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5.3 Advanced Autotuning (Fn201)

5-19

5

Adjustments

• Speed feedforward or torque feedforward is input.
• The positioning completed width (Pn522) is too small.

Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-

ing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount

of overshooting is the same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent overshooting the positioning

completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.

(4) Restrictions When Using an Encoder

With this function, the following restrictions are applied in accordance with the version number of the SER-
VOPACK software and the encoder being used.

The applicable servomotor depends on the type of encoder used.

• 13-bit encoder: SGMJV-



A



• 20-bit or 17-bit encoder: SGM



V-



D



, SGM



V-



3



SGMPS-



C



, SGMPS-



2



∗1.

The software version number of your SERVOPACK can be checked with Fn012.

∗2.

If any mode other than Mode 1 is selected, tuning will fail and result in an error.

∗3.

Model following control type is not used.

∗4.

Position errors may result in overshooting when positioning. The positioning time may be extended if the positioning
completed width (Pn522) is set to a small value.

∗5.

Model following control type 2 can suppress overshooting resulting from position errors better than Type 1. If com-
patibility with SERVOPACK version 0007 or earlier is required, use model following control type 1 (Pn14F.0 = 0).

The control related switch (Pn14F) was added to SERVOPACK software version 0008 or later.

• Advanced autotuning makes adjustments by referring to the positioning completed

width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the
electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the
actual value during operation. If the SERVOPACK is operated in speed control
(Pn000.1=0), set Mode to 1 to perform advanced autotuning.

• Unless the positioning completed signal (/COIN) is turned ON within approximately 3

seconds after positioning has been completed, "WAITING" will flash. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will flash for 2 seconds and tuning will be aborted.

Pn561

Overshoot Detection Level

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

0 to 100

1%

100

Immediately

Setup

Speed

Position

Torque

Software Version

*1

13-bit Encoder

20-bit or 17-bit Encoder

Mode

Model Following

Control Type

Mode

Model Following

Control Type

Version 0007 or ear-

lier

Only Mode 1 can be
selected.

*2

–

*3

No restrictions

Type 1

*4

Version 0008 or lat-

er

Only Mode 1 can be
selected.

Type 1 or 2 [Factory
setting]

*5

Parameter

Function

When Enabled

Classification

Pn14F

n.



0

Model following control type 1

After restart

Tuning

n.



1

[Factory set-

ting]

Model following control type 2

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Содержание SGMJV

Страница 1: ...Reference V Series AC Servo Drives USER S MANUAL Design and Maintenance MANUAL NO SIEP S800000 46J 1 2 3 4 5 6 7 8 9 10 Outline Wiring and Connection Operation Adjustments Utility Functions Fn Monitor...

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

Страница 3: ...PACK i e a servo ampli fier Servo System A servo control system that includes the combination of a servo drive with a host controller and peripheral devices M II Model MECHATROLINK II communications r...

Страница 4: ...o the parameter will be effective Indicates the parameter classification Indicates the minimum setting unit for the parameter Torque Position Speed Indicates the setting range for the parameter The no...

Страница 5: ...nd Servo Adjustment Maintenance and Inspection V Series User s Manual Setup Rotational Motor No SIEP S800000 43 V Series Product Catalog No KAEP S800000 42 V Series User s Manual Design and Maintenanc...

Страница 6: ...s indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows I...

Страница 7: ...of parameter Pn205 in the SER VOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear e...

Страница 8: ...h ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone...

Страница 9: ...Make sure that no part of the core wire comes into contact with i e short circuits adjacent wires Install a battery at either the host controller or the SERVOPACK but not both It is dangerous to insta...

Страница 10: ...eces from fall ing due to alarms or overtravels Set the servomotor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due...

Страница 11: ...re sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presente...

Страница 12: ...product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for w...

Страница 13: ...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 14: ...ean Directives Harmonized Standards SERVOPACK SGDV Machinery Directive 2006 42 EC EN ISO13849 1 2008 EN 954 1 EMC Directive 2004 108 EC EN 55011 group1 classA EN 61000 6 2 EN 61800 3 Low Voltage Direc...

Страница 15: ...y Integrity Level IEC 61508 SIL2 IEC 62061 SILCL2 Probability of Dangerous Failure per Hour IEC 61508 IEC 62061 PFH 1 7 10 9 1 h 0 17 of SIL2 Category EN 954 1 Category 3 Performance Level EN ISO 1384...

Страница 16: ...DV 590A11A 780A11A Models 1 14 1 4 12 Three phase 400 V SGDV 1R9D11A 3R5D11A 5R4D11A Models 1 14 1 4 13 Three phase 400 V SGDV 8R4D11A 120D11A Models 1 15 1 4 14 Three phase 400 V SGDV 170D11A Model 1...

Страница 17: ...ve Resistor Capacity 3 32 3 8 Noise Control and Measures for Harmonic Suppression 3 33 3 8 1 Wiring for Noise Control 3 33 3 8 2 Precautions on Connecting Noise Filter 3 35 3 8 3 Connecting a Reactor...

Страница 18: ...xample of Safety Functions 4 66 4 9 4 Confirming Safety Functions 4 67 4 9 5 Safety Device Connections 4 68 4 9 6 Precautions for Safety Functions 4 69 Chapter 5 Adjustments 5 1 5 1 Type of Adjustment...

Страница 19: ...g Parameter Settings Fn005 6 12 6 7 Clearing Alarm History Fn006 6 13 6 8 Offset Adjustment of Analog Monitor Output Fn00C 6 14 6 9 Gain Adjustment of Analog Monitor Output Fn00D 6 16 6 10 Automatic O...

Страница 20: ...8 8 2 SERVOPACK Startup Procedure 8 12 8 3 Parameter Settings for Fully closed Loop Control 8 14 8 3 1 Motor Rotation Direction 8 15 8 3 2 Sine Wave Pitch Frequency for an External Encoder 8 17 8 3 3...

Страница 21: ...SGDV 180A11A 200A11A Models 1 12 1 4 9 Three phase 200 V SGDV 330A11A Model 1 13 1 4 10 Three phase 200 V SGDV 470A11A 550A11A Models 1 13 1 4 11 Three phase 200 V SGDV 590A11A 780A11A Models 1 14 1...

Страница 22: ...t touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit It may result in electric shock Serial number Rotary switch SW 1 Used to set the MECHATROLINK II station address...

Страница 23: ...y Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control Power Supply Single phase 100 to 115 VAC 10 to 15 50 60 Hz Overvoltage Category III SGDV Single Phase 200 V 120 1 Continuous Output Current Arms...

Страница 24: ...R4 8R4 120 170 210 260 280 370 Continuous Output Current Arms 1 9 3 5 5 4 8 4 11 9 16 5 20 8 25 7 28 1 37 2 Instantaneous Max Output Current Arms 5 5 8 5 14 20 28 42 55 65 70 85 Regenerative Resistor...

Страница 25: ...to water oil or chemicals Free of dust salts or iron dust Pollution Degree 2 Altitude 1000 m or less Others Free of static electricity strong electromagnetic fields magnetic fields or exposure to radi...

Страница 26: ...USP OP05A 1 E Personal computer can be connected with SigmaWin 1 N Communica tions N Up to 15 stations possible at RS422A Axis Address Setting Set by parameter USB Commu nications CN7 Interface Person...

Страница 27: ...VELCTRL 3CH in the V Series DC Power Input V Series V Series for Large Capacity Models User s Manual MECHATROLINK II Commands Manual No SIEP S800000 54 for details on the soft start function Safety Fu...

Страница 28: ...ected by the combination of the rotary switch SW1 and the DIP switch SW2 Baud Rate 10 Mbps 4 Mbps Can be selected by the DIP switch SW2 Transmission Cycle 250 s 0 5 to 4 0 ms Multiples of 0 5 ms Numbe...

Страница 29: ...speed calculation etc Panel display Digital operator Personal computer Signal for safety function Encoder output pulse I O signal Analog monitor output ASIC PWM control etc Analog voltage converter L1...

Страница 30: ...tions CPU Position speed calculation etc Panel display Digital operator Personal computer Signal for safety function Encoder output pulse Analog monitor output ASIC PWM control etc Analog voltage conv...

Страница 31: ...peed calculation etc Panel display Digital operator Personal computer Signal for safety function Encoder output pulse Analog monitor output ASIC PWM control etc Analog voltage converter I O signal Fan...

Страница 32: ...display Digital operator Personal computer Signal for safety function Encoder output pulse Analog monitor output ASIC PWM control etc Analog voltage converter I O signal L1 B1 B2 B3 L2 L3 1 2 L1C L2C...

Страница 33: ...ion etc Panel display Digital operator Personal computer Signal for safety function Encoder output pulse Analog monitor output ASIC PWM control etc Analog voltage converter L1 B1 B2 L2 L3 L1C L2C U V...

Страница 34: ...ed calculation etc Panel display Digital operator Personal computer Signal for safety function Encoder output pulse Analog monitor output ASIC PWM control etc Analog voltage converter I O signal L1 B1...

Страница 35: ...n etc Panel display Digital operator Personal computer Signal for safety function Encoder output pulse Analog monitor output ASIC PWM control etc Analog voltage converter I O signal L1 B1 B2 B3 L2 L3...

Страница 36: ...tion etc Panel display Digital operator Personal computer Signal for safety function Encoder output pulse Analog monitor output ASIC PWM control etc Analog voltage converter I O signal L1 B1 B2 L2 L3...

Страница 37: ...rrent is detected Eliminates external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Brake power supply 2 Magnetic contactor Regenerative resistor 1 U...

Страница 38: ...case circuit breaker MCCB Magnetic contactor I O signal cable SGDV A11 SERVOPACK SGMJV SGMAV SGMPS SGMGV SGMSV SGMCS Servomotor Power supply Three phase 200 VAC R S T Protects the power line by shutti...

