Manual No SIEP S800001 64 Indicators Green indicator Remains unlit Red indicator Remains lit Refer to the following secti...

Страница 215: ...042 Parameter Combina tion Error The combination of some parameters exceeds the setting range Gr 1 No A 044 Semi Closed Fully Closed Loop Control Parameter Setting Error The settings of the Option Mod...

Страница 216: ...Control Board Temperature Error The surrounding temperature of the con trol PCB is abnormal Gr 2 Yes A 7A2 Internal Temperature Error 2 Power Board Temperature Error The surrounding temperature of th...

Страница 217: ...ERVOPACK Gr 1 No A bF1 System Alarm 1 Internal program error 1 occurred in the SERVOPACK Gr 1 No A bF2 System Alarm 2 Internal program error 2 occurred in the SERVOPACK Gr 1 No A bF3 System Alarm 3 In...

Страница 218: ...Pn526 Excessive Position Deviation Alarm Level at Servo ON while the servo was OFF Gr 1 Yes A d02 Position Deviation Overflow Alarm for Speed Limit at Servo ON If position deviation remains in the dev...

Страница 219: ...Gr 1 No A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No A Ed1 Command Option Module IF Command...

Страница 220: ...drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the...

Страница 221: ...Check the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Ou...

Страница 222: ...t the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the...

Страница 223: ...ty Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOP...

Страница 224: ...ble phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short...

Страница 225: ...e regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly co...

Страница 226: ...load applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capa...

Страница 227: ...OPACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power...

Страница 228: ...exceeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVO...

Страница 229: ...ating conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor...

Страница 230: ...R VOPACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status w...

Страница 231: ...ncoder and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SER...

Страница 232: ...an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVO...

Страница 233: ...eck the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was res...

Страница 234: ...Error 3 A failure occurred in the current detection circuit Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF0 Sys...

Страница 235: ...re that the Servo motor is correctly wired A failure occurred in the encoder If the motor wiring is cor rect and an alarm still occurs after turning the power supply OFF and ON again the Servomotor ma...

Страница 236: ...the wiring around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to anot...

Страница 237: ...l occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be f...

Страница 238: ...ce machine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomo...

Страница 239: ...e that connects the Serial Converter Unit The length of the cable between the Serial Con verter Unit and SERVO PACK must be 20 m or less The sheath on cable between the Serial Converter Unit and SERVO...

Страница 240: ...vel is too low for the operating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 1 A failure occurred in the...

Страница 241: ...ion module is faulty Check the connection between the SERVO PACK and the com mand option module Correctly connect the command option module A command option module fault occurred Replace the command o...

Страница 242: ...occurred Replace the SERVO PACK A E71 Safety Option Module Detec tion Failure The connection between the SERVO PACK and the safety option module is faulty Check the connection between the SERVO PACK a...

Страница 243: ...rator or Sig maWin and turn the power supply OFF and then ON again A EA2 Alarm in Current Communications between the INDEXER Module and SERVO PACK 1 An error occurred in communications between the IND...

Страница 244: ...ring Make sure that the power supply is correctly wired 1 The three phase power supply is unbalanced Measure the voltage for each phase of the three phase power sup ply Balance the power sup ply by ch...

Страница 245: ...ystem Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the conn...

Страница 246: ...ion set disabled Gr 1 N A E14A A AEF Parameter Checksum Alarm Detected only when control power supply is turned ON Incorrect or cor rupted parameters are stored in EEPROM This alarm can occur if the c...

Страница 247: ...ted When a parame ter has been changed during occurrence of A 040 alarm Connect the encoder and then change the parame ter Cancel the A 040 alarm and then change the parame ter If the alarm display is...

Страница 248: ...power supply is turned ON The combination of the firmware version and the ZONE table version is wrong Change the firm ware version Change the ZONE table version to match the firmware version Gr 1 Ava...

