Page 1 AC Servo Drives -SD Series USER’S MANUAL Design and Maintenance Rotational Motor EtherCAT (CoE) Communications Reference UAK J- Spindle motor SGMGV- Servomotor CACP-JU Power regeneration converter CACR-JU SERVOPACK Outline Compatible Devices Specifications and External Dimensions for Motors Specifications and External Dimensions for -V-SD Drivers Peripheral Devices Installation...
Page 2 Yaskawa. No patent 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 manual is subject to change without notice.
Page 3: About This Manual
About this Manual This manual describes information required for designing, testing, adjusting, and maintaining Σ-V-SD Series servo drives. Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application. Description of Technical Terms The following table shows the meanings of terms used in this manual.
Page 4 Notation Used in this Manual • Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name. Notation Example BK = /BK • Notation for Parameters The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions).
Page 5 Manuals Related to the Σ-V-SD Series Refer to the following manuals as required. Selecting Trial Maintenance Models and Ratings and System Panels and Trial Operation Name Peripheral Specifications Design Wiring Operation and Servo Inspection Devices Adjustment Σ-V-SD Series User’s Manual Design and Maintenance Rotational Motor/ EtherCAT (CoE)
Page 6: Safety Precautions
Safety Precautions This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor- oughly. WARNING • Never touch the rotating parts of the motor during operation or adjustments. Failure to observe this warning may result in injury.
Page 7 WARNING • Provide an appropriate braking device on the machine side to ensure safety. A holding brake for a servomotor with brake is not a braking device for ensuring safety. Failure to observe this warning may result in injury. • Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart.
Page 8 Installation CAUTION • Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles. Failure to observe this caution may result in electric shock or fire. • Do not step on or place a heavy object on the product. Failure to observe this caution may result in injury or malfunction.
Page 9 CAUTION • Do not connect the motor directly to a commercial power supply. The motor may be damaged. Connect the motor to the correct SERVOPACK. • Securely connect the power supply terminal screws and motor connection terminal screws. Failure to observe this caution may result in fire. •...
Page 10 CAUTION • Make sure that the motor constants for the spindle motors being used match the parameters of the SERVOPACKs before supplying power when driving spindle motors by using Σ-V-SD series SER- VOPACK. Failure to observe this caution may result in injury, fire, and damage to the product. •...
Page 11 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Page 12: Warranty
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 13 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
Page 14: Table Of Contents
Contents About this Manual ............iii Safety Precautions.
Page 15 4 Specifications and External Dimensions for Σ-V-SD Drivers ..4-1 4.1 Power Regeneration Converter ........4-2 4.1.1 Specifications .
Page 16 7.2.6 EtherCAT (CoE) Communications ......... . 7-31 7.3 Winding Selection.
Page 17 9.4 One-parameter Tuning......... 9-27 9.4.1 One-parameter Tuning .
Page 18: Outline
Outline 1.1 System Configurations ........1-2 1.2 Model Designation .
Page 19: System Configurations
1 Outline System Configurations Power supply Three-phase 200/400 VAC EtherCAT (CoE) R S T EtherCAT (CoE) Host controller Sensors 1 and 2 Sensors 1 and 2 CN 9A CN 9B CN 9A CN 9B Power regeneration Molded-case SERVOPACK SERVOPACK CN 1 CN 1 converter circuit breaker...
Page 20: Model Designation
14th digit: Input Voltage Code Specifications Blank Three-phase 200 VAC *1, *2 Three-phase 400 VAC *1, *2 ∗1. Available only for single winding models. ∗2. Available only for three-phase 200 VAC models. ∗3. For details about serial encoders, contact your Yaskawa representative.
Page 21: Servomotor
1 Outline 1.2.2 Servomotor 1.2.2 Servomotor 10 11 12 13 Number of Digits S G M G V - 3 0 D 8 A 2 1 10th digit: Serial Encoder 1st + 2nd + 3rd + 4th + 5th digits: Series Code Specifications...
Page 22: Σ-V-Sd Series Driver
Code Specifications Standard Blank ∗1. Available only for three-phase 200 VAC models. ∗2. For details about custom-made converters, contact your Yaskawa representative. (2) SERVOPACK for One Axis Number 9 10 11 12 13 of Digits C A C R - J U 1 0 2 A C A...