Страница 39: ...t breaker MCCB Magnetic contactor I O signal cable SGDV A11 SERVOPACK SGMJV SGMAV SGMPS SGMCS Servomotor Power supply Single phase 200 VAC R T Protects the power line by shutting the circuit OFF when...

Страница 40: ...d case circuit breaker MCCB Magnetic contactor I O signal cable Power supply Three phase 400 VAC Protects the power line by shutting the circuit OFF when overcurrent is detected Eliminates external no...

Страница 41: ...4 2 120 3 170 5 210 3 6 260 3 7 5 280 3 11 370 3 15 4th digit Voltage Code Voltage F 100 V A 200 V D 400 V 5th 6th digits Interface Specifications Code Interface 01 Analog voltage and pulse train refe...

Страница 42: ...examination of the part in question we will determine whether the parts should be replaced or not Note The standard replacement period is given for usage under the following operating conditions Surro...

Страница 43: ...ening to the servomotor There should be no more vibration or noise than normal Appearance Inspection Depends on amount of dirt Clean with a cloth or compressed air Insulation Resistance Mea surement A...

Страница 44: ...tus Display 2 2 2 1 2 Alarm and Warning Display 2 2 2 1 3 Hard Wire Base Block Display 2 2 2 1 4 Overtravel Display 2 2 2 2 Operation of Digital Operator 2 3 2 3 Utility Functions Fn 2 3 2 4 Parameter...

Страница 45: ...a hard wire base block HWBB occurs the display will change in the following order 2 1 4 Overtravel Display If overtraveling occurs the display will change in the following order Display Meaning Rotati...

Страница 46: ...irection The rotation direc tion of the servomotor changes according to the setting of Pn000 0 as shown in the following table Note Direction when viewed from the load of the ser vomotor Press the or...

Страница 47: ...ory setting Pn00B 0 0 Set each parameter individu ally Tuning Parameters Parameters for tuning con trol gain and other parame ters Set Pn00B 0 to 1 There is no need to set each parameter individually...

Страница 48: ...or n x Indicates that the value for the 1st digit of parameter Pn002 is x Indicates that the value for the 2nd digit of parameter Pn002 is x Pn002 2 x or n x Pn002 3 x or n x Indicates that the value...

Страница 49: ...cont d Step Display after Operation Keys Operation Step Display after Operation Keys Operation 1 Press the Key to select the main menu of param eters and monitor displays 2 Press the or Key to move th...

Страница 50: ...plays can be used for monitoring the reference values I O signal status and SERVOPACK internal status For details refer to 7 2 Viewing Monitor Displays The digital operator shows numbers beginning wit...

Страница 51: ...e of I O Signal Connections 3 20 3 3 I O Signal Allocations 3 21 3 3 1 Input Signal Allocations 3 21 3 3 2 Output Signal Allocations 3 23 3 4 Examples of Connection to Host Controller 3 24 3 4 1 Seque...

Страница 52: ...VDC 15 B1 B2 1 External regenera tive resistor connec tion terminals R70F R90F 2R1F 2R8F R70A R90A 1R6A 2R8A If the regenerative capacity is insufficient connect an external regenerative resistor betw...

Страница 53: ...it negative terminal A D U V W Servomotor connec tion terminals Use for connecting to the servomotor Ground terminals 2 Use for connecting the power supply ground terminal and servomotor ground termin...

Страница 54: ...terminals HIV1 25 U V W Servomotor connection termi nals HIV1 25 B1 B2 External regenerative resistor connection terminals HIV1 25 Ground terminal HIV2 0 or larger Terminal Symbols Name SGDV A Unit m...

Страница 55: ...ower supply turn them ON at the same time or turn the main circuit power supply after the control power supply When turning OFF the power supplies first turn the power for the main circuit OFF and the...

Страница 56: ...Flywheel diode 1QF Molded case circuit breaker 1FLT Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main circuit power supply 1Ry Relay SERVOPACK SGDV A For se...

Страница 57: ...rge absorber 3SA Surge absorber 1D Flywheel diode DC power supply 24 V For servo alarm display supply ON Servo power supply OFF Servo power SERVOPACK SGDV D ENC U V W M 0 V 1Ry 1D 1QF R S T 1FLT 24 V...

Страница 58: ...SERVOPACK main circuit for SGDV 3R8A 5R5A 7R6A 120A 180A 200A 330A and 400 V SERVOPACKs Install an external regenerative resistor Refer to 3 7 Connecting Regenerative Resistors for details Main Circui...

Страница 59: ...n the table for 5 s Inrush current No breaking at the current values shown in the table for 20 ms Main Circuit Power Supply Maximum Applicable Servomotor Capacity kW SERVOPACK Model SGDV Power Supply...

Страница 60: ...less Available rated current for non time delay fuse or time delay fuse 60 A or less 590A 780A Available rated current for molded case circuit breaker 100 A or less Available rated current for non tim...

Страница 61: ...ing Enables use of three phase power supply for three phase SERVOPACK After restart Setup n 1 Enables use of single phase power supply for three phase SERVOPACK WARNING If single phase 200 V is input...

Страница 62: ...HIV3 5 L1C L2C Control power input terminals HIV1 25 U V W Servomotor connection termi nals HIV1 25 HIV2 0 B1 B2 External regenerative resistor connection terminals HIV1 25 Ground terminal HIV2 0 or l...

Страница 63: ...inst accidents caused by short circuits Select the fuse for the input side that are compliant with UL standards The table above also provides the net values of current capacity and inrush current Sele...

Страница 64: ...cause fire or damage to the equipment With a DC power input time is required to discharge electricity after the main power supply is turned OFF A high residual voltage may remain in the SERVOPACK afte...

Страница 65: ...p 1SA Surge absorber 2SA Surge absorber 3SA Surge absorber 1D Flywheel diode 1PL 1KM 2KM 1SA 2SA L1C L2C B1 2 1FU 2KM ENC U V W M 0 V 1Ry 1D 24 V 1KM AC DC 1QF R S T 3SA 3 4 CN1 1Ry 1KM 1Ry 1KM ALM AL...

Страница 66: ...noise filter that has enough capacity for the total power supply capacity load conditions of the SERVOPACKs R S T 1QF 2KM 1Ry 24 V L1 L2 L3 L1C 0 V L2C 1FLT M L1 L2 L3 L1 L2 L3 L1C 1D L2C M M L1C L2C...

Страница 67: ...th is 3 m for I O signal cables 50 m for encoder cables or servomotor main cir cuit cables and 10 m for control power supply cables for the SERVOPACK with a 400 V power supply 24 V 0 V Use a molded ca...

Страница 68: ...evention Stops servomotor when movable part travels beyond the allowable range of motion 4 3 1 DEC SI3 9 Homing deceleration switch signal Connects the deceleration limit switch for homing EXT 1 SI4 E...

Страница 69: ...te a function COIN V CMP TGON S RDY CLT VLT WARN NEAR Can be allocated Positioning comple tion Speed coincidence detection Rotation detection servo ready Torque limit Speed limit detection Warning Nea...

Страница 70: ...put Signal Allocations and 3 3 2 Output Signal Allocations SO1 BK SO1 BK SO2 SO2 SO3 ALM ALM 1 2 23 24 3 4 24VIN 24 V 3 3 k 6 8 10 9 11 12 SI0 P OT N OT DEC EXT1 EXT2 EXT3 13 7 SO3 SERVOPACK 25 26 16...

Страница 71: ...check the operation and confirm that there are no safety problems When two or more signals are allocated to the same input circuit input signal level is valid for all allocated signals resulting in an...

Страница 72: ...5 6 7 8 L P OT 9 A B C D E F Reverse Run Prohibit ed Pn50B 0 H N OT 0 1 2 3 4 5 6 7 8 L N OT 0 A B C D E F Forward External Torque Limit Pn50B 2 L P CL 0 1 2 3 4 5 6 7 8 H P CL 9 A B C D E F Reserve...

Страница 73: ...utput circuit a signal is output with OR logic circuit Output Signal Names and Parameters Output Signal CN1 Pin Numbers Invalid not use 1 2 23 24 25 26 Positioning Completion Pn50E 0 COIN 1 2 3 0 Spee...

Страница 74: ...VOPACK s input circuit uses bidirectional photocoupler Select either the sink circuit or the source circuit according to the specifications required for each machine Note 1 The connection examples in...

Страница 75: ...a relay or line receiver circuit Note The maximum allowable voltage and current range of the photocoupler output circuit are as follows Maximum allowable voltage 30 VDC Current range 5 to 50 mA DC Inp...

Страница 76: ...figuration example for the EDM1 output signal is shown in the following diagram Specifications Electrical characteristics of EDM1 signal are as follows Line Receiver Circuit Example SERVOPACK Host Con...

Страница 77: ...te 1 The length of the cable between stations L1 L2 Ln must be 0 5 m or more 2 The total cable length must be L1 L2 Ln 50 3 When multiple SERVOPACKs are connected by MECHATROLINK II communications cab...

Страница 78: ...ing connectors varies in accordance with the servomotor that is used 2 represents shielded twisted pair wires Signal Name Pin No Function PG5V 1 Encoder power supply 5 V PG0V 2 Encoder power supply 0...

Страница 79: ...s refer to the V Series Product Catalog Catalog No KAEP S800000 42 When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow PCO ENC 3 4 14 15 BA...

Страница 80: ...n the SERVOPACK After connecting a resistor select the capacity For more information on how to set the capacity of regenerative resistors refer to 3 7 2 Setting Regenerative Resistor Capacity 2 SERVOP...