Страница 249: ...power supply is turned ON A value set in the JOG speed table is not within the allowed setting range Change the firm ware version Change the JOG speed table version to match the firm ware version Gr 1...

Страница 250: ...nual Manual No SIEP S800001 64 Digital Operator When a warning occurs the warning code is displayed at the top left of the screen Response to the Alarm or Warning Read Command ALM Warning code Respons...

Страница 251: ...y Error This warning occurs when the voltage of absolute encoder s battery is low L L H A 93B Overheat Warning The input voltage temperature for the overheat protection input TH signal exceeded the se...

Страница 252: ...is too high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference with one of the following meth ods Reduce the acceleration rate ACC and...

Страница 253: ...Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the S...

Страница 254: ...fications A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is to...

Страница 255: ...re that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake r...

Страница 256: ...ue on the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensation However changing the set...

Страница 257: ...have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures a...

Страница 258: ...or Warning Read Command ALM No change Response to the Most Recent Error Read Command ERR Error code the most recent closest error code ALM Signal No change WARN Signal The signal is valid for 2 secon...

Страница 259: ...an overflow in the reception buf fer used for serial commands An error will occur if too many serial com mands are sent consecutively without waiting for the responses Normally the reception buffer w...

Страница 260: ...e s reception buffer was over written with the subsequent data Normally data is read before it is over written so this error does not occur Repair the hard ware E4BE A A9F Moving Disabled Error due to...

Страница 261: ...exceeds the position reference of reverse software limit set in PnB23 Check the tar get position specification Check the reverse soft ware limit in PnB23 Check the mov ing mode rotary or lin ear set...

Страница 262: ...stance was not specified even once there was a request by the RS command to start regis tration positioning Specify a regis tration distance with the RDST command E53E A A9F Move Reference Duplication...

Страница 263: ...nal or exe cuting the SVON command The motor is rotating during servo ON execution The main power supply went OFF during servo ON execution Hard wire base block status HWBB sta tus Error E5BE will occ...

Страница 264: ...com mand was executed while the main power supply was OFF Turn the servo ON after turning ON the main power supply E5DE A A9F Origin Return Method Unspeci fied Error The origin return method is not sp...

Страница 265: ...ates that Pn205 does not match the setting in the encoder after the multi turn limit setting in Pn205 was changed and the control power supply was turned OFF and ON Use the Multi turn Limit Setting op...

Страница 266: ...oad and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X En...

Страница 267: ...s or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X...

Страница 268: ...t 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no lo...

Страница 269: ...al Time Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not a...

Страница 270: ...rference occurred because the Encoder Cable is damaged Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no...

Страница 271: ...supply 24 V voltage for the input signals Eliminate fluctuation from the external power supply 24 V voltage for the input signals Check to see if the opera tion of the overtravel limit switches is uns...

Страница 272: ...te them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Unit...

Страница 273: ...irt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPAC...

Страница 274: ...displayed Refer to the following manual for details 7 Series 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 Digital Operator The alarm code is display...

Страница 275: ...or the heat sink overheated Gr 1 No L H H A 101 Motor Overcurrent Detected The current to the motor exceeded the allowable current Gr 1 No A 300 Regeneration Error There is an error related to regene...

Страница 276: ...ecksum Alarm There is an error in the checksum results for encoder memory Gr 1 No A 830 Encoder Battery Alarm The battery voltage was lower than the specified level after the control power supply was...

Страница 277: ...ror The multiturn data for the absolute encoder was not correctly cleared or set Gr 1 No A C90 Encoder Communica tions Error Communications between the encoder and SERVOPACK is not possible Gr 1 No A...

Страница 278: ...Option Mod ule failed Gr 1 No A E74 Unsupported Safety Option Module An unsupported safety option module was connected Gr 1 No A E75 Unsupported Feed back Option Module An unsupported feedback option...

Страница 279: ...ere fre quently changed from the host controller The SERVOPACK may be faulty Replace the SER VOPACK Reconsider the method for writing the parame ters 1 A malfunction was caused by noise from the AC po...

