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SERVO ADJUSTMENT

A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio

— A-14 —

Machines with Medium Rigidity

Machines driven by ball screw through reduction gears, or machines directly driven by long
ball screws.
Example: General machine tools, orthogonal robots, conveyors

Load/Inertia Ratio

(GD

L

2

/GD

M

2

)

Position Loop Gain

(Cn-1A) [1/s]

Speed Loop Gain

(Cn-04) [Hz]

Speed Loop

Integration Time

Constant (Cn-05)

[ms]

1 x

30 to 50

30 to 50

10 to 40

3 x

60 to 100

Slightly increase for

5 x

90 to 150

Slightly increase for

inertia ratio of 20 x, or

greater

10 x

160 to 270

greater.

15 x

240 to 400

20 x

310 to 520

30 x

450 to 770

Note

For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed loop
gain below the values shown and set the integration time constant to a higher value before
starting the adjustment.
As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit
of the range of values specified. Conversely, increase the speed loop integration time
constant.

Machines with Low Rigidity

Machines driven by timing belts, chains or wave reduction gears (product name: Harmonic
Drive).
Example: Conveyors, articulated robots

Load/Inertia Ratio

(GD

L

2

/GD

M

2

)

Position Loop Gain

(Cn-1A) [1/s]

Speed Loop Gain

(Cn-04) [Hz]

Speed Loop

Integration Time

Constant (Cn-05)

[ms]

1 x

10 to 20

10 to 20

50 to 120

3 x

20 to 40

Slightly increase for

5 x

30 to 60

Slightly increase for

inertia ratio of 20 x, or

greater

10 x

50 to 110

greater.

15 x

80 to 160

20 x

100 to 210

30 x

150 to 310

Note

For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed loop
gain below the values shown and set the integration time constant to a higher value before
starting the adjustment.
As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit
of the range of values specified. Conversely, increase the speed loop integration time
constant.

A

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Содержание Sigma Mini SGMM Series

Страница 1: ...s underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos...

Страница 2: ...YASKAWA YASKAWA MANUAL NO SIE S800 27C AC Servomotors and Driver SGMM Servomotor SGDF Servopack Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...ted equipment and systems WARNING Indicates precautions that if not heeded could result in loss of life or serious injury CAUTION Indicates precautions that if not heeded could result in relatively se...

Страница 4: ...SGDF jjCS If neither this icon nor the following icon appears the description is applicable to both types of Servopack Indicates information that is applicable only to Servopacks for position control...

Страница 5: ...0 CHAPTER 2 APPLICATIONS 2 1 2 1 Setting Parameters According to Machine Characteristics 2 4 2 1 1 Changing Motor Rotation Direction 2 4 2 1 2 Torque Limit 2 5 2 2 Setting Parameters According to Host...

Страница 6: ...3 2 8 4 Connector Terminal Layouts 2 74 CHAPTER 3 USING THE DIGITAL OPERATOR 3 1 3 1 Basic Operations 3 2 3 1 1 Connecting the Digital Operator 3 2 3 1 2 Resetting Servo Alarms 3 3 3 1 3 Basic Functin...

Страница 7: ...6 1 Cable Specifications and Peripheral Devices 4 50 4 6 2 Motor Cables 4 51 4 6 3 Encoder Cables 4 54 4 6 4 Connector Kits 4 56 4 6 5 Cable with CN1 Connector at One End Only 4 61 4 6 6 Circuit Brea...

Страница 8: ...Series AC Servopack Gain Adjustment A 2 A 1 1 Series AC Servopacks and Gain Adjustment Methods A 2 A 1 2 Basic Rules for Gain Adjustment A 3 A 2 Adjusting a Speed control Servopack A 4 A 2 1 Adjusting...

Страница 9: ...ers explaining maintenance For users who are going to maintain and troubleshoot Series products Chapter Title Page Area CHAPTER 1 Basic Operation 1 1 B Describes steps to take when product is received...

Страница 10: ...ck Servo Drive A set including an SGMM SGDF Servomotor and an SGDF Servopack Servo System A complete Servo control system consisting of Servo Drive host controller and peripheral devices Description o...

Страница 11: ...rrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire J Wiring WARNING D Ground the equipment ground terminal according to electrical codes ground resistance 10...

Страница 12: ...ore starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury D Do not touch the heat sinks during operation Doing so ma...

Страница 13: ...t specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and...

Страница 14: ...of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice E...

Страница 15: ...k 1 9 1 2 4 Power Loss 1 11 1 3 Connection and Wiring 1 12 1 3 1 Connecting to Peripheral Devices 1 12 1 3 2 Main Circuit Wiring and Power ON Sequence 1 14 1 3 3 Examples of Connecting Host Controller...

Страница 16: ...power is turned OFF residual volt age still remains in the capacitor inside the Servo pack If inspection is to be performed after the power is turned OFF always wait at least 5 min utes to avoid the r...

Страница 17: ...operation cannot be performed by ro tating the motor from the load and applying regen erative braking Regenerative braking by the Ser vopack can be applied only for a short period such as when the mot...

Страница 18: ...following table Check if the motor shaft rotates smoothly If the motor shaft is smoothly turned by hand it is normal If the motor has brakes however it cannot be turned manually Check for damage Chec...

Страница 19: ...ars Option C With brake 24 VDC 2 Straight without key 6 Straight with key and tap Encoder specifications Series SGMM Servomotor Supply voltage 3 2048 P R incremental encoder With reduction gears A 1 5...

Страница 20: ...ng Note Do not get thinner on any other parts of the Servomotor when cleaning the shaft Storage Temperature When the Servomotor is to be stored with the power cable disconnected store it within the fo...

Страница 21: ...rcumference The difference between the maximum and minimum measurements must be 0 03 mm or less Turn together with couplings Measure this distance at four different positions in the circumference The...

Страница 22: ...Standard A1C31jj 34 1 7 7 14 7 3 3 A2C31jj 44 1 9 9 A3C31jj B3CF1j 8 1 8 4 0 0 90 F B5CF1j Fr B9CF1j 10 2 2 Fs With Gears A1C3JAjj 51 9 11 7 47 0 10 5 Fs A2C3JAjj A1C3JBjj 76 4 17 2 A2C3JBjj A1C3JCjj...

Страница 23: ...he Servopack does not exceed 50 C Installed near a source of vibration Install a vibration isolator underneath the Servopack to prevent it from receiving vibration Installed in a place subject to corr...

Страница 24: ...ion or fans as shown in the above diagram Adjacent Installation When installing Servopacks side by side provide at least 10 mm space between them and at least 50 mm space above and below them as shown...

Страница 25: ...lowing table Servopack Type Capacity W Inrush Current Aop Output Current A rms Power Loss W SGDF A1C 10 3 8 2 1 7 SGDF A2C 20 3 8 2 0 7 SGDF A3C 30 3 8 2 9 7 SGDF B3C 3 3 8 1 3 7 SGDF B5C 5 3 8 1 3 7...

Страница 26: ...main circuit It also describes an example of connecting to main host controllers 1 3 1 Connecting to Peripheral Devices This section shows a standard example of connecting Series products to periphera...

Страница 27: ...Model HI Series Magnetic contactor AC DC power supply Supplies Servopack with 24 VDC AC DC power supply Power supply ground line Digital Operator Allows the user to set parameters or operation refere...

Страница 28: ...rcuit breaker FIL Noise filter MC Contactor Ry Relay PL Patrol light SUP Surge suppressor D Flywheel diode Overview and Functions of Main Circuit Terminals The following tables show the name and descr...

Страница 29: ...n is required to initialize the Servopack Servo alarm ALM output signal Power supply Wiring Precautions After turning the power OFF do not touch the power terminals for 5 minutes Residual volt age may...

Страница 30: ...Servopack only For other signals refer to the relevant technical documentation Example of Connecting to PROGIC 8 Servopack for Speed Torque Control PA PA PB PB PC PC D A GND 24OUT SVON PCON Reserved...

Страница 31: ...6 7 25 2 3 45 46 47 30 31 32 48 49 50 10 11 12 0V 5V 12V 12V 1Ry 20 33 1 24 V 024V 1 The ALM signal is output for approximately two seconds when the power is turned ON Consider this when designing the...

Страница 32: ...er this when desigining the power ON sequence Use the ALM signal to operate the alarm detection relay Relay 1Ry and turn OFF the power supply to the Servopack STOP START 24 V 024V Yaskawa JAMSC B2833...