Страница 81: ...ctory setting when you use a Yaskawa regenerative resistor unit Set Pn600 when using a non YASKAWA external regenerative resistor Main Circuit Power Supply Applicable SERVOPACK Model SGDV Applicable R...

Страница 82: ...ooling method Pn600 2 unit 10 W Note 1 If Pn600 is not set to the optimum value alarm A 320 will occur 2 When set to the factory setting Pn600 0 the SERVOPACK s built in resistor or Yaskawa s regenera...

Страница 83: ...he I O signal cables and the encoder cables with a gap of at least 30 cm Do not use the same power supply as electric welders electrical discharge machines and similar devices If the SERVOPACK is plac...

Страница 84: ...ys connect servomotor frame terminal FG to the SERVOPACK ground terminal Also be sure to ground the ground terminal If the servomotor is grounded via the machine a switching noise current will flow fr...

Страница 85: ...filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together Some noise filters have large lea...

Страница 86: ...uired The reactor is an optional part You must acquire it separately For reactor selection and specifica tions refer to the V Series Product Catalog Catalog No KAEP S800000 42 Connect a reactor as sho...

Страница 87: ...rque Limit Function for Low DC Power Supply Voltage for Main Circuit 4 18 4 3 8 Setting Motor Overload Detection Level 4 21 4 4 Trial Operation 4 23 4 4 1 Inspection and Checking before Trial Operatio...

Страница 88: ...o Alarm Output Signal ALM 4 51 4 8 2 Warning Output Signal WARN 4 51 4 8 3 Rotation Detection Output Signal TGON 4 52 4 8 4 Servo Ready Output Signal S RDY 4 52 4 8 5 Speed Coincidence Output Signal V...

Страница 89: ...ng ON OFF 1 2 3 4 0 F 1 E 2 D 3 8 4 C B 5 A 6 9 7 SW2 Function Setting Description Factory setting Pin 1 Sets the baud rate OFF 4 Mbps MECHATROLINK I ON ON 10 Mbps MECHATROLINK II Pin 2 Sets the numbe...

Страница 90: ...ut V Series V Series for Large Capacity Models User s Manual MECHATROLINK II Commands Manual No SIEP S800000 54 Bit 3 of SW2 SW1 Station Address Bit 3 of SW2 SW1 Station Address OFF 0 Disabled ON 0 50...

Страница 91: ...Note SigmaWin trace waveforms are shown in the above table Parameter Forward Reverse Reference Direction of Motor Rotation and Encoder Output Pulse Applicable Overtravel OT Pn000 n 0 Sets CCW as for w...

Страница 92: ...e is a risk of the workpiece falling during the overtravel status because the BK signal will remain ON brake release Set the zero clamp status after the servomotor stops Pn001 n 1 to prevent the workp...

Страница 93: ...servomotor is stopped with the dynamic braking DB or coasts to a stop according to the setting of Pn001 0 After the servomotor stops the servomotor will enter a coast state For details on servomotor...

Страница 94: ...and the overtravel signal If the warning is cleared by this method during an overtravel state the occurrence of the warning will not be indicated until the overtraveling is corrected and reset The ove...

Страница 95: ...n the input target position exceeds the software limit a deceleration stop will be performed from the software limit set position 3 Software Limit Setting Set the forward and reverse software limit va...

Страница 96: ...or servomotors with holding brakes are given in the following table The table gives typical operation delay times for when the power supply is switched on the DC side Always evaluate performance on th...

Страница 97: ...ge Brake Release Time ms Brake Applied Time ms SGMJV A5 to 04 24 VDC 60 100 SGMJV 08 80 100 SGMAV A5 to 04 60 100 SGMAV 06 to 10 80 100 SGMPS 01 08 20 100 SGMPS 02 04 15 40 100 SGMGV 03 to 20 24 VDC 9...

Страница 98: ...onnected check the total time the brake is applied for the system Depending on the surge absorber the total time the brake is applied can be changed Configure the relay circuit to apply the holding br...

Страница 99: ...tput terminal the signals are output with OR logic For the BK signal do not use the output terminal that is already being used for another signal Pn506 Brake Reference Servo OFF Delay Time Classificat...

Страница 100: ...ng When Enabled 10 to 100 10 ms 50 Immediately Setup Speed Position Torque Speed Position Torque BK Signal Output Conditions When Servomotor Rotating The BK signal goes to high level brake ON when eit...

Страница 101: ...the SV_OFF command has not been received the servomotor will be stopped by dynamic braking If turning OFF the control power supply but the SV_OFF command has not been received the stopping method will...

Страница 102: ...or Servomotor for Gr 1 Alarms The stopping method of the servomotor when a Gr 1 alarm occurs is the same as that in 1 Stopping Method for Servomotor after SV_OFF Command is Received Stopping Method fo...

Страница 103: ...l power supply for the 200 V SERVOPACKs is approxi mately 100 ms The holding time of the control power supply for the 100 V SERVO PACKs is approximately 65 ms If the control power supply makes control...

Страница 104: ...e ranges This function is intended for voltage drops in the main circuit power supply The follow ing restrictions apply when it is used to provide an instantaneous power cut hold time in the control p...

Страница 105: ...er the undervoltage warning is cleared 1 560 V for 400 V power supply 2 400 V for 400 V power supply 280 V 1 200 V 2 0 0 Main circuit power interruption time Main circuit input power supply Main circu...

Страница 106: ...Detects warning and limits torque by Pn424 and Pn425 Only in the SERVOPACK Torque Limit at Main Circuit Voltage Drop Classification Pn424 Setting Range Setting Unit Factory Setting When Enabled 0 to...

Страница 107: ...B This protective function enables the warning out put signal WARN to serve as a protective function and to be output at the best timing for your system The following graph shows an example of the det...

Страница 108: ...ill be detected earlier Changing the setting of Pn52C will change the detection timing of the overload alarm so the time required to detect the overload warning will also be changed As a guideline of...

Страница 109: ...lem exists Are all wiring and connections correct Are all nuts and bolts securely tightened If the servomotor has an oil seal is the seal undamaged and is the servomotor oiled Note When performing tri...

Страница 110: ...ear settings Rotational direction of servomotor Overtravel 4 4 3 Electronic Gear 4 3 1 Servomotor Rotation Direction 4 3 2 Overtravel 6 Save these settings step 5 If saving the settings in the control...

Страница 111: ...c gear when a workpiece is moved 10 mm in the following configuration Calculate the required reference units 1048576 reference units is 1 revolution Therefore 10 6 1048576 1747626 66 reference units I...

Страница 112: ...nfiguration Ball Screw Disc Table Belt and Pulley 1 Check machine specifica tions Ball screw pitch 6 mm Gear ratio 1 1 Rotation angle per revolu tion 360 Gear ratio 1 100 Pulley diameter 100 mm pulley...

Страница 113: ...r output pulse phase A These encoder pulse output pins out put the number of pulses per motor revolution that is set in Pn212 Phase A and phase B are different from each other in phase by an electric...

Страница 114: ...ffers from that in the above table 2 The upper limit of the pulse frequency is approx 1 6 Mpps The servomotor speed is limited if the setting value of the encoder output pulses Pn212 is large An overs...

Страница 115: ...d for the motor and encoder scale information The set values of Pn00C 1 and Pn00C 2 are not used 2 When Motor is Not Connected The information for the virtual motor that is stored in the SERVOPACK is...

Страница 116: ...is Not Connected The encoder information stored in the SERVOPACK is used for the encoder information Resolution 256 Incremental encoder 4 5 2 Motor Position and Speed Responses For the test without a...

Страница 117: ...alog monitor output Fn00D Gain adjustment of analog monitor output Fn00E Automatic offset signal adjustment of the motor current detection signal Fn00F Manual offset signal adjustment of the motor cur...

Страница 118: ...power to the servomotor is OFF Note The test without a motor status is not displayed during alarm occurs A Display Status RUN Power is supplied to the servomotor BB Power to the servomotor is OFF PT N...

Страница 119: ...orm Limiting Method Description Reference Sec tion Internal torque limit Always limits torque by setting the parameter 4 6 1 External torque limit Limits torque by input signal from the host controlle...

Страница 120: ...ervomotor Type Signal Name Connector Pin Number Setting Meaning Limit value Input P CL Must be allocated ON closed Forward external torque limit ON The smaller value of these set tings Pn402 or Pn404...

Страница 121: ...lowing signal can be output to indicate that the servomotor output torque is being limited Note Use parameter Pn50F 0 to allocate the CLT signal for use For details refer to 3 3 2 Output Signal Alloca...

Страница 122: ...d Classification Pn002 n 0 Factory setting Uses the absolute encoder as an absolute encoder After restart Setup n 1 Uses the absolute encoder as an incremental encoder The output range of the rotation...

Страница 123: ...power by installing an encoder cable with a battery case model JUSP BA01 E or install a battery on the host controller PCO ENC 3 4 CN2 17 18 19 20 21 22 CN1 SG 16 PAO PAO PBO PBO PCO Absolute encoder...

Страница 124: ...kawa For details refer to the V Series Product Catalog Catalog No KAEP S800000 42 When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow PCO E...

Страница 125: ...SERVOPACK control power supply 5 seconds max ON OFF OFF ON Normal status OFF ON 50 ms Rotational serial data Phase A Phase B Phase B Approx 15 ms 400 ms max 1 to 3 ms 60 ms max 90 ms typ The servomoto...

Страница 126: ...ven if the battery voltage drops below the specified value after these 4 seconds If Pn008 0 is set to 1 alarm detection will be always enabled after the ALM signal outputs max 5 seconds when the contr...

Страница 127: ...oller 1 Turn ON the control power supply of the SERVOPACK only 2 Remove the old battery and mount the new battery 3 After replacing the battery turn OFF the control power supply to clear the absolute...