Страница 280: ...OPACK A 040 Parameter Set ting Error A parameter set ting is outside of the setting range The SERVOPACK and Servomotor capaci ties do not match each other Check the combination of the SERVOPACK and Se...

Страница 281: ...g of Pn002 n X 1 A 04A Parameter Set ting Error 2 A parameter reserved by the system was changed Set the following reserved parameters to the default settings Pn200 2 Pn207 1 Pn50A 0 Pn50A 1 Pn50A 2 P...

Страница 282: ...esistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overloa...

Страница 283: ...U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits ac...

Страница 284: ...ween the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals Correctly conne...

Страница 285: ...to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the...

Страница 286: ...ERVOPACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the pow...

Страница 287: ...he maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The S...

Страница 288: ...erating conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and moto...

Страница 289: ...A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERV...

Страница 290: ...encoder and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The S...

Страница 291: ...ll occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be...

Страница 292: ...Check the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was...

Страница 293: ...SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF1 System Alarm 1 A failure occurred in the SERVOPACK T...

Страница 294: ...motor wiring is not correct Check the Servomotor wiring Make sure that the Servo motor is correctly wired A failure occurred in the encoder If the motor wiring is cor rect and an alarm still occurs af...

Страница 295: ...around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPA...

Страница 296: ...till occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may b...

Страница 297: ...machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Re...

Страница 298: ...ble that connects the Serial Converter Unit The length of the cable between the Serial Con verter Unit and SERVO PACK must be 20 m or less The sheath on cable between the Serial Converter Unit and SER...

Страница 299: ...low for the operating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 1 A failure occurred in the SERVOPACK...

Страница 300: ...turn the power supply OFF and then ON again 1 A safety option mod ule fault occurred Replace the safety option module A failure occurred in the SERVOPACK Replace the SERVO PACK A E72 Feedback Option...

Страница 301: ...low for more than one second for phase R S or T when the main power supply was ON The three phase power supply wiring is not correct Check the power sup ply wiring Make sure that the power supply is...

Страница 302: ...5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect th...

Страница 303: ...Gr 1 N A E14A A EF9 Parameter Checksum Alarm Detected only when control power supply is turned ON Incorrect or cor rupted parameters are stored in EEPROM This alarm can occur if the control power supp...

Страница 304: ...rogram table is being saved or ini tialized Initialize the pro gram table Fn063 If the problem is not solved correct the program table Gr 1 Available 1 E1AA A EF9 Program Table Version Unmatched Detec...

Страница 305: ...power supply is turned ON The JOG speed table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while the JOG speed table is being saved o...

Страница 306: ...s turned ON exceeded the percentage set with the following formula Pn526 Pn528 100 A 910 Overload This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and opera...

Страница 307: ...s warning occurs before an A 410 alarm Under voltage occurs If the warning is ignored and oper ation is continued an alarm may occur L L L A 9A0 Overtravel Overtravel was detected while the servo was...

Страница 308: ...o high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference with one of the following meth ods Reduce the acceleration rate ACC and dece...

Страница 309: ...is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO...

Страница 310: ...tions A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too hi...

Страница 311: ...hat the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resis...

Страница 312: ...the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensation However changing the setting...

Страница 313: ...ns Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures against noise A 9b0 Preventative Mainte nance Wa...

Страница 314: ...speed table by using Fn061 While initializing a JOG speed table by using Fn065 Repair the hard ware E44E A 9F9 Canceled Pro gram Table Error There was a request to start program table operation even t...

Страница 315: ...erence of reverse software limit set in Pn63A Check the tar get position specification Check the reverse soft ware limit in Pn63A Check the set ting of the Mov ing Mode rotational linear coordinates P...

Страница 316: ...crease the regis tration distance or shorten the decel eration distance i e increase the deceleration rate Registration dis tance RDST in the program table Deceleration rate Pn640 E55E A 9F9 Servo ON...