Страница 33: ...ON when proximity is detected 24 V 024V C500 NC222 Made by OMRON Servomotor Servopack CN1 CN2 I O power supply EXT IN X AXIS Y AXIS M D 2 1 The ALM signal is output for approximately two seconds when...

Страница 34: ...LIMIT EMERGENCY STOP EXTERNAL INTERRUPT ORIGIN ORIGIN PROXIMITY LOCAL READY 5V 5V PULSE OUTPUT CW CCW DIRECTION OUTPUT CW External power supply 5V 5V 1 The ALM signal is output for approximately two s...

Страница 35: ...ed ON Consider this when designing the power ON sequence Use the ALM signal to operate the alarm detection relay Relay 1Ry and turn OFF the power supply to the Servopack 2 These pin numbers are the sa...

Страница 36: ...nds when the power is turned ON Consider this when designing the power ON sequence Use the ALM signal to operate the alarm detection relay Relay 1Ry and turn OFF the power supply to the Servopack Note...

Страница 37: ...tor shaft disconnected from the machine Purpose To check power supply circuit wiring To check motor wiring To check I O signal CN1 wiring Outline Turn the power ON Operate the motor with a digital op...

Страница 38: ...ment displayon theDig ital Operator will change as shown in the diagram Power will not be supplied to the Servomotor because the servo is OFF If an alarm display appears on the 7 segment display as sh...

Страница 39: ...No Description S ON CN1 1 Servo is turned ON when this input signal is at 0 V However leave the servo in OFF status Turn ON servo motor Turn ON the servo as follows Check that no reference has been i...

Страница 40: ...Reference speed Has a reference speed been input Is the motor speed as set Does the reference speed match the actual Servomotor speed Does the Servomotor stop when no reference is input 3 If the motor...

Страница 41: ...ence speed match the actual Servomotor speed Does the Servomotor stop when no reference is input 4 To change motor speed or the direction of rotation reset the parameters shown be low Cn 24 Cn 25 Elec...

Страница 42: ...just the Servopack according to the machine characteristics Conduct a test run according to the procedure described below 1 Check that power is OFF Turn OFF the Servopack power 2 Connect the Servomoto...

Страница 43: ...ents the motor from rotating due to gravity External force Servomotor Note To prevent faulty operation caused by gravity or external force first check that theServomo tor and holding brake operate nor...

Страница 44: ...mum Parameters Required for Test Run For details on how toset each parameter refer to 3 1 5Operation inParameter SettingMode Servopack for Speed Torque Control Cn 03 Speed reference adjustment gain Re...

Страница 45: ...et the following param eter Cn 02 bit 0 Reverse rotation mode Refer to 2 1 1 Switching Motor Rotation Direction Minimum Input Signals Required for Test Run The following table lists the minimum input...

Страница 46: ...Parameters According to Host Controller 2 9 2 2 1 Speed References 2 9 2 2 2 Position References 2 13 2 2 3 Encoder Output 2 17 2 2 4 Contact I O 2 21 2 2 5 Electronic Gear 2 24 2 2 6 Contact Input Sp...

Страница 47: ...ng Speed Bias 2 52 2 6 6 Mode Switch 2 53 2 6 7 Speed Loop Compensation 2 58 2 7 Designing a Protective Sequence 2 60 2 7 1 Servo Alarm Output 2 60 2 7 2 Servo ON Input Signal 2 62 2 7 3 Positioning C...

Страница 48: ...signals refer to 2 8 4 Connector Terminal Layout For a list of parameters refer to Appendix C List of Parameters For information on setting parameters refer to 3 1 5 Operation in Parameter Setting Mod...

Страница 49: ...remain unchanged Reference Standard Setting Reverse Rotation Mode Forward Run Reference Encoder output from Servopack Phase A Phase B PAO PBO Encoder output from Servopack Phase A Phase B PAO PBO Reve...

Страница 50: ...sition Control Cn 09 TLMTR Reverse Rotation Torque Limit Unit Setting Range 0 to Maximum Torque Factory Setting Maximum Torque For Speed Torque Control and Position Control Sets the maximum torque val...

Страница 51: ...8 is at high level Motor output torque is not being restricted Internal torque reference is equal to or below the preset value Preset Value Cn 08 TLMTF Cn 09 TLMTR Cn 18 CLMI At CL input Note This fu...

Страница 52: ...ction is valid when bit 2 of memory switch Cn 02 is set to 0 Using CL Signal This section describes how to use input signal CL as torque limit input signals I O power supply Servopack 24VIN CL CN1 9 C...

Страница 53: ...ignal selection 1 IN1 CN1 1 input signal Factory Setting 0 For Speed Torque Control and Position Control Cn 2B Input signal selection 2 IN2 CN1 2 input signal Factory Setting 2 For Speed Torque Contro...

Страница 54: ...REF CN1 12 Speed Reference Input For Speed Torque Control Input SG CN1 13 Signal Ground for Speed Reference Input For Speed Torque Control Use these signals when speed control is selected bits A and B...

Страница 55: ...n 03 accord ing to output voltage specifications Use the memory switch and input signal P CON to specify one of the four modes shown be low Cn 01 Bit A Control Mode Selection Factory Setting 0 For Spe...

Страница 56: ...mp function to be set when the motor stops D Speed reference is input from V REF D P CON signal is used to turn the zero clamp function ON or OFF Zero clamp Zero clamp is performed when the following...

Страница 57: ...g contact input speed control Adjust the speed reference gain using the following parameter Cn 03 VREFGN Speed Reference Gain Unit min 1 V Setting Range 0 to 2162 Factory Setting 500 For Speed Torque...

Страница 58: ...quivalent Connection Example 2 Open Collector Output Sets the value of limiting re sistor R1 so that input cur rent i falls within the follow ing range Input Current i 7 to 15 mA Examples When Vcc is...

Страница 59: ...sition Control Cn 02 Bit 4 Reference Pulse Form Selection Factory Setting 0 For Position Control Cn 02 Bit 5 Reference Pulse Form Selection Factory Setting 0 For Position Control Sets the form of a re...

Страница 60: ...erence form is two phase pulse train with 90 phase difference the input pulse multiply function can be used The electronic gear function can also be used to convert input pulses Example of I O Signal...

Страница 61: ...B is 90 behind phase B Phase A Phase B Phase B is 90 forward from phase B Parameter Cn 02 bits 3 4 and 5 is used to switch the input pulse multiplier mode CCW pulse CW pulse Maximum reference frequenc...

Страница 62: ...vel Cleared state 1 Clears the error counter only once when the rising edge of the CLR signal rises Cleared only once at this point 2 2 3 Encoder Output Encoder outputsignals dividedinside theServopac...

Страница 63: ...sed SN75175 manufactured by Texas Instruments Inc or MC3486 or equivalent R termination resistor 220 to 470 C decoupling capacitor 0 1 F I O signals are described below Output PAO CN1 14 Encoder Outpu...

Страница 64: ...t PBO CN1 12 Encoder Output Phase B For Position Control Output PCO CN1 10 Encoder Output Phase C For Position Control Divided encoder signals are output Always connect these signal terminals when a p...

Страница 65: ...trol 1024 for SGDF BjCj Sets the number of output pulses for PG output sig nals PAO PAO PBO and PBO Pulses from motor encoder PG are divided by the preset number of pulses before being output The numb...

Страница 66: ...vopack outputs signals externally External Power Supply 24 1 VDC 50 mA or more Yaskawa recommends that this external power supply be the same type as for the output cir cuit Input IN1 CN1 1 Input Sign...

Страница 67: ...e Servopack operation status Servopack Photocoupler output Per output Maximum operational voltage 30 VDC Maximum output current 50 mA DC Photocoupler CN1 7 CN1 3 CN1 8 SG COM OUT2 ALM MAX 50mA MAX 50m...

Страница 68: ...rol COIN positioning completed signal for positioning control 4 CLT torque limit detection output Output SG COM CN1 3 Output Signal Ground Common For Speed Torque Control and Position Control This sig...

Страница 69: ...reference the host controller needs to make this calculation Machine conditions and reference unit must be defined for the electronic gear function beforehand To move a workpiece 10 mm Reference unit...

Страница 70: ...ll Screw Disc Table Belt Pulley Load shaft 1 revolution P Pitch Reference unit P 1 revolution Reference unit 360 Load shaft D Pulley diameter Load shaft 1 revolution Reference unit D 5 Determine the e...