Страница 128: ...cksum error alarm A 820 Any other alarms A 8 that monitor the inside of the encoder should be canceled by turning OFF the power 2 Procedure for Setup and Reinitialization Follow the steps below to set...

Страница 129: ...B Note When host controller receives the data of absolute encoder do not perform counter reset using the output of PCO signal 4 Press the Key to setup the absolute encoder After completing the setup D...

Страница 130: ...pulses which provide absolute data are the number of pulses required to rotate the motor shaft from the servomotor origin to the present position Just as with normal incremental pulses these pulses a...

Страница 131: ...Current position 1 0 1 2 3 2 1 1 0 PE PM PS PO M R Signal Meaning PE Current value read by encoder M Rotational serial data PO Number of initial incremental pulses PS Absolute data read at setup This...

Страница 132: ...or details Data Transfer Method Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below...

Страница 133: ...the Turn Encoder Power Supply OFF command SENS_OFF is received Note The SENS_OFF command cannot be received while the servomotor power is ON Output example of alarm contents are as shown below Encode...

Страница 134: ...g graph Pn205 is set to 99 Pn205 100 1 99 Note This parameter is valid when the absolute encoder is used The range of the data will vary when this parameter is set to anything other than the factory s...

Страница 135: ...Reverse Forward 0 Motor rotations Pn205 setting value Reverse Forward Rotational serial data Alarm Display Alarm Name Alarm Output Meaning A CC0 Multiturn Limit Disagreement OFF H Different multiturn...

Страница 136: ...and is received by MECHA TROLINK communications this parameter will be enabled Example If the encoder position X is set at the origin of the machine coordinate system 0 Pn808 X Pn808 Absolute Encoder...

Страница 137: ...Press the ALARM RESET Key on the digital operator For details refer to V Series User s Manual Opera tion of Digital Operator No SIEP S800000 55 4 8 2 Warning Output Signal WARN This signal is for a wa...

Страница 138: ...to the host controller must have been completed when the SENS_ON command is received For details on the hard wire base block function refer to 4 9 1 Hard Wire Base Block HWBB Function Signal Specifica...

Страница 139: ...r details The V CMP signal is output when the difference between the reference speed and actual motor speed is below this setting Example The V CMP signal is output at 1900 to 2100 min 1 if the Pn503...

Страница 140: ...nal is output unexpectedly reduce the set value until it is no longer output If the position error is kept to a minimum when the positioning completed width is small use Pn207 3 to change output timin...

Страница 141: ...ut when the difference between the number of references output by the host controller and the travel distance of the servomotor position error is less than the set value Note Normally the value of Pn5...

Страница 142: ...imit The following signal is output when the motor speed reaches the limit speed Note Use parameter Pn50F 1 to allocate the VLT signal for use For details refer to 3 3 2 Output Signal Allocations 2 Sp...

Страница 143: ...f the servomotor used External Speed Limit Function If the external speed limit mode is selected in Pn002 1 the motor speed is controlled by the speed limit value VLIM For details refer to the V Serie...

Страница 144: ...run signal to turn off the power module that controls the motor current and the motor current is shut off The input signals are connected to the 0 V common A connection example is provided in the foll...

Страница 145: ...t situation The rotation angle depends on the motor type The maximum rotation angle is given below Rotational motor 1 6 rotation max rotation angle at the motor shaft Direct drive motor 1 20 rotation...

Страница 146: ...ained after the HWBB1 and HWBB2 signals are turned ON Send the servo OFF command and the SERVOPACK is placed in a BB state Then send the servo ON com mand again Note Even if the servomotor power is tu...

Страница 147: ...the sequence of commands to return to the HWBB status is recommended 5 Error Detection in HWBB Signal If only the HWBB1 or HWBB2 signal is input an A Eb1 alarm Safety Function Signal Input Timing Err...

Страница 148: ...cribed in this manual To avoid confusion the ON and OFF status of signals for safety functions are defined as fol lows ON The state in which the relay contacts are closed or the transistor is ON and c...

Страница 149: ...iagram shows an example where the main circuit power supply is turned ON the Turn Encoder Power Supply ON SENS_ON command is sent with an absolute encoder and no servo alarm occurs 9 Brake Signal BK W...

Страница 150: ...Signal The relation of the EDM1 HWBB1 and HWBB2 signals is shown below Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal in the table Failures...

Страница 151: ...The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur...

Страница 152: ...ing output Connect the EDM1 so that the current flows from EMD1 to EMD1 2 Failure Detection Method In case of a failure such as the HWBB1 or the HWBB2 signal remains ON the safety unit is not reset wh...

Страница 153: ...lay an error in the external device dis connection or short circuiting of the external wiring or a failure in the SERVOPACK must be considered Find the cause and correct the problem Check with the dis...

Страница 154: ...omotor terminal connector while pressing in the servomotor terminal connector lock When Using Any Other SERVOPACK It is not necessary to remove the servomotor connection terminals Proceed to step 2 2...

Страница 155: ...s jumper connector WARNING To check that the HWBB function satisfies the safety requirements of the system be sure to conduct a risk assessment of the system Incorrect use of the machine may cause in...

Страница 156: ...vanced Autotuning by Reference Fn202 5 27 5 4 1 Advanced Autotuning by Reference 5 27 5 4 2 Advanced Autotuning by Reference Procedure 5 30 5 4 3 Related Parameters 5 34 5 5 One parameter Tuning Fn203...

Страница 157: ...8 3 Current Control Mode Selection Function 5 63 5 8 4 Current Gain Level Setting 5 63 5 8 5 Speed Detection Method Selection 5 63 5 8 6 Backlash Compensation Function 5 64 5 9 Compatible Adjustment...

Страница 158: ...functions Utility Function for Adjust ment Outline Applicable Control Method Tuning less Levels Setting Fn200 This function is enabled when the factory settings are used This function can be used to...

Страница 159: ...sts gains and filters with user reference inputs Adjust using One parameter Tuning Manually adjusts gains and filters Position loop gain speed loop gain filters and friction compensation adjustments a...

Страница 160: ...Signal Name Factory Setting White Analog monitor 1 Torque reference 1 V 100 rated torque Red Analog monitor 2 Motor speed 1 V 1000 min 1 Black 2 lines GND Analog monitor GND 0 V Probe GND Probe GND M...

Страница 161: ...04 Position amplifier error 0 05 V 1 encoder pulse unit Position error after electronic gear conversion n 05 Position reference speed 1 V 1000 min 1 n 06 Reserved Do not set n 07 Motor load position...

Страница 162: ...ut resolution 16 bit Pn550 Analog Monitor 1 Offset Voltage Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0 Immediately Setup Pn551 Analog Monitor 2 Offset...

Страница 163: ...ion loop gain Pn102 and the motor speed with the follow ing equation Excessive Position Error Alarm Level Pn520 1 reference unit 1 Refer to 4 4 3 Electronic Gear 2 When model following control is enab...

Страница 164: ...r will move and this movement will clear the counter of all position errors Because the servomotor will move sud denly and unexpectedly safety precautions are required To prevent the servomotor from m...

Страница 165: ...r is turned ON when the position error is greater than the set value of Pn526 while the servomotor power is OFF A d02 Position Error Overflow Alarm by Speed Limit at Servo ON When the position errors...

Страница 166: ...ceived For details on the automatic notch filter refer to 3 Automatically Setting the Notch Filter on the next page Set the mode to 2 in Fn200 if a 13 bit encoder is used with the moment of inertia ra...

Страница 167: ...0 to 0 before executing this function Mechanical analysis Available While this function is being used the tuning less function cannot be used After completion of the analysis it can be used again con...

Страница 168: ...els Setting Fn200 Procedure b Using the parameter Digital Operator Display Meaning Mode 0 Load level Low Mode 1 Factory setting Load level Medium Mode 2 Load level High Parameter Meaning When Enabled...

Страница 169: ...ion 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list select Fn200 2 Press the key to display the load level setting screen for Fn200 Tuning less L...

Страница 170: ...gain related parameters however may become effective depending on the executing conditions of the functions specified in the following table For example if EasyFFT is executed when the tuning less fun...

Страница 171: ...function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are automati...

Страница 172: ...rting adjustments In this case make adjustments after lowering the speed loop gain Pn100 until vibration is eliminated Before performing advanced autotuning with the tuning less function enabled Pn170...

Страница 173: ...ot Be Performed Advanced autotuning cannot be performed normally under the following conditions Refer to 5 4 Advanced Autotuning by Reference Fn202 and 5 5 One parameter Tuning Fn203 for details The m...

Страница 174: ...2 can suppress overshooting resulting from position errors better than Type 1 If com patibility with SERVOPACK version 0007 or earlier is required use model following control type 1 Pn14F 0 0 The con...

Страница 175: ...tility function Use the or Key to move through the list select Fn201 2 Press the Key to display the initial setting screen for F201 Advanced Autotuning 3 Press the or Key and set the items in steps 3...

Страница 176: ...ter the moment of inertia is calculated Calculates the moment of inertia Press the Key if a positive value is set in STROKE travel distance or press the Key if a negative value is set Calculation of t...

Страница 177: ...has been completed normally the servomotor power will turn OFF and END will flash for approximately two seconds and then ADJ will be displayed on the status display 10 Press the Key The adjusted value...

Страница 178: ...approxi mately 10 seconds after positioning adjustment was completed The positioning completed width is too nar row or proportional control P control is being used Increase the set value for Pn522 Set...

Страница 179: ...is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning and vibration suppression will be automatically adjusted a...

Страница 180: ...F input and speed feedforward VFF input refer to the V Series DC Power Input V Series V Series for Large Capacity Models User s Manual MECHATROLINK II Commands Manual No SIEP S800000 54 Mode 1 Mode 2...

Страница 181: ...n121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn124 Friction Compensation Frequency Correction No No Pn125 Friction Compensation Gain Correction No Yes Pn401 To...