Страница 317: ...t the same time as the function that was being executed Example There was a request to start program table operation while the program table was being initialized Execute the oper ation again after th...

Страница 318: ...h no load and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002...

Страница 319: ...connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo...

Страница 320: ...2 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer...

Страница 321: ...ime Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not appro...

Страница 322: ...nce occurred because the Encoder Cable is damaged Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surg...

Страница 323: ...y 24 V voltage for the input signals Eliminate fluctuation from the external power supply 24 V voltage for the input signals Check to see if the opera tion of the overtravel limit switches is unstable...

Страница 324: ...o separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con vert...

Страница 325: ...load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK and Ser vomotor with larger capacities Polarity detection was not performed corr...

Страница 326: ...Communications References 4 32 4 3 FT82 SERVOPACK with MECHATROLINK III Communications References 4 67 4 3 1 List of Servo Parameters 4 67 4 3 2 List of MECHATROLINK III Common Parameters 4 106 4 4 Co...

Страница 327: ...ith pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed...

Страница 328: ...6 as the maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop...

Страница 329: ...EF as an external torque limit input when P CL or N CL is ON 1 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All 1 1 Use V REF as an external speed li...

Страница 330: ...amplifier deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08...

Страница 331: ...ioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position r...

Страница 332: ...od set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop u...

Страница 333: ...motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input 1...

Страница 334: ...ing 1 Pn105 2 Second Speed Loop Integral Time Constant 15 to 51 200 0 01 ms 2000 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Sett...

Страница 335: ...24 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gai...

Страница 336: ...he first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NE...

Страница 337: ...Selections 0000h to 0011h 0010h All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 Al...

Страница 338: ...Function Related Selections 0000h to 2711h 1401h All Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors Wh...

Страница 339: ...Clear position deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block at servo...

Страница 340: ...on 1 to 4 096 1 edge pitch 20 All After restart Setup 1 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 All Immedi ately Setup 1 Pn301 2 Internal Set Speed 1 0 to 10 000 R...

Страница 341: ...Input Gain 10 to 100 0 1 V rated torque 30 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward To...

Страница 342: ...0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn415 2 T REF Filter Time Con stant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No S...

Страница 343: ...g 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Continued on next page...

Страница 344: ...ately Setup 1 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 C...

Страница 345: ...43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X P CON Proportional Control Si...

Страница 346: ...Signal Allocation Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed 1 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2...

Страница 347: ...6 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1...

Страница 348: ...e when CN1 45 input signal is ON closed 6 Active when CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Act...

Страница 349: ...ocations 1 n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X S RDY Servo Ready Signal Allo...

Страница 350: ...t the signal from the CN1 38 output terminal 6 Output the signal from the CN1 39 output terminal n X Reserved parameter Do not change n X PSELA Reference Pulse Input Multiplication Switching Output Si...

Страница 351: ...Do not change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 1 Output the signal from the CN1...

Страница 352: ...when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 inp...

Страница 353: ...otor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 inpu...

Страница 354: ...2 Monitor Display at Startup 0000h to 0FFFh 0FFFh All Immedi ately Setup 1 Pn530 2 Program Jogging Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Pn531 4 Program Jogging Travel Dist...

Страница 355: ...Resistor Capacity 4 Depends on model 5 10 W 0 All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 6 Pn603 2 Regenerative Re...

Страница 356: ...ies User s Manual Safety Module Manual No SIEP C720829 06 4 Normally set this parameter to 0 If you use an External Regenerative Resistor set the capacity W of the Exter nal Regenerative Resistor 5 Th...

Страница 357: ...pping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake 1 1 Stop the motor by the applying dynamic brake and then release the dynamic brake 2 Coast the m...

Страница 358: ..._TLIM as the torque limit when P_CL or N_CL in the OPTION field is ON n X Torque Control Option Applicable Motors Reference 0 Ignore the setting of the speed limit for torque con trol VLIM All 2 1 Use...