Страница 71: ...ectronic Gear Ratio Denominator Unit None Setting Range 1 to 65535 Factory Setting 1 For Position Control These parameters are for position control only Set the electronic gear ratio according to mach...

Страница 72: ...le Reference unit 0 1 Gear ratio 3 1 Load shaft Incremental encoder 2048 pulses per revolution Travel distance per revolution of load shaft Preset values 24576 3600 Cn 24 Cn 25 0 1 360 3600 Electronic...

Страница 73: ...n 0A X4 2 2 6 Contact Input Speed Control The contact input speed control function provides easy to use speed control It allows the user to initially set three different motor speeds in parameters sel...

Страница 74: ...rol signals automatically 1 1 Cn 20 SPEED2 g y regardless of CN 2B and C 2C tti 1 0 Cn 21 SPEED3 g Cn 2C settings 2 Set three motor speeds in the following parameters Cn 1F SPEED1 1st Speed Contact In...

Страница 75: ...0 to 10000 Factory Setting 0 For Speed Torque Control In the Servopack a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control When a progressive spe...

Страница 76: ...reference 0 1 0 Stop Stopped by zero clamp 0 0 1 0 1 Analog speed reference V REF input 1 1 1 With zero clamp func tion 0 1 SPEED1 Cn 1F 1 1 SPEED2 Cn 20 1 0 SPEED3 Cn 21 Preset values 0 or 1 and inp...

Страница 77: ...topped Stopped 1st speed 2nd speed 3rd speed SPEED3 SPEED2 SPEED1 SPEED1 SPEED2 SPEED3 2 2 7 Torque Control The Servopack can provide the following torque control Level 1 To restrict the maximum outpu...

Страница 78: ...his is a dedicated torque control mode D A torque reference is input from T REF D P CON is not used Torque reference Servopack 1 0 D Speed reference input V REF cannot be used D Parameter Cn 14 can be...

Страница 79: ...Speed Setting Type 25HP 10B manufactured by Sakae Tsushin Kogyo Co Ltd Input V REF CN1 12 Speed Reference Input For Speed Torque Control Input SG CN1 13 Signal Ground for Speed Reference Input For Sp...

Страница 80: ...for Torque Control Unit min 1 Setting Range 0 to Maximum Speed Factory Setting Maximum Speed For Speed Torque Control Only Sets a motor speed limit value in this constant when torque control is select...

Страница 81: ...opack P CON P CON Schematic Block Diagram for INHIBIT Function Note Use Cn 01 bit F to enable disable the INHIBIT function Using Reference Pulse Inhibit Function INHIBIT To use the INHIBIT function se...

Страница 82: ...r Position Control Sets the memory switch according to the output form line driver or open collector of refer ence pulses from the host controller Setting Meaning 0 Output form of reference pulses fro...

Страница 83: ...as a torque limit value or speed loop gain is set in this constant For Speed Torque Control Parameter Name and Code Remarks Cn 01 Memory switch Each bit number has a Cn 02 Memory switch Each bit numb...

Страница 84: ...ode 2 3 2 Jog Speed Use the following parameter to set or modify a motor speed when operating the Series Ser vo from a Digital Operator Cn 10 JOGSPD Jog Speed Unit min 1 Setting Range 0 to Maximum Spe...

Страница 85: ...que Reference voltage Reference speed or reference torque Reference Offset Adjustment The following two methods can be used to adjust the reference offset to 0 V Automatic adjustment of reference offs...

Страница 86: ...n if the motor is forcibly rotated by external force it returns to the zero clamp position Host controller Speed reference Speed reference less than Cn 0A setting is ignored Stops instantaneously P CO...

Страница 87: ...nce input T REF cannot be used Settings Set the motor speed level at which zero clamp is to be performed in the following parameter Cn 0F ZCLVL Zero clamp Level Unit min 1 Setting Range 0 to Maximum S...

Страница 88: ...les Use Servopack contact output signal BK and brake power supply to form a brake ON OFF circuit The following diagram shows a standard connection example 24VDC 0V 24V CN1 8 CN1 3 BK SG COM MAX 50mA B...

Страница 89: ...et the following pa rameter to adjust brake ON timing Cn 12 BRKTIM Time delay from the time a brake signal is output until servo OFF status occurs Unit 10 ms Setting Range 0 to 50 Factory Setting 0 Fo...

Страница 90: ...occurrence during motor rotation Brakes for Servomotors are designed as holding brakes Therefore brake ON timing when the motor stops must be appropriate Adjust the parameter set tings while observin...

Страница 91: ...n the Servopack a speed reference is multiplied by the acceleration or deceleration value set in Cn 07 or Cn 23 to provide speed control Smoothspeed controlcan beachieved whenprogres sive speed refere...

Страница 92: ...t perform acceleration deceleration proces sing When reference pulse frequency is too low When reference electronic gear ratio is too high more than 10 times This function does not change the travel d...

Страница 93: ...ed adjustment procedures refer to the following sections Adjustment Method Section Automatic adjustment of reference offset 3 2 4 Reference Offset Automatic Adjustment Mode Manual adjustment of refere...

Страница 94: ...Cn 05 Speed loop integration time constant Cn 1A Position loop gain For details of how to perform autotuning refer to 3 2 3 Autotuning 2 6 2 Servo Gain Check and reset the servo gain when Automatical...

Страница 95: ...the Servo pack Increasing the position loop gain value provides posi tion control with higher response and less error How ever there is a certain limit depending on machine characteristics This parame...

Страница 96: ...its A and B of memory switch Cn 01 are set to 0 as shown below input signal P CON serves as a PI P control changeover switch PI Control Proportional Integral control P Control Proportional control Cn...

Страница 97: ...occurrence of overshoot and also shorten settling time For particular conditions refer to 2 6 6 Mode Switch If PI control mode is used when the speed reference has a reference offset the motor may rot...

Страница 98: ...switch 2 For normal use the speed loop gain and position loop gain set by autotuning provide sufficient speed position control Even if overshoot or undershoot occurs they can be suppressed by setting...

Страница 99: ...oint of Mode Switch Standard Setting If a torque reference exceeds the torque value set in parameter Cn 0C the speed loop switches to P control The Servopack is factory set to this standard mode Cn 0C...

Страница 100: ...d undershoot Using Acceleration as a Detection Point of Mode Switch Standard Setting If motor acceleration exceeds the value set in pa rameter Cn 0E the speed loop switches to P con trol Example of Us...

Страница 101: ...e switch are summarized as follows Cn 01Bit B Mode Switch ON OFF Factory Setting 0 For Position Control This parameter is used to enable or disable the mode switch function Setting Meaning 0 Uses the...

Страница 102: ...y Setting 200 For Speed Torque Control and Position Control Cn 0D REFMSW Mode Switch Speed Reference Unit min 1 Setting Range 0 to Maximum Speed Factory Setting 0 For Speed Torque Control and Position...

Страница 103: ...se the following constant Cn 28 NDBCC Speed Loop Compensation Constant Unit Setting Range 0 to 100 Factory Setting 0 For Speed Torque Control First adjust the servo position speed loop gain speed loop...

Страница 104: ...rrent loop gain Cn 04 Speed loop integration time constant Cn 05 Current loop Speed calculation Compensation gain K is in proportion to the compensation constant parameter Cn 28 Cn 28 0 shows no compe...

Страница 105: ...There are no DC power available from Ser vopack for output signals Contact Output Signal ALM Output ALM CN1 7 Servo Alarm Output For Speed Torque and Position Control Output SG COM CN1 3 Signal Ground...

Страница 106: ...he number of feedback pulses from the Encoder OFF Overrun Disconnec tion of en coder signal line Overrun occurred due to motor or encoder signal wiring faults Encoder signal line is disconnected Unde...

Страница 107: ...vopack Photo coupler Host controller I O power supply Input S ON CN1 1 Servo ON For Speed Torque Control and Position Control This signal is used to turn the motor ON or OFF ON CN1 1 is at low level T...

Страница 108: ...ng Complete Output For Position Control This output signal indicates that motor operation is complete during position control The host controller usesthis signalas aninterlock toconfirm thatposition i...

Страница 109: ...s output to indicate that actual motor speed matches a reference speed The host controller uses this signal as an interlock CN1 8 CN1 3 V CMP SG COM 24 V Photocoupler output Maximum operating voltage...

Страница 110: ...t between CN1 8 and CN1 3 is closed when the speed is between 1900 and 2100 min 1 2 7 5 Running Output Signal This section describes how to wire and use contact output signal TGON as a running output...