Страница 182: ...rforms the following adjustments Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filter Friction compensation Anti resonance control Vibration suppression Re...

Страница 183: ...ion level Pn502 The stopping time i e the period while the positioning completed COIN signal is OFF is 10 ms or less The rigidity of the machine is low and vibration occurs when positioning is perform...

Страница 184: ...positioning time may be extended if the positioning completed width Pn522 is set to a small value 5 Model following control type 2 can suppress overshooting resulting from position errors better than...

Страница 185: ...the list and select Fn202 2 Press the Key to display the initial setting screen for Fn202 Advanced Autotuning by Reference 3 Press the or Key and set the items in steps 3 1 and 3 2 3 1 Mode Selection...

Страница 186: ...r supply was OFF Turn ON the main circuit power supply An alarm or warning occurred Remove the cause of the alarm or the warning Overtraveling occurred Remove the cause of the overtravel Gain setting...

Страница 187: ...on to Auto Setting The vibration suppression function is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning by re...

Страница 188: ...ward TFF input and speed feedforward VFF input refer to the V Series DC Power Input V Series V Series for Large Capacity Models User s Manual MECHATROLINK II Commands Manual No SIEP S800000 54 Mode 1...

Страница 189: ...1 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Yes Pn...

Страница 190: ...tuning performs the following adjustments Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filter Friction compensation Anti resonance control Refer to 5 5 4...

Страница 191: ...PACK can be checked with Fn012 2 If any mode other than Tuning Mode 1 is selected tuning will fail and result in an error 3 Model following control type is not used 4 Position errors may result in ove...

Страница 192: ...AUTION When using the MP2000 Series with phase control select the tuning mode 0 or 1 If 2 or 3 is selected phase control of the MP2000 Series may not be possible Step Display after Operation Keys Oper...

Страница 193: ...anti reso nance control settings When the notch filter is set NF1 or NF2 will be displayed on the bottom row When the anti resonance control is set ARES will be displayed in the lower right corner If...

Страница 194: ...control and makes adjustments for positioning Tuning Mode 3 Enables model following control makes adjustments for positioning and suppresses over shooting 4 2 Type Selection Select the type according...

Страница 195: ...oes not stop within approximately 10 seconds after changing the setting a timeout will occur The setting will be returned to the previous value If Vibration Occurs If vibration occurs press the Key Th...

Страница 196: ...o Auto Setting When this function is set to Auto Setting vibration will be automatically detected during one parameter tun ing and anti resonance control will be automatically adjusted and set ARES wi...

Страница 197: ...to the V Series DC Power Input V Series V Series for Large Capacity Models User s Manual MECHATROLINK II Commands Manual No SIEP S800000 54 Tuning Mode 0 Tuning Mode 1 Tuning Mode 2 Tuning Mode 3 Pn40...

Страница 198: ...Note 1 If the FF LEVEL is changed when the servo motor is in operation this value is not effec tive immediately The changes will be effective after the servomotor comes to a stop with no reference inp...

Страница 199: ...et Go to the next step if vibrations occur before over shooting stops 7 Press the Key on the digital operator The SERVOPACK will automatically detect the vibra tion frequencies and set the notch filte...

Страница 200: ...Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn121 Friction Compensation Gain No Yes Pn123 Friction Compensation Coefficient No Ye...

Страница 201: ...led Pn170 0 0 The test without a motor function must be disabled Pn00C 0 0 The control must not be set to torque control The write prohibited setting Fn010 must be set to Write permitted P 0000 CAUTIO...

Страница 202: ...Undetermined Vibration Frequency Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list select Fn204 2 Press...

Страница 203: ...erent method such as one parame ter tuning 8 If fine tuning of the frequency is necessary press the Key The cursor will move from damp to freq If fine tuning is not necessary skip step 9 and go to ste...

Страница 204: ...tion screen for Fn204 anti resonance control adjust ment function 3 Press the or Key and set the tuning mode 1 4 Press the Key while Tuning Mode 1 is dis played The screen shown on the left will appe...

Страница 205: ...ip step 9 and go to step 10 9 Select the digit with the or Key and press the or Key to fine tune the frequency 10 Press the Key to save the settings DONE will flash for approximately two seconds and R...

Страница 206: ...ase the damping gain from about 0 to 200 in 10 increments while checking the effect of vibration reduction If vibration reduc tion is still insufficient at a gain of 200 can cel the setting and lower...

Страница 207: ...n may not be possible if there is not enough vibration to affect the position error or the effect on the position error is minimal The detection sensitivity can be adjusted by changing the setting for...

Страница 208: ...igital operator option or SigmaWin The operating procedure from the digital operator is described here Refer to the V Series User s Manual Operation of Digital Operator No SIEP S800000 55 for basic ke...

Страница 209: ...o vibration or the vibration frequency is outside the range of detectable frequencies The following screen will be displayed if vibra tion is not detected If the vibration frequencies are not detected...

Страница 210: ...ession function Example of measured waveform 7 Press the Key to save the setting DONE will flash for approximately two seconds and RUN will be displayed again 8 Press the Key to complete the vibration...

Страница 211: ...s used to make optimum feedforward settings in the SERVO PACK when model following control is used with the feedforward function Therefore model following control is not normally used together with ei...

Страница 212: ...llowing control gain and the model following control gain compensation are supported only for manual gain switching To enable the gain switching of these parameters a gain switching input signal must...

Страница 213: ...etting 2 to gain setting 1 Pn136 Gain Switching Waiting Time 2 Pn132 Gain Switching Time 2 Parameter Switching Condition A for Position Control For Other than Position Control No Switching When Enable...

Страница 214: ...Tuning Pn101 Speed Loop Integral Time Constant Classification Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0 01 ms 2000 Immediately Tuning Pn102 Position Loop Gain Classificati...

Страница 215: ...o 2000 0 1 1000 Immediately Tuning Pn122 2nd Gain for Friction Compensation Classification Setting Range Setting Unit Factory Setting When Enabled 10 to 1000 1 100 Immediately Tuning cont d Speed Posi...

Страница 216: ...ification Pn408 n 0 Factory setting Does not use friction compensation Immediately Setup n 1 Uses friction compensation Pn121 Friction Compensation Gain Classification Setting Range Setting Unit Facto...

Страница 217: ...compensation coefficient value to 95 or less If the effect is insufficient increase the friction compensation gain Pn121 by 10 increments until it stops vibrating Effect of Parameters for Adjustment...

Страница 218: ...n method selection can be used to smooth the speed of the servomotor during operation To smooth the speed of the servomotor during operation set Pn009 to n 1 to select speed detection 2 Input Voltage...

Страница 219: ...which to apply backlash compensation Backlash Compensation Value Set the amount of backlash compensation to add to the position reference The amount is set in increments of 0 1 reference unit However...

Страница 220: ...it is not necessary for the host controller to consider the backlash compensation value The backlash compensation value is restricted by the following formula The specified compensation is not perfor...

Страница 221: ...rward direction from target position TPOS0 to TPOS1 and then to TPOS2 and then returning from TPOS2 to TPOS1 and then to TPOS0 Backlash compensation is applied when moving from TPOS0 to TPOS1 but not...

Страница 222: ...e is overtravel i e when driving is prohibited due to an overtravel signal or software limit the operation is the same as for 5 8 6 4 When Servo is OFF i e backlash compensation is not applied When Co...

Страница 223: ...ed feedback pulse counter External encoder resolution Displays the pulse count of the actually driven external encoder Un013 Feedback pulse counter Reference unit Displays the pulse count of the actua...

Страница 224: ...n00E Fully closed feedback pulse counter External encoder resolution Same as monitor display Un00E 0080H Previous value of latched feedback position LPOS Encoder pulse Feedback position with the backl...

Страница 225: ...osition control and shortens positioning time Note Too high value may cause the machine to vibrate For ordinary machines set 80 or less in this parameter Pn109 Feedforward Gain Classification Setting...

Страница 226: ...d Classifi cation Pn10B n 0 Factory setting Uses an internal torque reference level for the switching conditions Pn10C Immedi ately Setup n 1 Uses a speed reference level for the switching condi tions...

Страница 227: ...Pn10D Using Acceleration With this setting the speed loop is switched to P control when the speed reference exceeds the acceleration set in Pn10E Using the Position Error With this setting the speed l...

Страница 228: ...if 5000 is set Torque reference before filtering Torque Related Function Switch Pn408 Notch filter Notch filter First order lag filter Torque reference after filtering Second order lag filter 2nd Not...

Страница 229: ...er Frequency Hz Phase deg 2 10 10 3 10 4 400 300 200 100 0 Notch Filter Frequency Hz Phase deg Parameter Meaning When Enabled Classification Pn408 n 0 Factory setting Disables 1st notch filter Immedia...

Страница 230: ...cautions must be taken when setting the notch filter frequencies Do not set the notch filter frequencies Pn409 or Pn40C that is close to the speed loop s response frequency Set the frequencies at leas...

Страница 231: ...Adjustment of the Motor Current Detection Signal Fn00E 6 18 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Signal Fn00F 6 19 6 12 Write Prohibited Setting Fn010 6 21 6 13 Servomot...

Страница 232: ...Fn00D Gain adjustment of analog monitor output 6 9 Fn00E Automatic offset signal adjustment of the motor current detection signal 6 10 Fn00F Manual offset signal adjustment of the motor current detec...

Страница 233: ...no alarm has occurred will be displayed on the digital operator Delete the alarm history using the parameter Fn006 The alarm history is not cleared on alarm reset or when the SERVOPACK main circuit po...

Страница 234: ...G operation for the SERVOPACK Pn304 Jog Speed Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 1 500 Immediately Setup Speed Position Torque Step Display after O...