Page 23 15th + 16th + 17th + 18th + 24.8 24.8 19th digits: Custom-made Input Voltage 540 VDC Code Specifications Specifications (Arms) Standard Blank Code Axis 1 Axis 2 11.9 11.9 ∗ For details about custom-made converters, contact your Yaskawa representative.
Page 24 Compatible Devices 2.1 Combinations ..........2-2 2.1.1 SERVOPACK for One Axis and Motor .
Page 25: Compatible Devices
11, 15 11, 15 15/11, 11/7.5 CACR-JU042DCA 18.5/15 CACR-JU051DCA – 22/18.5 – ∗ Contact your Yaskawa representative to use this motor. 2.1.2 SERVOPACK for Two Axes and Motor Max. Allowable Motor Servomotor Capacity (kW) SERVOPACK Input SGMGV- Spindle Motor Spindle Motor...
Page 26: Power Regeneration Converter, Servopack, And Motor
2.1 Combinations 2.1.3 Power Regeneration Converter, SERVOPACK, and Motor Some restrictions apply when using combinations of a power regeneration converter, SERVOPACKs, and motors. Use the information in the following table when determining the combination of devices. • The total continuous output of motors must be equal to or less than the continuous output capacity of the power regeneration converter.
Page 27: Selecting Cables
2 Compatible Devices 2.2.1 Spindle Motor Selecting Cables 2.2.1 Spindle Motor <Wiring example when using a pulse encoder> <Wiring example when using a serial encoder> SERVOPACK for SERVOPACK for One Axis One Axis Pulse Encoder Cable Serial Encoder Cable Spindle Motor Spindle Motor Main Circuit Cable Main Circuit Cable...
Page 28 F1: Blue and white - twisted-pair wire F2: Yellow and white - twisted pair wire F3: Green and white - twisted pair wire F4: Orange and white - twisted pair wire Available Cable Lengths 3 m, 5 m (Yaskawa Standards)
Page 29 Light blue /white Internal Configuration and Black Lead Color Orange Orange/white Available Cable Length 3 m, 5 m, 10 m, 15 m, 20 m (Yaskawa Standards) ∗ Specify the cable length in of the order number. Example: JZSP-CMP09-03-E (3 m)
Page 30: Servomotor
2.2 Selecting Cables 2.2.2 Servomotor SERVOPACK for One Axis or Two Axes Encoder Cable Servomotor Main Circuit Cable Servomotor (1) Main Circuit Cable for SGMGV-05 Servomotor The main circuit cable must be assembled by customers. The main circuit cable consists of the following three parts.
Page 31 2 Compatible Devices 2.2.2 Servomotor Specifications for cable-end connectors to SERVOPACKs Connector Housing Electrical Contact SERVOPACK Model Wire Size Manufacturer Model Model CACR-JUM23ACA Tyco Electronics Japan 1-917807-2 316040-6 AWG14 G.K. CACR-JUM23DCA Cables A 600 V heat-resistant vinyl cables is recommended. Select the appropriate size of cable for the servomotor and the SERVOPACK used.
Page 32 2.2 Selecting Cables • Cable-end connectors to servomotors Straight Plug L-shaped Plug Cable Clamp Servomotor’s Cable-end Connectors to Servomotors (Not included) Capacity Receptacle for Straight Plug L-shaped Plug Cable Clamp Main Circuit 0.85 CE05-2A18-10PD-D MS3106B18-10S MS3108B18-10S MS3057-10A (MS3102A18-10P) CE05-2A22-22PD-D MS3106B22-22S MS3108B22-22S MS3057-12A (MS3102A22-22P)
Page 33 2 Compatible Devices 2.2.2 Servomotor • MS3108B S: L-shaped plug Unit: mm Outer Length Effective Diameter Overall Cable Clamp Shell Joint Screw of Joint Screw of Joint Length Set Screw ±0.5 ±0.5 Size Portion Length L max. J±0.12 W min. -0.38 1-1/8-18UNEF 18.26...