Страница 111: ...ote Precautions for Setting Clear Servo Alarm To change a parameter that is made valid by turning the Servopack OFF and then ON always wait for at least the power holding time after the Servopack is t...

Страница 112: ...ortion of the cable to minimize the cable length 2 For the ground wire use as thick a cable as possible Ground resistance of 100 or less is recom mended Always use one line ground If the motor is insu...

Страница 113: ...ters refer to 2 8 2 Wiring for Noise Con trol 6 Use a molded case circuit breaker MCCB or fuse to protect the power supply line from high voltage The Servopack is directly connected to com mercial pow...

Страница 114: ...ise filter Servomotor Servopack Casing Operation relay sequence Signal generation circuit provided by customer Wire with a thickness of 3 5 mm2 or more Ground plate Ground One line ground ground to 10...

Страница 115: ...lter to prevent noise from the power supply line Install a noise filter on the power supply line for peripheral equipment as necessary The following table lists recommended noise filters for each Serv...

Страница 116: ...not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together Noise filter The ground wire can be close to input lines Noise filter Connect...

Страница 117: ...noise filter is located inside a Unit connect the noise filter ground wire and the ground wires from other devices inside the Unit to the ground plate for the Unit first then ground these wires Unit...

Страница 118: ...0V 24V Servopack 24 VDC 0V 24V Servomotor Servopack 24 VDC 0V 24V Servomotor Noise filter Power OFF Power ON AC DC power supply 24 V Connect the alarm output ALM terminals for the three Servopacks in...

Страница 119: ...utput 16 PBO PG output phase B 17 PBO PG output 8 OUT2 Output signal 2 7 ALM Alarm output 18 PCO PG output 17 PBO PG output phase B 8 OUT2 Output signal 2 9 24 VIN External input l 18 PCO PG output ph...

Страница 120: ...lear error counter input 19 CLR Clear error t i t PG output 9 24 VIN External input power supply 19 CLR Clear error counter input 10 PCO PG output phase C 20 FG Frame ground CN2 Terminal Layout 1 PG0V...

Страница 121: ...Molex Japan CN4 CN3 CN2 CN1 C N 5 1 2 3 4 5 6 8 7 9 16 17 18 19 14 15 4 1 20 5 2 6 3 Connector case Blue Green Yellow Black Red White Green Green White Yellow Yellow White Blue 0 12mm2 P P P 1 Channel...

Страница 122: ...low 3 Channel C output Green 4 0 V power supply Gray 5 Frame ground FG Orange 6 Channel A output Blue Black 7 Channel B output Yellow Black 8 Channel C output Green Black 9 5 V power supply Red Items...

Страница 123: ...CN3 CN2 CN1 C N 5 1 2 3 4 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Frame ground FG Green With Brake Items to be Prepared by Customer Receptacle 5557 04R 210 Socket 5556T chain type or 5556TL loo...

Страница 124: ...loose type Manufactured by Molex Japan 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Frame ground FG Green CN4 CN3 CN2 CN1 C N 5 1 2 3 4 Items to be Prepared by Customer Cap 43020 0401 Socket 43031...

Страница 125: ...for Digital Operator Pin No Signal Name Signal Circuit Name Signal Direction 1 TXD Transmit data non inversion side P S 2 TXD Transmit data inversion side P S 3 RXD Receive data non inversion side P...

Страница 126: ...asic Functins and Mode Selection 3 4 3 1 4 Operation in Status Display Mode 3 5 3 1 5 Operation in Parameter Setting Mode 3 7 3 1 6 Operation in Monitor Mode 3 9 3 2 Applications 3 13 3 2 1 Operation...

Страница 127: ...with the JUSP OP02A 3 Digital Operator Hand held type The Digital Operator is connected to the Servopack as shown below The Digital Operator con nector can be connected or disconnected while the Serv...

Страница 128: ...ervo Alarm Output for details If the power is turned OFF after a servo alarm has occurred there is no need to reset the alarm After an alarm occurs remove the cause of the alarm before resetting it Re...

Страница 129: ...and set all Servopack functions Monitor Mode Section 3 1 6 Displays the speed references to the Servopack the actual speed and internal status Alarm Traceback Mode Section 3 2 1 Displays a log of pre...

Страница 130: ...he power supply is turned ON Press to select the status display mode Meaning of Status Displays Keys to the status display are shown below The display differs between Servomotors for speed torque cont...

Страница 131: ...tting Position Control Bit Data Code Positioning Complete Base Block Power ON Reference Pulse Input TGON or Torque Limit Detected See table See table Code Status Base block Servo OFF Run Servo ON Alar...

Страница 132: ...C List of Parameter Settings before chang ing the data The following example shows how to change user setting Cn 15 from 100 to 85 1 Press DSPL SET to select the parameter set ting mode 2 Select the p...

Страница 133: ...bit number to set 5 Press the and keys to set the memory switch data ON or OFF for the bit number 6 Repeat steps 4 and 5 as often as required 7 Press DATA ENTER to store the data 8 Press DATA ENTER o...

Страница 134: ...ess DATA ENTER once more to display the moni tor number again Meaning of Monitor Mode Display Keys to Monitor Mode Displays are shown in the following table The display differs between the speed torqu...

Страница 135: ...V CMP status display mode 6 Mode switch ON 7 During forward current limit or contact input speed control CL 8 Not used 9 Motor power ON 10 Phase A PA PA 11 Phase B PB PB 12 Phase C PC PC 13 Phase U 1...

Страница 136: ...ulse count value 0 to 65535 Units reference unit Monitor Bit Description Related I O Signal Parameter Un 05 1 Servo alarm ALM 2 Not used 3 Reverse rotation mode Cn 02 bit 0 4 During motor rotation TGO...

Страница 137: ...Monitor Related I O Signal Parameter Description Bit Un 06 1 Input reference pulse PLUS PULS 2 Input pulse sign SIGN SIGN 3 Error counter clear input CLR CLR 4 to 20 Not used 3 Artisan Technology Grou...

Страница 138: ...does not prevent the Servopack from operating properly Use the special operation to clear alarm traceback data to clear the data Refer to 3 2 6 Clearing Alarm Traceback Data for details Alarm Sequence...

Страница 139: ...position control only Overspeed Overload Encoder error Reference input read error Servo overrun detected This function prevents overruns Encoder output phase error Encoder phase A B disconnection Enc...

Страница 140: ...r 1 Press DSPL SET to select the parameter set ting mode 2 Select the parameter number Cn 00 Parameter Cn 00 is selected when the power is turned ON Press the and keys to select the digit Press the an...

Страница 141: ...ls about setting the motor speed refer to 3 1 5 Operation in Parameter Setting Mode and Appendix C List of Parameters 3 2 3 Autotuning The Servopack contains a built in autotuning function to automati...

Страница 142: ...s set to PI control before starting autotuning If the mode switch is used PI control automatically switches to P control above a set operating level PI control to P control switching level even if the...

Страница 143: ...e and keys to select the digit Press the and keys to change the value 3 Press DATA ENTER to display the current data for the parameter Cn 00 4 Press the and keys to change the data to 05 5 Press DSPL...

Страница 144: ...ing Autotuning The motor speed during autotuning is set by parameter Cn 10 Setto 500 min 1 which is the factory setting Autotuning may be unsuccessful if this value is set too low The motor runs inter...

Страница 145: ...procedure to correct the machine rigidity setting and run autotuning once more 1 Press the DSPL SET key to cancel autotuning 2 Press the DSPL SET key once more to enter the machine rigidity setting mo...

Страница 146: ...The amount of offset can be checked in the speed reference offset manual adjustment mode Refer to 3 2 5 Reference Offset Manual Adjustment for details The reference offset automatic adjustment mode c...

Страница 147: ...This ends reference offset auto matic adjustment 3 2 5 Reference Offset Manual Adjustment Speed reference offset manual adjustment is available for speed torque control It is very convenient in the fo...

Страница 148: ...to 511 78 mV Offset Units Reference Speed 0 038 min 1 0 076 mV For Cn 03 500 factory setting Follow the procedure below to manually adjust the reference voltage 1 Press DSPL SET to select the paramete...

Страница 149: ...6 Press the and keys to adjust the amount of offset Adjust the speed references 7 Press DSPL SET to return to the parameter data display 8 Press DATA ENTER to return to the setting mode display This e...