Страница 235: ...e display returns to the main menu of the utility function 10 To enable the setting turn the power supply to the SERVOPACK OFF and ON again cont d Step Display after Operation Keys Operation R U N J O...

Страница 236: ...f execution is 6 min 1 1 Preparation The following conditions must be met to perform the origin search The write prohibited setting Fn010 must be set to Write permitted P 0000 The main circuit power s...

Страница 237: ...e right top on the screen 5 When the origin search is completed press the Key The status display changes from RUN to BB and the servomotor turns OFF The display Complete changes to Z Search 6 Press th...

Страница 238: ...must be set correctly considering the machine operation range and safe opera tion speed There must be no overtravel 2 Additional Information The functions that are applicable for position control suc...

Страница 239: ...n535 Reverse movement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Forward Stop Forward Stop Reverse Stop Reverse Pn535 Pn534 Pn535 Movement speed Movement distance Pn533 P...

Страница 240: ...vement Pn531 Number of movements Pn536 Speed Diagram Servomotor Run Status Stop Reverse Stop Forward Stop Movement speed Pn533 Accel Decel time Pn534 Pn533 Waiting time Pn535 Waiting time Pn535 Number...

Страница 241: ...ng order Pn530 Pn531 Pn533 Pn534 Pn535 Pn536 4 Press the Key The status display changes from BB to RUN and the servomotor power turns ON 5 Press the forward movement start or reverse movement start Ke...

Страница 242: ...ation Keys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn005 2 Press the Key The display changes to the Fn005 execution...

Страница 243: ...1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn006 2 Press the Key to display the Fn006 clearing alarm history execution screen 3...

Страница 244: ...rameter settings are initialized using Fn005 Make offset adjustment with a measuring instrument connected so that the analog monitor output is zero An example of settings for a zero analog monitor out...

Страница 245: ...t reading is as close to 0 V as possible 6 After having completed the offset adjustment both for CH1 and CH2 press the Key The adjustment results are saved in the SERVO PACK and the status display sho...

Страница 246: ...center value adjustment range 50 to 150 The following is a setting example Setting the Set Value to 125 100 125 0 4 50 Therefore the monitor output voltage is 0 5 time as high Setting the Set Value to...

Страница 247: ...ent both for CH1 and CH2 press the Key The adjustment results are saved in the SERVO PACK and the status display shows DONE for one second The status display then returns to show BB again 7 Press the...

Страница 248: ...the automatic offset adjustment if the torque ripple is too big when compared with those of other SERVOPACKs Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the u...

Страница 249: ...Use the or Key to move through the list and select Fn00F 2 Press the Key The display changes to the Fn00F execution display 3 Send an SV_ON command from the host controller 4 First adjust the phase U...

Страница 250: ...of adjustment in the SERVOPACK When the saving is completed the status display shows DONE for one second The status display then returns to show RUN again 10 Press the Key The display returns to the...

Страница 251: ...ustment of analog monitor output Cannot be executed 6 8 Fn00D Gain adjustment of analog monitor output Cannot be executed 6 9 Fn00E Automatic offset signal adjustment of the motor current detection si...

Страница 252: ...Use the or Key to move through the list and select Fn010 2 Press the Key The display changes to the Fn010 execution display 3 Press the or Key to select one of the follow ing settings P 0000 Write per...

Страница 253: ...rough the list and select Fn011 2 A single turn absolute encoder can be used only with a direct drive motor Press the Key The display changes to the Fn011 execution display and shows the information a...

Страница 254: ...ct Fn012 2 Press the Key The display changes to the Fn012 execution display The software versions of the SERVOPACK and the connected encoder will appear Note If the servomotor is not connected Not con...

Страница 255: ...or Key to move through the list and select Fn014 2 Press the Key The display changes to the Fn014 execution display 3 Press the or Key to select an option module to be cleared 4 Press the Key The dis...

Страница 256: ...The following conditions must be met to initialize the vibration detection level The write prohibited setting Fn010 must be set to Write permitted P 0000 The test without a motor function must be dis...

Страница 257: ...eration 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn01B 2 Press the Key The display changes to the Fn01B execution display 3 Pre...

Страница 258: ...odule name 1 Preparation There are no tasks that must be performed before the execution ID Items to be Displayed SERVOPACK ID SERVOPACK model SERVOPACK serial number SERVOPACK manufacturing date SERVO...

Страница 259: ...Key The display returns to the main menu of the utility function R U N F U N C T I O N F n 0 1 B V i b l v l I n i t F n 0 1 E S v M o t O p I D F n 0 1 F F B O p M o t I D F n 0 2 0 S O r i g S e t...

Страница 260: ...r type resolution Two types of resolution display available Number of bits and number of pulses rev Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility fu...

Страница 261: ...position data will have been changed Always turn the power supply to the SERVOPACK OFF and ON again Step Display after Operation Keys Operation 1 Press the Key to view the main menu for the utility f...

Страница 262: ...ys Operation 1 Press the Key to view the main menu for the utility function Use the or Key to move through the list and select Fn030 2 Press the Key The display changes to the Fn030 execution display...

Страница 263: ...nced autotuning This built in EasyFFT function is used to maintain interchangeability with previous models There is normally no need to use it 1 Preparation The following conditions must be met to per...

Страница 264: ...e servomotor power ON The display BB and Setting changes to RUN and Ready 5 Press the forward run start Key or reverse run start Key to run the servomotor and start the frequency measurement Measure i...

Страница 265: ...easure the resonance frequency press the Key to return to step 4 and then execute steps 5 to 7 8 Press the Key after the normal completion of frequency detection The notch filter frequencies are autom...

Страница 266: ...le this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter set values are...

Страница 267: ...otch filter settings Use the following flowchart to determine how these functions should be used If a V Series SERVOPACK is used to make adjustments it is recommended that you use advanced autotun ing...

Страница 268: ...uency can be displayed For a vibra tion with undetectable peak frequency is dis played If no frequency was detected is displayed for F1 F2 and F3 If the frequency could not be successfully detected NO...

Страница 269: ...ing SigmaWin while this function is being executed No Parameters cannot be changed using SigmaWin while this function is being executed Automatic changes after execution of this function Yes Parameter...

Страница 270: ...Interpreting Input Signal Display Status 7 4 7 3 2 Input Signal Display Example 7 5 7 4 Monitoring Output Signals 7 6 7 4 1 Interpreting Output Signal Display Status 7 6 7 4 2 Output Signal Display Ex...

Страница 271: ...7 Input reference pulse speed valid only in position control min 1 Un008 Position error amount valid only in position control reference unit Un009 Accumulated load ratio in percentage to the rated tor...

Страница 272: ...tor displays To view any items that are not shown press the or Key to scroll through the list Indicates that the value of Un000 motor rotating speed is 0 min 1 U n 0 0 0 0 0 0 0 0 U n 0 0 1 0 0 0 0 0...

Страница 273: ...al Display Status The input signal monitor Un005 can be read in the following way The upper level indicates OFF and the lower level indicates ON All undefined digits are shown in the lower level ON NO...

Страница 274: ...d as shown below When the DEC signal is ON When the DEC signal is OFF When the P OT signal is activated U n 0 0 5 8 7 6 5 4 3 2 1 digit The fourth digit is in the lower level U n 0 0 5 8 7 6 5 4 3 2 1...

Страница 275: ...vel indicates OFF and the lower level indicates ON All undefined digits are shown in the lower level ON NOTE Output signals use the following circuit configuration OFF Transistor OFF ON Transistor ON...

Страница 276: ...l indicates ON and the lower level indicates OFF All undefined digits are shown in the lower level OFF Note Input signals use the following circuit configuration OFF Open ON Short circuited Example 7...

Страница 277: ...with an External Encoder by Renishaw plc 8 7 8 1 6 Precautions When Using an External Incremental Encoder by Magnescale 8 8 8 2 SERVOPACK Startup Procedure 8 12 8 3 Parameter Settings for Fully closed...

Страница 278: ...uration The connected devices and cables depend on the type of external encoder linear scale Note 1 For details on the power supply and peripheral devices refer to 1 5 Examples of Servo System Configu...

Страница 279: ...coder With Speed Control The connected devices depend on the type of external encoder linear scale Elec tronic gear MECHATROLINK move command Encoder output pulse Error counter Speed loop Alarm detect...

Страница 280: ...itch 1 cycle of input 2 phase sine wave pitch Max Response Frequency 250 kHz Analog Input Signals cos sin Ref Differential input amplitude 0 4 V to 1 2 V Input signal level 1 5 V to 3 5 V Output Signa...

Страница 281: ...the hysteresis width Never perform insulation resistance and withstand voltage tests When low voltage analog signals are input to the serial converter unit noise influence on the analog signals affect...

Страница 282: ...r by Heidenhain JZDP D003 000 E SERVOPACK with Fully closed Module CN31 Interface unit by Heidenhain EIB3391 Connection cable by Heidenhain External encoder by Heidenhain CN1 CN2 CN31 JZSP CLP70 E Ser...

Страница 283: ...and Returning after Power ON Machine position Power ON Zero point signal Ref Phase C Time Second pulse is half as wide as the phase A pulse No zero point signal Ref is sent from the external encoder...

Страница 284: ...First Zero Point in Forward Direction and Returning after Power ON When the zero point detection position is first passed in the forward direction after turning the power supply OFF and ON again the...

Страница 285: ...e manner as described in 9 1 6 Passing First Zero Point in Forward Direction and Returning after Power ON The phase C pulse is not output when passing the detection position in reverse direction first...

Страница 286: ...e direction set Pn081 to n 1 NOTE The encoder output pulse is output in the forward and reverse directions regardless of the setting of Pn081 when a serial converter unit is used Parameter Meaning Whe...