Страница 359: ...er deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positi...

Страница 360: ...etion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of...

Страница 361: ...in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using th...

Страница 362: ...coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power sup...

Страница 363: ...Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Preventative Mainte...

Страница 364: ...uning 1 Pn124 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1...

Страница 365: ...gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near O...

Страница 366: ...ol Related Selections 0000h to 0011h 0010h All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 00...

Страница 367: ...ge Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less funct...

Страница 368: ...1 Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time...

Страница 369: ...Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2 Reverse External...

Страница 370: ...econd Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Defa...

Страница 371: ...h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 3 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 00...

Страница 372: ...ly Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Settin...

Страница 373: ...2 Enable forward drive when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5 Enable forward d...

Страница 374: ...hen CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signa...

Страница 375: ...RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X CLT Torque Limit Detection Output Signal Allocation Refere...

Страница 376: ...Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 input signal is OFF open D Active when CN1 10...

Страница 377: ...nverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is no...

Страница 378: ...100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Se...

Страница 379: ...Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2 Regenerative Resistor Cap...

Страница 380: ...t Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Overheat Protection Selection 0 Disable overheat protection 1 Use overheat protection in the Yaskawa Linear Servomotor 8...

Страница 381: ...11 Setup 2 Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 11 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 ref e...

Страница 382: ...Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Origin Return Direction 0 Return in forward direction 1 Return in rever...

Страница 383: ...48 to 2 147 483 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors...

Страница 384: ...er rotation displayed in decimal All 0014h Un004 Rotational Angle 2 deg Electrical angle from polarity origin All 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007...

Страница 385: ...s those for the Option Monitor 1 Selection n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to...

Страница 386: ...e bit 8 to V_PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V...

Страница 387: ...bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BA...

Страница 388: ...lassi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_...

Страница 389: ...Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 00...

Страница 390: ...to FFFFFFFFh 0h All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fi...

Страница 391: ...ual Manual No SIEP S800001 73 8 The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function 9 Enabled only when Pn61A is set to n 2 or n 3 10 The parameter setting is enabled after SE...

Страница 392: ...ved parameter Do not change n X Motor Stopping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake 1 1 Stop the motor by the applying dynamic brake and the...

Страница 393: ...setting Do not use 3 Reserved setting Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed li...

Страница 394: ...unit 04 Position amplifier deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V...

Страница 395: ...g completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Comple...

Страница 396: ...the stopping method set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the...

Страница 397: ...rake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase po...

Страница 398: ...All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer enc...

Страница 399: ...Enabled Classi fication Refer ence n X Mode Switching Selection When Enabled Reference 0 Use the internal torque reference as the condition level setting Pn10C Immedi ately 1 1 Use the speed referenc...

Страница 400: ...ll Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn139 2 A...

Страница 401: ...edi ately Tuning 1 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning 1 Pn14B 2 Vibration Suppression 2 Correction 10 to 1 000 1 100 All Immedi ately Tuning 1 Con...

Страница 402: ...on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type S...

Страница 403: ...tion Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After re...

Страница 404: ...p 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Pn30A 2 Deceleration Tim...

Страница 405: ...0 1 3 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2...

Страница 406: ...2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range S...

Страница 407: ...Immedi ately Tuning 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 3 50 All Immedi ately Setup 1 Cont...

Страница 408: ...Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page...

Страница 409: ...nal is ON closed 2 Enable forward drive when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5...

Страница 410: ...reverse drive when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN...

Страница 411: ...le tion signal allocations 1 n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X S RDY Servo...

Страница 412: ...Default Setting Applicable Motors When Enabled Classi fication Refer ence n X NEAR Near Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 1 Output the signal from th...

Страница 413: ...tive 9 Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 input signal is OFF open D Active when...

Страница 414: ...nverted 1 The signal is inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Ter...

Страница 415: ...on 0 to 100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting R...