Page 34 9.0 mm dia. to 11.6 mm dia. 9.0 mm dia. to 11.6 mm dia. Note: For the brake power cable, the cable-end connectors are available from Yaskawa Control Co., Ltd. Use the following order number when ordering. J Z S P - C V B 9 - S M S 2 - E...
Page 35 2 Compatible Devices 2.2.2 Servomotor • Protective Structure IP67 and European Safety Standards Compliant Connector Connector Configuration Two kinds of cable-end connectors to the servomotor are required: one connects to the main circuit and the other connects to the brake power supply. The following diagram shows relation between the connectors, cables, and devices.
Page 36 9.0 mm dia. to 11.6 mm dia. 9.0 mm dia. to 11.6 mm dia. Note: For the brake power cable, the cable-end connectors are available from Yaskawa Control Co., Ltd. Use the following order number when ordering. J Z S P - C V B 9 - S M S 2 - E...
Page 37 2 Compatible Devices 2.2.2 Servomotor Specifications for cable-end connectors to SERVOPACKs • SERVOPACK for one axis Connector Housing Electrical Contact SERVOPACK Model Wire Size Manufacturer Model Model Tyco Electronics Japan CACR-JU028ACA 1-917807-2 1318697-6 AWG10 G.K. CACR-JU036ACA DK-5200S-04R DK-5RECLLP1 (D3) AWG8 DDK Ltd.
Page 38 15 m JZSP-CMP09-15-E JZSP-CSP39-15-E 20 m JZSP-CMP09-20-E JZSP-CSP39-20-E ∗1. Use flexible cables for movable sections such as robot arms. ∗2. For details about ordering, contact your Yaskawa representative. ∗3. Use the following crimping tool made by DDK Ltd. : 357J-52667T 2-15...
Page 39 Orange Green Lead Color Orange/ Red/ Orange Black/ white pink pink Available Cable Length 3 m, 5 m, 10 m, 15 m, 20 m (Yaskawa Standards) ∗ Specify the cable length in of order number. Example: JZSP-CMP09-05-E (5 m) 2-16...
Page 40: Σ-V-Sd Driver
2.2 Selecting Cables 2.2.3 Σ-V-SD Driver (1) Cables for Σ-V-SD Drivers The necessary cables for wiring Σ-V-SD drivers are shown here. The cables with order numbers can be obtained from Yaskawa Controls Co., Ltd. Name Length Order No. External Appearance...
Page 41 2 Compatible Devices 2.2.3 Σ-V-SD Driver (2) Cable Specifications for 24-volt Control Power Supply (With loose leads at one end and connects a Σ-V-SD driver to a 24-volt control power supply) Items Specifications Order No. * JZSP-CNG00- Cable Length 1 m, 2 m, 3 m Cable and Cable: UL1015 AWG14 Cable-end connector to driver: 175362-1 (PIN : 353717-2)
Page 42 2.2 Selecting Cables (7) I/O Cable Specifications for SERVOPACKs for One Axis Items length Specifications JZSP-CSI02-1-E Order No. JZSP-CSI02-2-E JZSP-CSI02-3-E Cable: SSRFPVV-SB AWG#28 × 13P, UL20276 VW-1SC Cable and Shell: 10326-52A0-008 (Sumitomo 3M Ltd.) connector Connector: 10126-6000EL (Crimping type, Sumitomo 3M Ltd.) Remarks Used for input signals, such as P-OT and N-OT.
Page 43: Peripheral Devices
2 Compatible Devices 2.3.1 Molded-case Circuit Breakers, Ground Fault Detectors, and Magnetic Contactors Peripheral Devices 2.3.1 Molded-case Circuit Breakers, Ground Fault Detectors, and Magnetic Contactors Always install a circuit breaker to protect the main circuits. The type of circuit breaker that is required depends on what you need to detect.
Page 44: Surge Absorbers
SERVOPACK control signal lines and could cause incorrect signals. 2.3.3 Absolute Encoder Battery Use the BA518 battery for absolute encoders. This battery can be obtained from Yaskawa Controls Co., Ltd. CAUTION • Purchase a battery for the absolute encoder separately and mount it on the power regeneration converter.