Страница 150: ...r set ting mode 2 Select the parameter number Cn 00 Parameter Cn 00 is selected when the power is turned ON Press the and keys to select the digit Press the and keys to change the value 3 Press DATA E...

Страница 151: ...tor Capacity Modification Index Modification No Display Hexadecimal Display Modification index Modification No 6 SGMM 24 V 8A 10 W 9A 20 W 3 2 8 Checking Software Version This mode is used for mainten...

Страница 152: ...cal Characteristics 4 16 4 3 Servopack Ratings and Characteristics 4 18 4 3 1 Ratings and Specifications 4 18 4 3 2 Overload Characteristics 4 25 4 3 3 Starting Time and Stopping Time 4 26 4 3 4 Overh...

Страница 153: ...Breaker 4 61 4 6 7 Noise Filter 4 62 4 6 8 Magnetic Contactor 4 62 4 6 9 Surge Suppressor 4 64 4 6 10 Variable Resistor for Speed Setting 4 64 4 6 11 Encoder Signal Converter Unit 4 65 4 6 12 Cables...

Страница 154: ...indicate the Servomotor model as described in the following diagram Standard Type SGMM A1 C 3 1 2 j SGMM type 1 Rated output A1 10 W A2 20 W A3 30 W B3 3 W B5 5 W B9 10 W 2 Supply voltage B 100 VAC n...

Страница 155: ...ack C 24 VDC S EC safety standards 24 VDC 10W 20W 3 Encoder specifications 3 2048 P R incremental encoder F 1024 P R incremental encoder 5 With reduction gears Gear ratio A 1 5 1 1 5 B 1 16 2 1 16 C 1...

Страница 156: ...ing software See note on the next page Determine motor capacity Enter rated output Enter code as characters 1 and 2 10 W A1 20 W A2 30 W A3 3 W B3 5 W B5 10 W B9 SGMM jjjj1 Always enter 1 To next page...

Страница 157: ...SGMM jjjj1 SGMM jjjjJ 6 Select shaft specification With or without flat seat With flat seat Without flat seat SGMM jjjj12 SGMM jjjj13 With or without key With key Without key SGMM jjjjJj2 SGMM jjjjJj6...

Страница 158: ...ent of friction Motor Overall efficiency Gear coupling Gear ratio R Nm Nl Gear coupling Jg Gear coupling Jg kg cm2 lb in2 g Ball screw pitch P mm in Ball screw diameter D mm in Ball screw length L mm...

Страница 159: ...all efficiency Motor T Gear ratio R Nm Nl Gear coupling Motor Gear coupling Jg kg cm2 lb in2 Gear coupling Jg J Others Load GD2 J kg cm2 lb in2 Load torque T N m lb in Motor speed Nm min 1 DUTY td s P...

Страница 160: ...er SGDF indicate the Servopack model as de scribed in the following diagram Series SGDF Servopack Supply voltage C 24 VDC SGDF A1 C S Servopack Selection Flowchart Selected Servopack Example SGDF A1CS...

Страница 161: ...motor capacity Enter rated output Enter code as characters 1 and 2 10 W A1 20 W A2 30 W A3 3 W B3 5 W B5 10 W B9 2 Select model Use speed references Use torque references e Direct position specificati...

Страница 162: ...SGMM Servomotor B3CF1j B5CF1j B9CF1j Rated Output 1 W HP 3 0 004 5 0 007 10 0 013 Rated Torque 1 N m 0 00955 0 0159 0 0318 q oz in 2 1 35 2 25 4 5 Instantaneous Peak Torque 1 N m 0 0239 0 0398 0 0796...

Страница 163: ...5 0 191 0 2887 q oz in 3 13 5 27 0 40 9 Rated Current 1 A rms 2 1 2 0 2 9 Instantaneous Maximum Current 1 A rms 6 0 5 7 8 6 Rated Speed 1 min 1 3000 Instantaneous Maximum Speed 1 min 1 5000 Applicable...

Страница 164: ...ithout Brake 10 4 kg m2 0 00529 0 00454 0 00418 0 00723 0 00648 0 00612 0 00917 0 00842 0 0806 converted to motor shaft motor 10 3 oz in s2 6 0 0750 0 0643 0 0592 0 1024 0 0918 0 0867 0 1299 0 1193 1...

Страница 165: ...ns yp Capacity W HP Capacity W Holding Torque N m Coil Resistance at 20 C Rated Current A at 20 C Rated Current A at 20 C SGMM A1jjjj 10 0 013 2 0 0 0319 320 0 08 0 08 SGMM A2jjjj 20 0 027 2 6 0 0637...

Страница 166: ...1 Motor speed min 1 Motor speed min 1 Motor speed min 1 TORQUE N m TORQUE oz in TORQUE N m TORQUE oz in TORQUE N m TORQUE oz in TORQUE N m TORQUE oz in TORQUE N m TORQUE oz in Motor speed min 1 B A 0...

Страница 167: ...CF1j 8 1 8 4 0 0 9 F B5CF1j Fr B9CF1j 10 2 2 Fs With Gears A1C3JAjj 51 9 11 7 47 0 10 5 Fs A2C3JAjj A1C3JBjj 76 4 17 2 A2C3JBjj A1C3JCjj 89 2 20 1 A2C3JCjj Note a The box j at the end of the model num...

Страница 168: ...e Servomotor with the shaft horizontal The Servomotor must withstand the following vibration accelerations in three directions verti cal transverse and longitudinal Vibration Acceleration 49 m s2 Vibr...

Страница 169: ...ecifications Motor Capacity W HP 10 0 013 20 0 027 30 0 040 Rated Max Motor Speed 3000 5000 min 1 Applicable Encoder 2048 P R incremental encoder Allowable Load Moment of Inertia JL 10 4 kg m2 10 3 lb...

Страница 170: ...A B C line driver g Output Frequency Dividing Ratio 16 to N N N 2048 4 Sequence Input 2 Inputs Servo ON P drive or motor forward reverse by zero clamp drive reference or contact input speed control al...

Страница 171: ...Load Moment of Inertia JL 10 4 kg m2 10 3 lb in s2 0 012 0 011 0 024 0 021 0 066 0 058 Continuous Output Current A rms 1 3 1 3 1 5 Max Output Current A rms 3 5 3 6 3 9 Basic Specifications Power Supp...

Страница 172: ...rm servo alarms are fixed other settings are selected from parameters Protective Functions Overcurrent overload overspeed reference input read error overrun prevention CPU error encoder error Indicato...

Страница 173: ...d MOSFET PWM Feedback 2048 P R incremental encoder Location Ambient Temp 0 C to 50 C 1 Storage Temp 20 C to 85 C Ambient Storage Humidity 90 or less with no condensation Vibration Shock Resistance Fre...

Страница 174: ...range 2 N is the number of encoder pulses SGDF BjCP SGDF Servopack B3CP B5CP B9CP Max Applicable Motor Capacity W HP 3 0 004 5 0 007 10 0 013 Combined S ifi i Motor Type SGMM B3CF1 B5CF1 B9CF1 Specifi...

Страница 175: ...ut Form Phase A B C line driver output g Output Frequency Dividing Ratio 16 to N N N 1024 2 Sequence Input 2 Inputs Servo ON P drive alarm reset current control select from parameters Sequence Output...

Страница 176: ...e overload protective function as shown in the following graph The overload detection level is quoted under hot start conditions at a motor ambient temper ature of 40 C Operating Time s Motor Rated Cu...

Страница 177: ...ed current A IL IR Load current coefficient IL Load torque equivalent current load current is times the motor rated current A Motor Current Time Motor Speed Motor Current size Motor Speed Timing Chart...

Страница 178: ...applied tension Motor 4 3 5 In rush Current and Power Loss The following table shows the inrush current and power loss for each Servopack Servopack Type Capacity W Inrush Current Aop Output Current A...

Страница 179: ...s The dimensional drawings of the Servomotors are broadly grouped into the following four categories depending on the type of encoder and whether a brake is used Incremental Encoders without Brakes In...

Страница 180: ...mm in L2 mm in Output W HP Torque NSm lbSm Time Rating Rated Speed min 1 Allowable Radial Load N lb Allowable Thrust Load N lb A1C312 No flat seat 70 2 6 54 2 13 26 5 1 0 10 0 013 0 032 0 00 Contin 30...