Страница 416: ...1 min 1 All Immedi ately Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2...

Страница 417: ...00 All Immedi ately Setup 1 Pn61D 9 2 Overheat Alarm Filter Time 0 to 65 535 1 s 0 All Immedi ately Setup 1 Pn621 to Pn628 4 Safety Module Related Parameters All Continued on next page Continued from...

Страница 418: ...95 warnings 4 Ignore communications warnings A 96 5 Ignore both A 94 and A 96 warnings 6 Ignore both A 95 and A 96 warnings 7 Ignore A 94 A 95 and A 96 warnings 8 Ignore data setting warnings A 97A an...

Страница 419: ...ed 0 to 65 535 100 ref erence units s 0 All Immedi ately 12 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 All Immedi ately 13 Setup 2 Pn811 2 Exponen...

Страница 420: ...Motors When Enabled Classi fication Refer ence M2 15 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 7 input terminal 3 Monitor CN1 8 input terminal 4 Monitor CN1 9...

Страница 421: ...otational Angle 2 deg Electrical angle from polarity origin All 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007 Input Reference Speed min 1 All 0018h Un008 Posit...

Страница 422: ...settings are the same as those for the Option Monitor 1 Selection M2 15 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCF...

Страница 423: ...Allocate bit 8 to V_PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit...

Страница 424: ...to 5 to BANK_SEL1 3 Allocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1...

Страница 425: ...led Classi fication Refer ence M2 15 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 t...

Страница 426: ...curve Acceleration Deceleration Rate 0 to 50 1 0 All Immedi ately 12 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Im...

Страница 427: ...0 to 3 The settings are the same as those for the Latch Sequence 5 Signal Selec tion M3 10 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal moni...

Страница 428: ...7 The settings are the same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input s...

Страница 429: ...cate bit 26 IO_STS3 to CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29...

Страница 430: ...ut will be affected 13 The settings are updated only if the reference is stopped i e only if DEN is set to 1 14 Refer to the following manual for details 7 Series AC Servo Drive MECHATROLINK II Commun...

Страница 431: ...or 1h All Device information 02 PnA04 4 Motor Type Selection read only 0h or 1h All 03 PnA06 4 Semi closed Fully closed Selection read only 0h or 1h All 04 PnA08 4 Rated Motor Speed read only 0h to FF...

Страница 432: ...Reverse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit Selection 2 0h...

Страница 433: ...upported Unit Sys tems read only 0601011F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When...

Страница 434: ...Movement Time 0 to 510 000 1 s 0 1 ms 0 All Immedi ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Origin...

Страница 435: ...rrent communications phase 00h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 E...

Страница 436: ...3 min 1 10000 All Immedi ately 90 PnB20 4 Servo Command Control Field Enable Disable Selections read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Sett...

Страница 437: ...ed Bit 2 and 3 Reserved 0 Disabled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_R...

Страница 438: ...nce is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFE h All Comma...

Страница 439: ...art Setup Pn001 2 Application Function Selections 1 0000h to 1142h 0000h All After restart Setup Continued on next page Note n X Rotation Direction Selection Reference 0 Use CCW as the forward directi...

Страница 440: ...ation 2 Reserved setting Do not use 3 The external encoder moves in the reverse direc tion for CCW motor rotation 4 Reserved setting Do not use n XX Analog Monitor 1 Signal Selection 00 Motor speed 1...

Страница 441: ...positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of posit...

Страница 442: ...ol mode 2 1 2 Use current control mode 2 n X Speed Detection Method Selection Reference 0 Use speed detection 1 1 1 Use speed detection 2 n X Reserved parameter Do not change n X Motor Stopping Method...

Страница 443: ...ng the speed reference to 0 1 1 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Thr...

Страница 444: ...Mode Test Operation Selection 0 Enable connection with the Command Option Module 1 Disable connection with the Command Option Module n X Reserved parameter Do not change n X Reserved parameter Do not...