Page 45: Ac Reactor
X008012 ∗ This AC reactor does not comply with UL standards. If an AC reactor that complies with UL standards is required, contact your Yaskawa representative. 2.3.5 Magnetic Contactor for Winding Selection A magnetic contactor for winding selection is needed only if a winding selection motor is used as the spindle motor.
Page 46: Noise Filter
Σ-V-SD driver. Install a noise filter at the input side of the power regeneration converter. Yaskawa recommends the following noise filters. For details, refer to 5.4 Noise Filter. Power Regeneration Converter Noise Filter Model...
Page 47 Specifications and External Dimensions for Motors 3.1 Spindle Motor ..........3-2 3.1.1 Configuration .
Page 48: Specifications And External Dimensions For Motors
3 Specifications and External Dimensions for Motors 3.1.1 Configuration Spindle Motor 3.1.1 Configuration The motor configuration is shown in the following diagram. Motor Configuration Number Name Number Name Output shaft Stator winding Bearings Terminal box Rotor Cable socket Rotor short-circuit ring Cooling fan Stator Encoder...
Page 49: Ratings And Specifications
3.1 Spindle Motor 3.1.2 Ratings and Specifications (1) Single-winding Motor Model: UAKAJ- C (200 V), - E (400 V) Item 18.5 50% ED Rating (S3) Continuous Rating 18.5 (S1) Continuous Rated Torque Base Speed 1500 1150 Maximum Speed 10000 7000 6000 5000 Moment of Inertia...
Page 50 3 Specifications and External Dimensions for Motors 3.1.2 Ratings and Specifications (2) Winding Selection Motor Model: UAKBJ- C (200 V), - E (400 V) Item 18.5 50% ED Rating (S3) Continuous Rating (S1) 18.5 Continuous Rated Torque Base Speed Maximum Speed 7000 6000 5000...
Page 51: Output And Torque Characteristics
3.1 Spindle Motor 3.1.3 Output and Torque Characteristics The output and torque characteristics for spindle motors are shown below. (1) Single-winding Motors Model Output Characteristics Torque Characteristics UAKAJ- 29.3 10 second rating 23.6 50 ED rating Torque 4.6 10 second rating Output 3.7 50 ED rating (N m)
Page 52 3 Specifications and External Dimensions for Motors 3.1.3 Output and Torque Characteristics (cont’d) Model Output Characteristics Torque Characteristics UAKAJ- 50 ED rating 30 10 second rating 191 10 second rating 18.5 50 ED rating 17.0 Output Torque 15.8 Continuous rating (kW) (N m) 15 Continuous rating...
Page 53 3.1 Spindle Motor (2) Winding Selection Motors Model Output Characteristics Torque Characteristics UAKBJ- High-speed winding High-speed winding 47.1 10 second rating 7.4 10 second rating 50 ED rating 35.0 5.5 50 ED rating 23.6 Continuous rating 3.7 Continuous rating 1500 5000 6000 7000...
Page 54 3 Specifications and External Dimensions for Motors 3.1.3 Output and Torque Characteristics (cont’d) Model Output Characteristics Torque Characteristics UAKBJ- High-speed winding High-speed winding 95.5 10 second rating 15 10 second rating 50 ED rating 70.0 11 50 ED rating 10.7 47.8 Continuous rating 7.5 Continuous rating...
Page 55 3.1 Spindle Motor (cont’d) Model Output Characteristics Torque Characteristics UAKBJ- High-speed winding High-speed winding 191 10 second rating 30 10 second rating 50 ED rating 18.5 50 ED rating 17.5 15 Continuous rating 14.8 Continuous rating 12.0 95.5 1500 3500 4800 6000 3500 4800...
Page 56 3 Specifications and External Dimensions for Motors 3.1.3 Output and Torque Characteristics (cont’d) Model Output Characteristics Torque Characteristics UAKBJ- High-speed winding High-speed winding 255 10 second rating 40 10 second rating Continuous rating 30 50 ED rating 50 ED rating 32.0 20 Continuous rating 28.8...