Страница 181: ...mm in L2 mm in Out put W HP Torque NSm lbSm Time Rating Rated Speed min 1 Approx Mass g Allowable Radial Load N lb Allowable Thrust Load N lb B3CF12 No flat seat 62 2 52 2 0 24 0 9 3 0 00955 0 002 Co...

Страница 182: ...Shaft End Specifica tions L mm in L1 mm in L2 mm in Output W HP Torque NSm lbSm Time Rating Rated Speed min 1 Allowable Radial Load N lb Allowable Thrust Load N lb A1C312C No flat seat 94 5 3 2 78 5...

Страница 183: ...2 4 230 10 0 013 0 032 0 007 Continuous 3000 A1C3JB2 117 4 61 99 3 9 71 5 2 81 225 0 00 A1C3JC2 A2C3JA2 116 5 4 59 98 5 3 88 71 2 8 270 20 0 027 0 064 0 014 A2C3JA2 127 5 109 4 29 81 5 3 21 305 0 0 A2...

Страница 184: ...0 0 00 A1C3JC6 A2C3JA6 116 5 4 59 98 5 3 88 71 2 8 370 20 0 027 0 064 0 014 A2C3JB6 127 5 109 4 29 81 5 3 21 405 0 0 A2C3JC6 Type SGMM Reduction Gears yp SGMM Gear Ratio Torque NSm lbSm Rated Speed mi...

Страница 185: ...kg2 m2 GD 4 With Without Tap Output W HP Torque NSm lbSm Time Rating Rated Speed min 1 A3C3J12 10 6 0 917 Without 445 30 0 040 0 096 0 022 Continuous 3000 A3C3J16 With 0 022 A3C3J22 10 6 0 842 Withou...

Страница 186: ...0 0020 0 0016 0 0024 7 2 0 28 3 0 12 j 40 1 58 18 0 71 40 8 1 61 3 0 12 B A 4 x 3 4 0 13 dia A 9 0 0 015 0 354 0 0003 0 0005 B 28 0 0 021 1 102 0 0003 0 0005 Shaft end with key and tap Type SGMM L1 m...

Страница 187: ...ations SGMM AjC 1 A channel output Blue 2 A channel output Blue Black 3 B channel output Yellow 4 B channel output Yellow Black 5 C channel output Green 6 C channel output Green Black 7 0 V power supp...

Страница 188: ...rs are broadly grouped into the following four categories depending on the type of encoder and whether a brake is used Incremental Encoders without Brakes Incremental Encoders with Brakes Incremental...

Страница 189: ...5 0 0 008 0 197 0 0001 0 0005 B B 20 0 0 013 0 787 0 0004 0 0001 A 0 0015 0 16 0 02 0 18 28 1 10 45 Type SGMM Shaft End Specifications L mm in L1 mm in L2 mm in Allowable Radial Load N lb Allow able...

Страница 190: ...0008 0 0018 A 5 0 0 008 0 197 0 0001 0 0005 B 20 0 21 0 79 0 0 83 A A B 0 02 0 18 0 16 45 28 1 10 Type SGMM Shaft L mm in L1 mm in L2 mm in Allowable Radial Load N lb Allow able Thrust Load N lb A1S3...

Страница 191: ...83 300 11 81 30 1 18 28 1 10 Model SGMM L mm in L1 mm in L2 mm in Approx Mass g A1S3JAj 106 5 4 19 88 5 3 48 61 2 4 230 A1S3JBj 117 4 61 99 3 9 71 5 2 81 265 A1S3JCj A2S3JAj 116 5 4 59 98 5 3 88 71 2...

Страница 192: ...connector 4 x 3 4 0 13 dia 0 43 Model SGMM L mm in L1 mm in L2 mm in Approx Mass g A3S3J1j 129 5 08 111 4 37 42 7 1 68 400 A3S3J2j A3S3J3j Model SGMM Reduction Gears Gear Ratio Allow able Radial Load...

Страница 193: ...10 Model SGMM L mm in L1 mm in L2 mm in Approx Mass g A1S3JAjj 131 5 16 113 4 45 61 2 4 315 A1S3JBjj 145 5 5 73 127 5 5 02 71 5 2 81 350 A1S3JCjj A2S3JAjj 141 5 55 123 4 84 71 2 8 370 A2S3JBjj 155 5 6...

Страница 194: ...81 30 1 18 Model SGMM L mm in L1 mm in L2 mm in Approx Mass g A3S3J1jj 167 5 6 59 149 5 5 89 52 7 2 07 545 A3S3J2jj A3S3J3jj Model SGMM Reduction Gears Gear Ratio Allow able Radial Load N lb Allow ab...

Страница 195: ...Orange Motor Plugs Motor Connection Specifications Without Brake 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Motor Connection Specifications With Brake 1 Phase U Red 2 Phase V White 3 Pha...

Страница 196: ...the external dimensions of the Servopack 5 4 5 80 3 15 35 1 38 1 0 039 98 3 86 92 3 62 3 0 12 CN2 PG CN1 IO CN3 CN4 RDY ALM 1 0 039 C N 5 Approx Mass 0 3 kg 0 66 lb 100 3 94 including mounting screws...

Страница 197: ...wing diagram shows the external dimensions of the Digital Operator JUSP OP02A 3 125 4 92 135 5 31 50 1 97 63 2 48 7 18 5 0 73 1000 39 37 DSPL SET DATA ENTER RESET ALARM JOG SVON DIGITAL OPERATOR JUSP...

Страница 198: ...heral devices using the flowcharts on the subsequent pages The following items are not included in the flowcharts Refer to 4 6 Specifications and Dimen sional Drawings of Peripheral Devices Variable r...

Страница 199: ...ctor at both ends Cable only With connector at both ends Cable only Select one of the following according to cable length Select one of the following according to cable length Select one of the follow...

Страница 200: ...reference input Connector kit One cable end without connector Connector kit JZSP VFP9 1m JZSP VFI01 01 3m JZSP VFI01 03 One cable end without connector Cable with CN1 connector and one end without con...

Страница 201: ...GND Motor Connec tion Terminals U V W Power Supply Capac ity per MCCB or Fuse Capac ity A 3 Recommended Noise Filter 4 Magnetic Contactor Power Supply Capac ity to SGDF Rated Current A rms Cable Spec...

Страница 202: ...pidly deteriorate 4 6 2 Motor Cables Thedimensionsandappearanceofthemotorcablesare shownbelow Specifythecabletype when ordering SGMM A With Connector at Both Ends Without Brake Type L mm feet JZSP CFM...

Страница 203: ...Cap 5559 06P 210 Socket 5558T Receptacle 5557 04R 210 Socket 5556T Label 19 7 Cable only Without Brake Type L mm feet JZSP CFM09 01 1000 100 0 3 3 0 33 0 JZSP CFM09 03 3000 100 0 10 0 33 0 JZSP CFM09...

Страница 204: ...ow L Multi core cable AWG20 x 6 C UL2517 KQVQV DP8409360 6 2 0 24 Ifcable only is ordered purchase theMolex connector separately Refer to 4 6 4Connec tor Kits for details SGMM B With Connector at Both...

Страница 205: ...0 24 4 6 3 Encoder Cables The dimensions and appearance of the encoder cables are shown below Specify the cable type when ordering With Connector at Both Ends SGDF AjCj Type L mm feet JZSP CFP00 01 10...

Страница 206: ...54306 2011 L 3 mm pitch micro fit connector made by Molex Japan Plug 43020 0401 Terminal 43031 0001 43031 0004 No Connector at Motor End Type L mm feet JZSP VFP01 01 1000 100 0 3 3 0 33 0 JZSP VFP01...

Страница 207: ...white green Orange white orange 0 3 If cable only is ordered purchase the Molex connectors separately Refer to 4 6 4 Con nector Kits for details Cables prepared by Yaskawa are 1 m 3 m or 5 m in lengt...

Страница 208: ...cle 5557 04R 210 made by Molex Japan Socket 5556TL made by Molex Japan Motor End Type JZSP CFM9 2 11 6 0 46 23 9 0 94 9 6 0 38 9 6 0 38 4 2 0 17 Plug 5559 04P 210 made by Molex Japan Socket 5558TL mad...

Страница 209: ...made by Molex Japan Socket 5558TL made by Molex Japan SGDF BjCj Type JZSP CFM9 4 A B 6 85 0 27 3 00 0 12 3 00 0 12 3 56 0 14 16 90 0 67 4 06 0 16 0 10 0 0039 1 98 0 078 0 20 0 0079 7 11 0 28 0 10 0 00...