Страница 445: ...All Setup Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Phase C Pu...

Страница 446: ...Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiti...

Страница 447: ...cond Model Follow ing Control Gain Correc tion 500 to 2 000 0 1 1000 All Immedi ately Tuning 1 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning 1 Pn14B 2 Vibrat...

Страница 448: ...Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type Selection Ref...

Страница 449: ...2 Fully closed Control Selections 0000h to 1003h 0000h Rotary After restart Setup 1 Pn230 2 Reserved parameter Do not change 0000h All Pn231 2 Reserved parameter Do not change 0 All Pn233 2 Reserved p...

Страница 450: ...to 65 535 1 min 1 10000 Rotary After restart Setup 1 Pn324 2 Moment of Inertia Cal culation Starting Level 0 to 20 000 1 300 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter...

Страница 451: ...s 100 All Immedi ately Tuning 1 Pn416 2 Torque Related Func tion Selections 2 0000h to 1111h 0000h All Immedi ately Setup 1 Pn417 2 Third Stage Notch Filter Frequency 50 to 5 000 1 Hz 5000 All Immedi...

Страница 452: ...n424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 4 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup...

Страница 453: ...arameter Do not change 0000h 1 All Pn511 2 Reserved parameter Do not change 6543h 7 All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Se...

Страница 454: ...1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Pn52C 2 Base Current Derating at Motor Overload Detection 10 to 100 1 100 All After restart Setup 1 Pn530 2 Program Jogging Rel...

Страница 455: ...on Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2 Regenerative Resistor Capacity 11 Depends on model 12 10 W 0 All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumpt...

Страница 456: ...munications method CRLF is used as delimiter 0006h Half duplex wiring is used for communications method CRLF is used as delimiter Echo back is performed for each character 0007h Half duplex wiring is...

Страница 457: ...mode 1 Jog in reverse while the JOGN signal is OFF open 0002h When MODE signal is ON closed mode 0 The SEL0 signal is always active When MODE signal is OFF open mode 1 Do not perform jogging 0003h Wh...

Страница 458: ...signal is ON closed mode 0 SEL4 signal is active when ON closed When MODE signal is OFF open mode 1 JOG3 signal is active when ON closed 0001h When MODE signal is ON closed mode 0 The SEL4 signal is...

Страница 459: ...ertravel 0001h When input signal is ON closed reverse run is prohibited reverse overtravel 0002h Reverse run is always prohibited reverse overtravel 0003h Reverse run is always enabled N OT signal is...

Страница 460: ...turns OFF closes when programmable output 4 is active 0000h The POUT5 signal turns ON opens when programmable output 5 is active 0001h The POUT5 signal turns OFF closes when programmable output 5 is...

Страница 461: ...ation rate 1 to 99999999 16 1000 Refer ence units min ms 1000 All Immedi ately Setup 1 PnB2D 4 INPOSITION Width 1 to 99999 1 refer ence unit 1 All Immedi ately Setup 1 PnB2F 4 NEAR Width 1 to 99999 1...

Страница 462: ...o Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence 0000h When the control power supply is turned ON or the SERVOPACK is reset the POUT0 to...

Страница 463: ...99 999 according to the setting of PnB2D Do not change the setting 11 Normally set this parameter to 0 If you use an External Regenerative Resistor set the capacity W of the Exter nal Regenerative Re...

Страница 464: ...control with pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences...

Страница 465: ...maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using t...

Страница 466: ...3 Use T REF as an external torque limit input when P CL or N CL is ON 1 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All 1 1 Use V REF as an externa...

Страница 467: ...r deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positio...

Страница 468: ...tion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of...

Страница 469: ...n Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the...

Страница 470: ...coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supp...

Страница 471: ...tant 15 to 51 200 0 01 ms 2000 All Immedi ately Tuning 1 Pn106 2 Second Position Loop Gain 10 to 20 000 0 1 s 400 All Immedi ately Tuning 1 Continued on next page Continued from previous page Paramete...