Page 57: Tolerance Radial Loads
3.1 Spindle Motor 3.1.4 Tolerance Radial Loads The tolerance radial loads for spindle motors are shown in the following table. Tolerance Radial Load (N) Model: Rated Output (kW) UAKAJ-, 50%ED Rating/ Single-winding Motor WInding Selection Motor UAKBJ- Continuous Rating Model: UAKAJ- Model: UAKBJ- 3.7/2.2 1180...
Page 58: Rotation Direction
3 Specifications and External Dimensions for Motors 3.1.6 Rotation Direction 3.1.6 Rotation Direction Forward rotation of the spindle motor is counterclockwise when viewed from the load. The rotation direction can be reversed with parameter Pn000.0. For details, refer to 8.4.1 Servomotor Rotation Direction. Counterclockwise 3.1.7 Vibration Resistance...
Page 59: External Dimensions
2. The figures are provided only to explain the dimensions. The actual appearance of the motor may vary. 3. The external shape of the terminal box for the serial encoder is different from the terminal box for the pulse encoder. Ask your Yaskawa representative for details. 3-13...
Page 60 2. The figures are provided only to explain the dimensions. The actual appearance of the motor may vary. 3. The external shape of the terminal box for the serial encoder is different from the terminal box for the pulse encoder. Ask your Yaskawa representative for details. 3-14...
Page 61 2. The figures are provided only to explain the dimensions. The actual appearance of the motor may vary. 3. The external shape of the terminal box for the serial encoder is different from the terminal box for the pulse encoder. Ask your Yaskawa representative for details. 3-15...
Page 62 2. The figures are provided only to explain the dimensions. The actual appearance of the motor may vary. 3. The external shape of the terminal box for the serial encoder is different from the terminal box for the pulse encoder. Ask your Yaskawa representative for details. 3-16...
Page 63: Servomotors
3.2 Servomotors Servomotors 3.2.1 Ratings and Specifications Time Rating: Continuous Withstand Voltage: 1500 VAC for one minute (Three-phase, Vibration Class: V15 200 V class) Insulation Resistance: 500 VDC, 10 MΩ min. 1800 VAC for one minute (Three-phase, Ambient Temperature: 0 to 40°C 400 V class) Excitation: Permanent magnet Enclosure: Totally enclosed, self-cooled, IP67...
Page 64 3 Specifications and External Dimensions for Motors 3.2.1 Ratings and Specifications (2) 200 V class: High-speed type Servomotor Model: SGMGV- 0.45 0.85 Rated Output 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0 Rated Torque Instantaneous Peak Torque Arms 10.7 16.7 23.8 32.8 42.1...
Page 65 3.2 Servomotors (4) 400 V class: High-speed type Servomotor Model: SGMGV- 0.45 0.85 Rated Output 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0 Rated Torque Instantaneous Peak Torque Arms 11.9 16.5 20.8 25.7 Rated Current Instantaneous Max. Arms 37.6 40.5 Current 1500 Rated Speed...
Page 66: Torque-Motor Speed Characteristics
3 Specifications and External Dimensions for Motors 3.2.2 Torque-Motor Speed Characteristics 3.2.2 Torque-Motor Speed Characteristics (1) 200 V, 400 V class: Standard type A : Continuous Duty Zone B : Intermittent Duty Zone SGMGV-05A A, -05D A SGMGV-09A A, -09D A SGMGV-13A A, -13D A SGMGV-20A A, -20D A 3500...
Page 67: Overload Characteristics
3.2 Servomotors 3.2.3 Overload Characteristics The overload detection level is set under hot start conditions at a servomotor surrounding air temperature of 40°C. 10000.0 1000.0 Detecting 100.0 time (s) 10.0 Max.torque 100% × 100% Rated torque Rated torque + Max.torque Rated torque Max.torque Approx.
Page 68: Allowable Load Moment Of Inertia At The Motor Shaft
3 Specifications and External Dimensions for Motors 3.2.5 Allowable Load Moment of Inertia at the Motor Shaft 3.2.5 Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a holding brake. The larger the load moment of inertia, the worse the movement response of the load.