Страница 210: ...39 1 54 12 7 1 27 0 05 9 0 35 19 18 0 76 15 7 0 62 0 5 Plug and Shell 54331 0201 made by Molex Japan Motor End Type JZSP CFP9 1 8 25 0 32 20 35 0 80 27 1 06 2 5 0 098 Plug 51112 0910 made by Molex Ja...

Страница 211: ...n Motor End Type JZSP VFP9 2 Plug 43020 10001 made by Molex Japan Socket 43031 0001 made by Molex Japan Input Reference Connector Kit Servo End Type JZSP VFP9 33 3 1 31 39 1 54 12 7 1 27 0 05 9 0 35 1...

Страница 212: ...0 JZSP VFI01 03 3000 100 0 10 0 33 0 Shielded cable Connector 54331 0201 Terminal number labels Label Shielded Cable AWG28 x 10 P UL20276 Shrink tube 40 1 57 L 4 6 6 Circuit Breaker The customer shoul...

Страница 213: ...9 0 53 0 53 6 0 14 0 59 1 30 4 6 8 Magnetic Contactor The magnetic contactor is used to turn the servo power supply ON and OFF Always attach a surge suppressor to the magnetic contactor before using U...

Страница 214: ...nal M3 5 Main contact terminal M4 45 5 1 79 15 3 0 60 8 2 0 32 9 6 0 38 51 2 01 9 6 0 38 11 3 0 44 11 3 0 44 10 8 0 43 8 2 0 32 29 1 14 50 1 97 85 3 35 91 3 58 65 2 56 39 1 54 4 5 0 18 35 1 38 9 0 35...

Страница 215: ...tting This variable resistor is used to give speed references by applying the speed reference volt age from the external power supply across CN1 12 and CN1 13 25 HP Helicolumn Panel MD Multidial Panel...

Страница 216: ...pulse output Terminal Numbers Input Phase A Input Phase B Input Phase B Input Phase Z Input Phase Z Output Phase A Output Phase B Output Phase Z Input Phase A Dimensional Drawings 11 M3 5 x 7 Seams sc...

Страница 217: ...collector output Voltage pulse output Open collector output Input Signal Level Voltage differential 0 3 V internal termination resistance 100 Output Signal Level H 10 V min 1 mA L 0 5 V max 30 mA L 0...

Страница 218: ...Yaskawa representative for more details and operate the software as de scribed in the manual supplied J D sub 25 pin Connector Cable Connecting a Personal Computer to a Servopack Rear of the personal...

Страница 219: ...1 bit even Synchronization Method Start Stop XON XOFF Control None Shift Control None Communications Method Semi duplex Connection Circuits With an RS 232C Port Maximum cable length is 2 m 6 56 ft In...

Страница 220: ...and IBM PC compatible to a Servopack D sub 9 pin Connector Cable for IBM PC Compatible The JZSP CFS02 cable must be purchased at customer side Cable Configuration Connecting Circuit Servopack end Modu...

Страница 221: ...itch connector Plug 10114 3000VE Shell 10314 52A0 008 Sumitomo 3M Co Ltd Label 2000 78 74 50 1 97 Modular Connector 5 569552 3 Made by AMP Japan Shielded cable AWG24 3P UL2835 Connecting Circuit Servo...

Страница 222: ...for problems which result in no alarm display 5 1 Servo Drive Inspection and Maintenance 5 2 5 1 1 Servomotors 5 2 5 1 2 Servopack 5 3 5 2 Error Diagnosis and Troubleshooting 5 4 5 2 1 Troubleshooting...

Страница 223: ...n with cloth or compressed air Insulation resistance measurement At least once a year Disconnect Servopack and test insulation resistance at 500 V Resistance is normal if it exceeds 10 M See note belo...

Страница 224: ...parts in unit or on circuit boards At least once a year Check for discoloration damage or discontinuities due to heating Contact your Yaskawa representative Part Replacement Schedule Thefollowingpart...

Страница 225: ...em cannot be solved by the described pro cedures 1 A 02 Display and Outputs Digital Operator Display Alarm Name Alarm Output A 02 Parameters breakdown Output transistor is OFF alarm state Status when...

Страница 226: ...operation When servo ON S ON signal turned ON A B C D C D At power ON C Cause Remedy A Wiring grounded between Servopack and Servomotor Check and correct wiring B Servomotor phase U V or W grounded R...

Страница 227: ...op gain Cn 04 and or position loop gain Cn 1A D Servomotor overloaded Reduce load torque and load moment of inertia Otherwise replace with larger capacity Servomotor E Position reference pulse frequen...

Страница 228: ...reference is input No Servomotor rotation During normal operation At power ON D E E When servo ON S ON signal turned ON A B D Cause Remedy A Servomotor wiring incorrect or disconnected Check wiring a...

Страница 229: ...isplay and Outputs Digital Operator Display Alarm Name Alarm Output A b1 Reference input read error for speed torque control only Output transistor is OFF alarm state Status when Alarm Occurred A B Du...

Страница 230: ...for the encoder D Encoder defective Replace Servomotor E Circuit board 1PWB defective Replace Servopack 10 A C2 Display and Outputs Digital Operator Display Alarm Name Alarm Output A C2 Encoder phase...

Страница 231: ...t or poor connection Check wiring and connectors at encoder B Noise in encoder wiring Separate encoder wiring from main wiring circuits C Encoder defective Replace Servomotor D Circuit board 1PWB defe...

Страница 232: ...onnected be fore Servopack power turned ON Digital Operator con nected to Servopack after power turned ON A B C D Cause Remedy A Cable defective or poor contact between Digital Operator and Servopack...

Страница 233: ...se Separate Digital Operator and cable from noise source C Digital Operator defective Replace Digital Operator D Servopack defective Replace Servopack 15 A 99 Display and Outputs Digital Operator Disp...

Страница 234: ...to match application Reference pulse mode selection incorrect Refer to 2 2 2 Position References Select correct parameters Cn 02 bits 3 4 5 CLR input is turned ON Check status of error counter clear i...

Страница 235: ...crews loose Tighten mounting screws co ect Coupling not centered Center coupling Coupling unbalanced Balance coupling Bearing defective Check noise and vibration near bearing Consult your Yaskawa repr...

Страница 236: ...iagram for Speed Torque Control 5V 5V PG5V CN2 CN5 CN4 A D CPU CN1 FG U W V MOSFET FG GND CN3 I O PWM 24 VDC 10 Gate Drive Circuit Current Detection PG Signal Processing Digital Current Amplifier PG S...

Страница 237: ...rive Circuit Current Detection Control Power Supply PG Signal Processing Reference Counter Digital Current Amplifier PG Signal Divider For I O Signals For Digital Operator For PG Pulses For References...

Страница 238: ...M ALMRST CL set in parameters 5Ry OFF for Servo Alarm ALM TGON BK V CMP CLT set in parameters PG Output Line Driver Phase A Phase B Phase C Line Driver ALM TGON BK V CMP CLT S ON P COM ALMRST CL Corre...

Страница 239: ...ALMRST CL set in parameters 5Ry OFF for Servo Alarm Servopack SGDF jjCP PG Output Open Collector Note 1 The capacity of each output circuit is below 30 VDC and 50 mA 2 Signal input line P represents t...

Страница 240: ...s 6 2 6 1 2 What is the CE Marking 6 2 6 1 3 EMC Directive 6 2 6 1 4 T V Certification Body Authorized by EU 6 3 6 2 Measures to Satisfy the EMC Directive 6 4 6 2 1 Applicable Servomotors 6 4 6 2 2 Ap...

Страница 241: ...irective since Janu ary 1 1995 2 CE is an abbreviation of Communaut Europ enne in French which means European Communities EC Due to the increase of member countries the name has been changed to EU Eur...

Страница 242: ...for EMC conformance according to their operating status 6 1 4 T V Certification Body Authorized by EU 1 T V is one of the certification bodies authorized by the European Union EU specifying organizati...

Страница 243: ...de tails on the above Servomotors The difference with standard Servomotors is in the encoder connector only 6 2 2 Applicable Noise Filter Model MYB 1206 33 Manufacturer NEMIC LAMBDA K K Make sure to g...

Страница 244: ...ngth JZSP VFP00 01 5 m 1 m JZSP VFP00 03 JZSP VFP00 05 Select one of the following according to cable length JZSP VFP01 01 5 m 1 m JZSP VFP01 03 JZSP VFP01 05 3 m Select one of the following according...