Страница 472: ...All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 G...

Страница 473: ...to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF...

Страница 474: ...quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damp ing Gain 0 to 300 1 0 All Immedi...

Страница 475: ...1h All Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tunin...

Страница 476: ...signal 2 Clear position deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block...

Страница 477: ...4 096 1 edge pitch 20 All After restart Setup 1 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 All Immedi ately Setup 1 Pn301 2 Internal Set Speed 1 0 to 10 000 Rotary 1...

Страница 478: ...Reference Input Gain 10 to 100 0 1 V rated torque 30 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2...

Страница 479: ...535 0 01 ms 100 All Immedi ately Tuning 1 Pn415 2 T REF Filter Time Con stant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name...

Страница 480: ...tely Tuning 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 1 50 All Immedi ately Setup 1 Continued on...

Страница 481: ...tup 1 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued...

Страница 482: ...when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X P CON Proportional C...

Страница 483: ...Allocation Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed 1 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2 Active...

Страница 484: ...hen CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active...

Страница 485: ...ive when CN1 46 input signal is OFF open n X INHIBIT Reference Pulse Inhibit Input Signal Allocation Applicable Motors Reference 0 to F The allocations are the same as the ZCLAMP Zero Clamping Input s...

Страница 486: ...Limit Detection Signal Allocation Reference 0 to 6 The allocations are the same as the CLT Torque Limit Detection Output signal allocations 1 n X BK Brake Output Signal Allocation Reference 0 to 6 The...

Страница 487: ...s 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 37 Terminal 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 38 Ter...

Страница 488: ...when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 inp...

Страница 489: ...otor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 inpu...

Страница 490: ...F 2 Monitor Display at Startup 0000h to 0FFFh 0FFFh All Immedi ately Setup 1 Pn530 2 Program Jogging Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Pn531 4 Program Jogging Travel Dis...

Страница 491: ...pacity 4 Depends on model 5 10 W 0 All Immedi ately Setup Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 6 Pn603 2 Regenerative Resis tance 0 t...

Страница 492: ...en CN1 44 input signal is OFF open E Mode 0 is used when CN1 45 input signal is OFF open F Mode 0 is used when CN1 46 input signal is OFF open n X START STOP Program Table Operation Start Stop Input S...

Страница 493: ...put signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 i...

Страница 494: ...Active when CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B...

Страница 495: ...n CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input s...

Страница 496: ...ame as for POUT0 Programmable Output 0 Signal Allocation 1 n X POUT2 Programmable Output 2 Signal Allocation Reference 0 to 6 The settings are the same as for POUT0 Programmable Output 0 Signal Alloca...

Страница 497: ...0 refer ence units min 1 ms 1000 All Immedi ately Setup 1 Pn642 2 Origin Return Method 0000h to 0003h 0000h All After restart Continued on next page Continued from previous page Parameter No Size Name...

Страница 498: ...to 0001h 0000h All Immedi ately Pn644 4 Origin Return Movement Speed 1 to 199 999 999 1 000 refer ence units min 1 1000 All Immedi ately Setup 1 Pn646 4 Origin Approach Speed 1 to 199 999 999 1 000 r...

Страница 499: ...Communications References 3 98 FT82 SERVOPACKs with Analog Voltage Pulse Train References 3 3 FT83 SERVOPACKs with Analog Voltage Pulse Train References 3 205 list of MECHATROLINK III common parameter...

Страница 500: ...mperature Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 2 15 FT82 SERVOPACK with MECHATROLINK II Communications References 2 9 FT82 SERVOPACK with MECHATROLINK III Communications...

Страница 501: ...of control power supply 2 3 Addition Information on overheat protection input Chapter 3 Addition A 862 and A 93B Chapter 4 Addition Pn022 Pn475 Pn476 Pn61A Pn61B Pn61C and Pn61D Deletion Pn52D Back c...

Страница 502: ...co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEI...

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