Страница 287: ...t to n 1 the encoder output phase C pulse output width may be narrower than the width of the phase A pulse As shown in the following diagram there is a 1 8th scale pitch difference in the encoder divi...

Страница 288: ...gnal Selection Pn50E Pn50F Pn510 SERVOPACK or host controller 2 Check operation of the system connected with the machine and servomotor in semi closed loop control mode Items to Check Initial responsi...

Страница 289: ...as the distance that is set in Pn531 Note Start from a low speed and gradu ally increase the speed Program JOG related parameters Pn530 to Pn536 SERVOPACK 5 Operate the SERVOPACK Items to Check Does...

Страница 290: ...20A Number of pitches for the external encoder 8 3 2 Pn281 Number of encoder output pulses PAO PBO and PCO from the SERVOPACK 8 3 3 External absolute encoder data reception sequence 8 3 4 Pn20E Pn210...

Страница 291: ...s down set Pn002 to n 3 Parameter Forward Reverse Reference Direction of Motor Rotation and Encoder Output Pulse Applicable Overtravel OT Pn000 n 0 Sets CCW as forward direc tion Factory setting Forwa...

Страница 292: ...direction 0 Reference direction Forward reference Reverse reference Forward reference Reverse reference Motor rotation direction CCW CW CCW CW External encoder output cos lead sin lead sin lead cos l...

Страница 293: ...ue will be 20 If the output of a single pulse multiplied by 4 is 0 5 m the set value will be 40 The encoder output pulse will have the following waveform if the set value is 20 shows the edge position...

Страница 294: ...ransmits them to host controller in fully closed loop control is shown below 1 Outline of Absolute Signals The serial data pulses etc of the external absolute encoder that are output from the SERVOPAC...

Страница 295: ...76 and the output speed is approximately 1 48 s per pulse Final absolute data PM is calculated by following formula PE MO R PO PM PE MS R PS Note If host controller receives the data from the external...

Страница 296: ...hod Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below Note 1 Data is P 00000 CR o...

Страница 297: ...efer to the manuals for the external encoder and serial converter unit for details on the sine wave pitch and the number of divisions of the external encoder A B Pn210 Pn20E External encoder sine wave...

Страница 298: ...low alarm A d10 is not detected 2 Multiplier per One Fully closed Rotation Pn52A The coefficient of the error between the external encoder and the motor per motor rotation can be set This function can...

Страница 299: ...etting When Enabled 0 to 100 1 20 Immediately Setup Position Parameter Name Meaning When Enabled Classification Pn006 n 07 Analog Monitor 1 Signal Selection Position error between servomotor and load...

Страница 300: ...2 Troubleshooting of Alarms 9 6 9 2 Warning Displays 9 23 9 2 1 List of Warnings 9 23 9 2 2 Troubleshooting of Warnings 9 24 9 3 Monitoring Communication Data on Occurrence of an Alarm or Warning 9 2...

Страница 301: ...The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 021 Parameter Format Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 022 System Checksum Error 1 The data...

Страница 302: ...eat sink of the SERVOPACK exceeded 100 C Gr 2 Available A 7Ab Built in Fan in SERVOPACK Stopped The fan inside the SERVOPACK stopped Gr 1 Available A 810 Encoder Backup Error The power supplies to the...

Страница 303: ...1 N A A CA0 Encoder Parameter Error Encoder parameters are faulty Gr 1 N A A Cb0 Encoder Echoback Error Contents of communications with encoder are incor rect Gr 1 N A A CC0 Multiturn Limit Disagreem...

Страница 304: ...option module was con nected Gr 1 N A A E81 1 SERVOPACK Safety Mod ule Alarm A EA2 DRV Alarm 2 SERVOPACK WDC error A SERVOPACK DRV alarm 0 occurs Gr 2 Available A Eb1 Safety Function Signal Input Timi...

Страница 305: ...rrect The software version of SERVO PACK that caused the alarm is older than that of the written parameter Check Fn012 to see if the set soft ware version agrees with that of the SERVOPACK If not an a...

Страница 306: ...01 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The SERVOPACK and servomotor capacities do not correspond The SERVOPACK and servomo tor capacities do not match each ot...

Страница 307: ...red Check the power consumed by DB resistance Un00B to see how many times the DB has been used Or check the alarm history display Fn000 to see if the DB overload alarm A 730 or A 731 was reported Chan...

Страница 308: ...power supply OFF and ON again while the main circuit power supply is OFF If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 320 Regenerative Overload The power supply volta...

Страница 309: ...SGDV R70F R90F 2R1F R70A R90A 1R6A or 2R8A SERVOPACK and an external regenerative resistor is not connected Check the external regenerative resistor connection and the value of the Pn600 Connect the...

Страница 310: ...ative resistance value appropriate for the operating conditions and load The moment of inertia ratio exceeded the allowable value Confirm that the moment of inertia ratio is within the allowable range...

Страница 311: ...uning less function Check the motor speed waveform Reduce the load so that the moment of inertia ratio falls within the allowable value or raise the load level using the tuning less levels setting Fn2...

Страница 312: ...PACK A 7Ab Built in Fan in SERVOPACK Stopped The fan inside the SERVOPACK stopped Check for foreign matter or debris inside the SERVOPACK Remove foreign matter or debris from the SERVOPACK If the alar...

Страница 313: ...PACK OFF and ON again If the alarm still occurs the SERVO PACK may be faulty Replace the SERVOPACK A 860 Encoder Overheated Only when an absolute encoder is connected Detected on the encoder side The...

Страница 314: ...ble is disconnected Check for disconnection of the ser vomotor main circuit cable Correct the servomotor wiring A b6A MECHATROLINK CommunicationsASIC Error 1 SERVOPACK MECHA TROLINK communication sec...

Страница 315: ...fault occurred Turn the power supply to the SER VOPACK OFF and ON again If the alarm still occurs the servomotor may be faulty Replace the servo motor A SERVOPACK fault occurred Turn the power supply...

Страница 316: ...encoder Take countermeasures against noise for the encoder wiring Excessive vibration and shocks were applied to the encoder Check the operating environment Reduce the machine vibration or correctly i...

Страница 317: ...encoder Check the value of the Pn205 Correct the setting of Pn205 0 to 65535 The multiturn limit value of the encoder is different from that of the SERVOPACK Or the multi turn limit value of the SERVO...

Страница 318: ...wer is OFF Correct the excessive position error alarm level at servo ON Pn526 A d02 Position Error Overflow Alarm by Speed Limit at Servo ON When the position errors remain in the error counter Pn529...

Страница 319: ...ll occurs the SERVO PACK may be faulty Replace the SERVOPACK A E61 MECHATROLINK Transmission Cycle Error Synchronization interval error MECHATROLINK transmission cycle fluctuated Check the MECHATROLIN...

Страница 320: ...Check the motor status when the command is executed Execute the SV_ON or SENS_ON command only when the motor is not running For fully closed loop control check the status of the external encoder afte...

Страница 321: ...caused by noise interference Keep the digital operator or the cable away from noise sources CPF01 Digital Operator Transmission Error 2 A digital operator fault occurred Disconnect the digital operat...

Страница 322: ...continues a regenerative overload alarm may occur A 921 1 Dynamic Brake Overload This warning occurs before dynamic brake overload alarm A 731 occurs If the warning is ignored and operation continues...

Страница 323: ...ER VOPACK OFF and ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVO PACK A 901 Position Error Overflow Alarm at Servo ON When the servomotor power is ON the posi tion er...

Страница 324: ...tor reference speed Reduce the moment of inertia ratio Reduce the number of times of the DB stop operation A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 930 Absolute E...

Страница 325: ...Inter ference Command sending condition for latch related commands is not satisfied Refer to 9 3 Monitoring Communi cation Data on Occurrence of an Alarm or Warning to determine which command was the...

Страница 326: ...SERVOPACK fuse is blown out Replace the SERVOPACK and con nect a reactor to the SERVOPACK A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 9A0 Overtravel Overtravel statu...

Страница 327: ...m Warning Occurrence Pn8A0 to Pn8AE Note 1 Data is stored in little endian byte order and displayed in the hexadecimal format 2 For details on commands refer to the V Series DC Power Input V Series V...

Страница 328: ...Pn511 Correct the settings for parameter Pn50A Pn50B and Pn511 SV_ON command is not sent Check the command sent from the host controller Send the SV_ON command SENS_ON command is not sent Check the co...

Страница 329: ...specifications of encoder cable The encoder cable must be tinned annealed copper shielded twisted pair or screened unshielded twisted pair cable with a core of 0 12 mm2 min Use the specified encoder...

Страница 330: ...ent of inertia ratio Pn103 Correct the moment of inertia ratio Pn103 High Motor Speed Overshoot on Starting and Stop ping Unbalanced servo gains Check to see if the servo gains have been correctly adj...

Страница 331: ...rvomotor Check if the machines are correctly grounded Ground machines correctly and prevent diversion to the FG on the encoder side SERVOPACK pulse counting error due to noise interference Check if th...

Страница 332: ...wiring is correct check for dam aged cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal P OT N OT allocation parameters Pn50A 3 Pn50B...

Страница 333: ...on from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Reduce the machine vibration or mount the servomotor securely Unsecured coupling be...

Страница 334: ...10 1 10 Appendix 10 Appendix 10 1 List of Parameters 10 2 10 2 Parameter Recording Table 10 33...

Страница 335: ...digit digit digit digit n Servomotor power OFF or Alarm Gr 1 Stop Mode Reference Section 0 Stops the servomotor by applying DB dynamic brake 4 3 5 1 Stops the servomotor by applying DB and then releas...

Страница 336: ...t values 2 TFF operates as the torque feed forward 3 When P CL and N CL in the OPTION field are available P_TLIM and NTLIM oper ate as the torque limit value Torque Control Option Reference Section 0...