Page 69: Motor Total Indicator Readings
3.2 Servomotors 3.2.7 Motor Total Indicator Readings The following figure shows tolerances for the servomotor’s output shaft and installation area. For more details on tolerances, refer to the external dimensions of the individual servomotor. Perpendicularity between the flange face and output shaft 0.04 Run-out at the end of the shaft 0.02...
Page 70: External Dimensions
3 Specifications and External Dimensions for Motors 3.2.12 External Dimensions 3.2.12 External Dimensions (1) Without Holding Brakes 450 W 0.04 A 0.04 dia. 0.02 4-6.6 dia.mounting holes Shaft Extension Unit: mm Note: For the specifications of the other shaft ends, refer to 3.2.12 (3) Shaft End Specifications.
Page 71 3.2 Servomotors 850 W to 7.5 kW 0.04 0.04 dia. A 4-LZ dia.mounting holes 0.02 0.04 * For SGMGV-55, -75 Shaft Extension Unit: mm SGMGV-09 to -20 SGMGV-30 to -75 Note: For the specifications of the other shaft ends, refer to 3.2.12 (3) Shaft End Specifications. Unit: mm Shaft End Approx.
Page 72 3 Specifications and External Dimensions for Motors 3.2.12 External Dimensions (2) With Holding Brakes 450 W 0.04 A 0.04 dia. 0.02 4-6.6 dia.mounting holes Shaft Extension Unit: mm Note: For the specifications of the other shaft ends, refer to 3.2.12 (3) Shaft End Specifications. Unit: mm Shaft End Approx.
Page 73 3.2 Servomotors 850 W to 7.5 kW 0.04 A 0.04 dia. A 4-LZ dia. mounting holes 0.02 0.04 * For SGMGV-55, -75 Shaft Extension SGMGV-09 to -20 SGMGV-30 to -75 Unit: mm Note: For the specifications of the other shaft ends, refer to 3.2.12 (3) Shaft End Specifications.
Page 74 3 Specifications and External Dimensions for Motors 3.2.12 External Dimensions (3) Shaft End Specifications SGMGV - Code Specifications Remarks Straight without key Standard Straight with key and tap for one location (Key slot is Optional JIS B1301-1996 fastening type.) Unit: mm Model SGMGV- Shaft Extension A 20...
Page 75 Specifications and External Dimensions for Σ-V-SD Drivers 4.1 Power Regeneration Converter ....... . 4-2 4.1.1 Specifications .
Page 76: Specifications And External Dimensions For Σ-V-Sd Drivers
4 Specifications and External Dimensions for Σ-V-SD Drivers 4.1.1 Specifications Power Regeneration Converter 4.1.1 Specifications (1) Basic Specifications Item Specifications Model: CACP-JU A3 , CACP-JU 50% ED Rating 18.5 Continuous Rating 18.5 CACP-JU A3 : Three-phase 200 to 230 V (50/60 Hz) CACP-JU D3 : Three-phase 380 to 480 V (50/60 Hz) Main Circuits...
Page 77 4.1 Power Regeneration Converter (2) Panel Display The status of power regeneration converter can be checked on the panel display. Name LED Color Meaning Lit when main circuit power is on. CHARGE Orange Not lit when main circuit power is off. Lit when alarm occurs.
Page 78: External Dimensions
4 Specifications and External Dimensions for Σ-V-SD Drivers 4.1.2 External Dimensions 4.1.2 External Dimensions (1) Model: CACP-JU15 3 , -JU19 3 , -JU22 3 Cooling Fan 4-M5 Screw Holes Air Flow ∗ Power Regeneration Converter Rear View Through Hole Model Number Input Voltage Nameplate 80±...
Page 79 4.1 Power Regeneration Converter (3) Model: CACP-JU45A3B Cooling Fan Heat Sink Air Flow 4-M6 Screw Holes ∗ Power Regeneration Converter Rear View Through Hole Model Number Input Voltage Nameplate 4-7 Dia. Ground Terminal 2-M6 Screws 200±0.5 (25) (96) (Mounting Pitch) (145) Air Flow ∗...