Страница 245: ...SP VFP00 05 5000 100 0 16 7 0 33 0 Connector Kit 54280 0800 Connector Kit 54331 0201 Label Shielded cable KQVV SW B9400064 AWG 22 3C AWG26 4P L Encoder Connector Kit Motor Connector JZSP VFP9 2 Socket...

Страница 246: ...nnector kits use shielded cable for the CN1 cable and make sure to ground between the cable shield and connector case Connect the shield at the host controller properly 6 2 7 Digital Operator and Moni...

Страница 247: ...ore 2 m 78 7 in 5 m 196 8 in Servomotor Motor Encoder FG Clamps Fix and ground the cable shield using a piece of conductive metal Clamp Controller Power Supply AC DC Output 24 VDC Noise Filter CN1 CN2...

Страница 248: ...t Methods A 2 A 1 2 Basic Rules for Gain Adjustment A 3 A 2 Adjusting a Speed control Servopack A 4 A 2 1 Adjusting Using Autotuning A 4 A 2 2 Manual Adjustment A 5 A 3 Adjusting a Position control Se...

Страница 249: ...ntroller the same adjustment can be achieved using Cn 03 Speed Reference Gain but the Servomotor may not reach maximum speed for some preset values of this parameter A simple block diagram of the serv...

Страница 250: ...y poor rigidity and a characteristic frequency of approximately 10 to 20 Hz This type of machine allows a position loop gain of only 10 to 20 1 s Conversely the characteristic frequency of a precision...

Страница 251: ...rigidity according to the following standards Drive Method Machine Rigidity Ball screw direct 3 C 003 to 7 C 007 Ball screw with reduction gears 2 C 002 to 3 C 003 Timing belt 1 C 001 to 3 C 003 Chain...

Страница 252: ...inal minute references An excessively high settingoftheintegration timeconstant Cn 05 during autotuningis one cause ofthis problem If response is slow after autotuning the speed loop gain cannot be ma...

Страница 253: ...will however produce a delay in the servo system just like the integration time constant Cn 05 and its value should not be increased more than necessary Speed Reference Gain Cn 03 Changing thespeed re...

Страница 254: ...ase the speed reference gain Cn 03 3 Determinethespeedloopintegrationtimeconstant Cn 05 byobservingthepositioning setting time and vibrations in the mechanical system The positioning setting time may...

Страница 255: ...ording to the following standards Drive Method Machine Rigidity Ball screw direct 3 C 003 to 7 C 007 Ball screw with reduction gears 2 C 002 to 3 C 003 Timing belt 1 C 001 to 3 C 003 Chain 1 C 001 to...

Страница 256: ...ponse to the final minute references An excessively high settingoftheintegration timeconstant Cn 05 during autotuningis one cause ofthis problem If response is slow after autotuning the speed loop gai...

Страница 257: ...essary Position Loop Gain The position loop gain parameter sets the servo system response The higher the position loop gain is set the better the response and shorter the position ing times To enable...

Страница 258: ...saturated during acceleration or deceleration Above the set level the speed loop control switches from PI proportional integral con trol to P proportional control Feed forward Function Use feed forwa...

Страница 259: ...adjustment as the optimum value depends on the load gain and positioning complete width Set Cn 0C to zero 0 when the bias is not used Speed Speed Reference Positioning Complete COIN Signal Motor Spee...

Страница 260: ...ect Drive Machines Example Chip mounter IC bonder precision machine tools Load Inertia Ratio GDL 2 GDM 2 Position Loop Gain Cn 1A 1 s Speed Loop Gain Cn 04 Hz Speed Loop Integration Time Constant Cn 0...

Страница 261: ...ain to the lower limit of the range of values specified Conversely increase the speed loop integration time constant Machines with Low Rigidity Machines driven by timing belts chains or wave reduction...

Страница 262: ...efer ence gain Cn 03 The position loop gain Cn 1A of a speed control Servopack is valid in zero clamp mode only The position loop gain is determined from the following relationship KP 1 s Position loo...

Страница 263: ...cuit Note 1 The meanings of some signals for speed torque control and position control are differ ent Always refer to the correct list for the Servopack type 2 Refer to Chapter 2 for details of how to...

Страница 264: ...al selec tion P CON tion refer ence IN2 3 SG COM Signal ground common 4 Unused 5 Unused 6 Unused 7 ALM Alarm output 8 OUT 2 Output signal 2 Output signal selec tion 9 24V IN 24 V external power input...

Страница 265: ...column is also applicable to blank columns 2 Number x x x in box represents a section number corresponding to each signal name For example 2 2 1 represents section 2 2 1 B Artisan Technology Group Qu...

Страница 266: ...gnal 11 PAO Phase A g output 12 PBO Phase B 13 SG Signal ground 14 PULS Reference pulse input PULS Forward run refer ence pulse PULS Phase A reference pulse input 15 PULS PULS ence pulse input CCW PUL...

Страница 267: ...ect a function Parameter setting Cn 03 and later A numerical value such as a torque limit value or speed loop gain is set in this constant Note Some parameters for speed torque control and position co...

Страница 268: ...e rotation torque limit 0 Maximum torque Maximum torque Cn 14 TCRLMT Speed limit for torque control min 1 0 Maximum speed Maximum speed Cn 17 TRQFIL Torque reference filter time constant 0 1 ms 0 250...

Страница 269: ...imum speed 200 Cn 21 SPEED3 3rd speed contact input speed control min 1 0 Maximum speed 300 Cn 28 NFBCC Speed loop compensation constant 0 100 0 Cn 29 AXISNO Axis address 0 14 0 Cn 2A INS1 Input signa...

Страница 270: ...e position error processing selection 1 Detects home position error Does not detect home position error 0 Contact input speed control 2 Does not use contact input speed control Uses contact input spee...

Страница 271: ...E Position refer ence accelera tion deceleration time constant 100 s 0 640 0 Cn 27 FFFILT Feed forward reference filter 100 s 0 640 0 Cn 08 TLMTF Forward rotation torque limit 0 Maximum torque Maximum...

Страница 272: ...1E OVRLV Overflow 256 reference unit 1 32767 1024 Cn 28 NFBCC Speed loop compensation constant 0 100 0 Cn 29 AXISNO Axis address 0 14 0 Cn 2A INS1 Input signal selection 1 0 3 0 See note 1 Cn 2B INS2...

Страница 273: ...on error processing selection 1 Detects home position error Does not detect home position error 0 Not used 2 Not used Do not set 0 Reference pulse form selection 5 4 3 0 0 0 Sign Pulse 0 0 1 CW CCW 0...

Страница 274: ...ls CN1 1 and CN1 2 Setting Value Function 0 S ON 1 P CON 2 ALMRST 3 CL Output Signal Selection Cn 2C Setting Values Select the functions of output signal CN1 8 Setting Value Function 0 ALM 1 TGON 2 BK...

Страница 275: ...dix provides the name and meaning of each alarm display For details of how to display an alarm refer to the following section 3 2 1 Operation in Alarm Traceback Mode For details on causes of each alar...

Страница 276: ...encoder ran out of control A C2 OFF Encoder output phase error Phase A B and C output by the encoder are abnormal A C3 OFF Encoder phase A B disconnection Wiring in encoder phase A or B is disconnect...

Страница 277: ...oder 2 76 standard type motor 2 78 terminal layouts 2 74 Servopack position control 2 75 Servopack speed torque control 2 74 contact input signal terminals connections 2 21 contact input speed control...

Страница 278: ...2 21 proportional integral control 2 12 reference pulse input 2 14 reference sign input 2 14 reverse external torque limit input 2 7 servo ON 2 62 signal ground for speed reference input 2 9 2 34 sign...

Страница 279: ...ection 4 47 flowchart 4 48 specifications 4 50 wiring 1 12 position references inputs 2 13 line driver output 2 13 open collector output 2 13 positioning complete signal 2 63 positioning time minimizi...

Страница 280: ...5 stop mode setting 2 40 stopping time 4 26 surge suppressor 4 64 T tension control 2 33 terminals standard type motor without brake 2 78 test run 1 23 minimum user constants 1 30 motor alone 1 24 pos...

Страница 281: ...stant 2 49 speed reference gain 2 12 time delay from brake signal output to servo OFF 2 44 torque control 2 33 torque reference filter time constant 2 48 torque reference gain 2 35 zero clamp speed co...

Страница 282: ...g 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803...

Страница 283: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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