Страница 337: ...e gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference completed 5 V not completed 0 V 0D External encoder speed 1 V 1000 min 1 Values at motor shaft Reserved Do not change Reserved Do n...

Страница 338: ...unction Selection for Undervoltage Reference Section 0 Does not detect undervoltage 4 3 7 1 Detects warning and limits torque by host controller 2 Detects warning and limits torque by Pn424 and Pn425...

Страница 339: ...ing as Pn001 0 Stops the motor by applying DB or by coasting Power Supply Method for Three phase SERVOPACK Reference Section 0 Three phase power supply 3 1 3 1 Single phase power supply Reserved Do no...

Страница 340: ...Function for Gain Select Switch 0000 to 5334 0000 cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section Reserved Do not change n Reserved Do...

Страница 341: ...diately Tuning Pn135 2 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning Pn136 2 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning Pn139 2 Automatic Gain Changeover R...

Страница 342: ...mediately Tuning Pn14A 2 Vibration Suppression 2 Frequency 10 to 2000 0 1 Hz 800 Immediately Tuning Pn14B 2 Vibration Suppression 2 Compensation 10 to 1000 1 100 Immediately Tuning cont d Parameter No...

Страница 343: ...uning cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section Model Following Control Type Selection Reference Section 0 Model Following Control...

Страница 344: ...ing less function Control Method during Speed Control When Enabled Classification Reference Section 0 Uses as speed control After restart Setup 5 2 1 Uses as speed control and uses the host controller...

Страница 345: ...celeration Time 0 to 10000 1 ms 0 Immediately Setup 1 For details refer to the V Series DC Power Input V Series V Series for Large Capacity Models User s Man ual MECHATROLINK II Commands Manual No SIE...

Страница 346: ...mmediately Setup Pn404 2 Forward External Torque Limit 0 to 800 1 2 100 Immediately Setup 4 6 2 Pn405 2 Reverse External Torque Limit 0 to 800 1 2 100 Immediately Setup Pn406 2 Emergency Stop Torque 0...

Страница 347: ...5 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1000 1 ms 100 Immediately Setup Pn456 2 Sweep Torque Reference Amplitude 1 to 800 1 15 Immediately Tuning 6 21 2 Percentage of rated...

Страница 348: ...n508 2 Waiting Time for Brake Signal When Motor Running 10 to 100 10 ms 50 Immediately Setup Pn509 2 Instantaneous Power Cut Hold time 20 to 1000 1 ms 20 Immediately Setup 4 3 6 cont d Parameter No Si...

Страница 349: ...hen CN1 9 input signal is ON closed 4 Forward run allowed when CN1 10 input signal is ON closed 5 Forward run allowed when CN1 11 input signal is ON closed 6 Forward run allowed when CN1 12 input sign...

Страница 350: ...C Reverse run allowed when CN1 9 input signal is OFF open D Reverse run allowed when CN1 10 input signal is OFF open E Reverse run allowed when CN1 11 input signal is OFF open F Reverse run allowed wh...

Страница 351: ...l Mapping 4 8 5 Servomotor Rotation Detection Signal Mapping TGON Reference Section 0 to 3 Same as COIN Signal Mapping 4 8 3 Servo Ready Signal Mapping S RDY Reference Section 0 to 3 Same as COIN Sign...

Страница 352: ...When Enabled Classification Reference Section Near Signal Mapping NEAR Reference Section 0 Disabled the above signal is not used 4 8 7 1 Outputs the signal from CN1 1 2 terminal 2 Outputs the signal...

Страница 353: ...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 input signal is OFF open...

Страница 354: ...diately Setup 5 1 4 Pn528 2 Excessive Position Error Warning Level at Servo ON 10 to 100 1 100 Immediately Setup Pn529 2 Speed Limit Level at Servo ON 0 to 10000 1 min 1 10000 Immediately Setup Pn52A...

Страница 355: ...1 2 Reserved Do not change 0 Pn621 to Pn628 5 Parameters related to the safety module 3 Normally set to 0 If you use an external regenerative resistor set the capacity W of the regenerative resistor 4...

Страница 356: ...d WDT error A E5 Warning Check Mask 0 No mask 1 Ignores data setting warning A 94 2 Ignores command warning A 95 3 Ignores both data setting warning A 94 and command warning A 95 4 Ignores communicati...

Страница 357: ...7 Setup 1 Pn80F 2 Deceleration Constant Switching Speed 0 to 65535 100 reference unit s 0 Immediately 7 Setup 1 Pn810 2 Exponential Function Acceleration Deceleration Bias 0 to 65535 100 reference uni...

Страница 358: ...ual MECHATROLINK II Commands Manual No SIEP S800000 54 7 Change the setting when the reference is stopped DEN is set to 1 because the change will affect the output during operation 9 The set value of...

Страница 359: ...nabled Classification Reference Section 4th digit 3rd digit 2nd digit 1st digit n IO12 Signal Mapping 0 1 2 3 4 5 6 7 No mapping Monitors CN1 13 input terminal Monitors CN1 7 input terminal Monitors C...

Страница 360: ...01AH Un00A Regenerative load ratio 001BH Un00B DB resistance consumption power 001CH Un00C Input reference counter reference unit 001DH Un00D Feedback pulse counter encoder pulse 001EH Un00E Fully clo...

Страница 361: ...cation Reference Section 4th digit 3rd digit 2nd digit 1st digit n 0 to E ACCFIL bit position 0 1 Disables ACCFIL bit allocation Enables ACCFIL bit allocation 0 to E GSEL bit position 0 1 Disables GSE...

Страница 362: ...ration cont d Parameter No Size Name Setting Range Units Factory Setting When Enabled Classification Reference Section 4th digit 3rd digit 2nd digit 1st digit n 0 to C BANK_SEL1 bit position 0 1 Disab...

Страница 363: ...520 100 reference unit s 0 Immediately 7 Setup 1 Pn844 10 4 Homing Approach Speed 22 0 to 20971520 100 reference unit s 0 Immediately 7 Setup 1 Pn850 2 Latch Sequence Number 0 to 8 0 Immediately Setup...

Страница 364: ...ry Setting When Enabled Classification Reference Section 4th digit 3rd digit 2nd digit 1st digit n Latch sequence 1 signal selection 0 1 2 3 Phase C EXT1 signal EXT2 signal EXT3 signal Latch sequence...

Страница 365: ...r restart Setup 1 Pn901 2 Parameter Bank Member Number 0 to 15 0 After restart Setup 1 Pn902 to Pn910 2 Parameter Bank Member Definition 0000H to 08FFH 0 After restart Setup 1 Pn920 to Pn95F 2 Paramet...

Страница 366: ...Pn104 400 2nd Speed Loop Gain Immediately Pn105 2000 2nd Speed Loop Integral Time Con stant Immediately Pn106 400 2nd Position Loop Gain Immediately Pn109 0 Feedforward Gain Immediately Pn10A 0 Feedf...

Страница 367: ...n163 0 Anti Resonance Damping Gain Immediately Pn164 0 Anti Resonance Filter Time Con stant 1 Compensation Immediately Pn165 0 Anti Resonance Filter Time Con stant 2 Compensation Immediately Pn170 140...

Страница 368: ...iately Pn40C 5000 2nd Notch Filter Frequency Immediately Pn40D 70 2nd Notch Filter Q Value Immediately Pn40E 0 2nd Notch Filter Depth Immediately Pn40F 5000 2nd Step 2nd Torque Reference Filter Freque...

Страница 369: ...tely Pn526 5242880 Excessive Position Error Alarm Level at Servo ON Immediately Pn528 100 Excessive Position Error Warning Level at Servo ON Immediately Pn529 10000 Speed Limit Level at Servo ON Immed...

Страница 370: ...0 Exponential Function Acceleration Deceleration Time Constant Immediately 3 Pn812 0 Movement Average Time Immediately 3 Pn814 100 Final Travel Distance for External Positioning Immediately 3 Pn816 00...

Страница 371: ...Latch Count Immediately Pn852 0000 Latch Sequence Signal 1 to 4 Setting Immediately Pn853 0000 Latch Sequence Signal 5 to 8 Setting Immediately Pn880 0 Station Address Monitor for maintenance read onl...

Страница 372: ...g Table 10 39 10 Appendix Pn902 to Pn910 0 Parameter Bank Member Definition After restart Pn920 to Pn95F 0 Parameter Bank Data nonvolatile memory save disabled Immediately cont d Parameter Factory Set...

Страница 373: ...battery replacement 4 40 installing the battery in the host controller 4 38 using an encoder cable with a battery case 4 37 4 40 baud rate 1 8 BB iii 4 32 brake operation delay time 4 10 brake signal...

Страница 374: ...uption settings 4 17 internal block diagrams 1 9 internal torque limit 4 33 J JOG operation Fn002 6 4 L LED COM 1 2 1 6 LED POWER 1 2 1 6 limit switches 4 6 limiting torque 4 33 list of alarms 9 2 lis...

Страница 375: ...12 soft start time setting 1 5 software limit settings 4 9 software reset Fn030 6 32 software version display Fn012 6 24 specifications of EDM1 output signal 4 65 specifications of HWBB signals 4 62 s...

Страница 376: ...by Heidenhain models LIC4100 series models 9 1 1 9 1 2 Addition A F50 10 1 2 10 3 Addition Pn884 July 2013 9 0 Preface 1 3 2 Revision Description of Harmonized Standards EN 55011 A2 changed to EN 550...

Страница 377: ...ted 5 8 1 4 5 Revision Applicable control method 6 15 1 Revision Operating Procedure 7 1 10 2 Revision Content of Display at Un003 and Un004 8 2 1 Addition Description of Note 9 1 1 9 1 2 Addition A E...

Страница 378: ...awa 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...

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