Page 80: Servopack
4 Specifications and External Dimensions for Σ-V-SD Drivers 4.2.1 Specifications SERVOPACK 4.2.1 Specifications (1) Basic Specifications Specifications Item For Spindle Motor For Servomotor Control Method Sine-wave current drive with PWM control of IGBT Applicable Motors Model UAK J SGMGV Serial encoder (absolute), Pulse encoder (phases A, B, and Motor Standard type: 20 bits,...
Page 81 4.2 SERVOPACK (cont’d) Specifications Item For Spindle Motor For Servomotor Input Power 24 VDC ±5% Voltage External Input Current Power Required per 3 mA for normal input, 10 mA for latch input Channel Normal inputs: 2 for each axis (isolated) Input Number of Latch inputs: 3 for SERVOPACK for 1 axis (isolated), 4 for SER-...
Page 82 4 Specifications and External Dimensions for Σ-V-SD Drivers 4.2.1 Specifications (cont’d) Specifications Item For Spindle Motor For Servomotor Number of Channels Output +24 V Voltage Dynamic Brake (DB) – Allowable External Output Functions Output 50 mA (cont’d) Current Answerback Supported Function 40 min to motor maximum...
Page 83 4.2 SERVOPACK (2) EtherCAT (CoE) Specifications Item Specifications Applicable Communication IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile Standards Physical Layer 100BASE-TX (IEEE802.3) CN9A (RJ45): EtherCAT Signal IN Connector CN9B (RJ45): EtherCAT Signal OUT CAT5 STP 4 pair Cable Note: Cables are automatically recognized by the AUTO MDIX function. SM0: Mailbox output, SM1: Mailbox input SyncManager SM2: Process data outputs, SM3: Process data inputs...
Page 84 4 Specifications and External Dimensions for Σ-V-SD Drivers 4.2.1 Specifications (3) Panel Display The SERVOPACK status can be checked on the panel display. CHARGE Link/Activity2 Link/Activity1 Panel display SERVOPACK Name LED Color Meaning Lit when main circuit power is on. CHARGE Orange Not lit when main circuit power is off.
Page 85 4.2 SERVOPACK The ERR indicator shows the error status of EtherCAT communication. LED Indicator Description Display Pattern The EtherCAT communication is in Continuously OFF working condition. 50 ms Flickering Booting Error was detected. State change commanded by master is Blinking impossible due to register or object set- 200 ms 200 ms tings.
Page 86 4 Specifications and External Dimensions for Σ-V-SD Drivers 4.2.1 Specifications (4) I/O Current SERVOPACK for One Axis Input Output Capacity Input Output Current Current Capacity (Continu- Current Current (Continu- (Continu- Voltage Model (50%ED) (50%ED) (50%ED) Ratings) Ratings) Ratings) Arms Arms Arms Arms CACR-JU028ACA...
Page 87: External Dimensions
4.2 SERVOPACK 4.2.2 External Dimensions (1) SERVOPACK for One Axis Model: CACR-JU028ACA, -JU014DCA Cooling Fan Heat Sink Air Flow ∗ 4-M5 Screw Holes SERVOPACK Rear View Model Number Input Voltage Nameplate Ground Terminal M4 Screws 30±0.5 (145) (100) (10) (Mounting Pitch) ∗...
Page 88 4 Specifications and External Dimensions for Σ-V-SD Drivers 4.2.2 External Dimensions Model: CACR-JU065ACA, -JU033DCA Cooling Fan Heat Sink Air Flow ∗ 4-M5 Screw Holes SERVOPACK Rear View Model Number Input Voltage Nameplate 55±0.5 Ground (Mounting Pitch) Terminal M4 Screws (100) (10) (145) Mounting Hole Diagram...
Page 89 4.2 SERVOPACK Model: CACR-JU125ACA Heat Sink Cooling Fan 4-M5 Screw Holes Air Flow ∗ SERVOPACK Rear View Through Hole Model Number 200V Input Voltage Nameplate 130±0.5 (Mounting Pitch) Ground Terminal 2- M5 Screws (100) Mounting Hole Diagram (10) (145) Air Flow ∗...
Page 90 4 Specifications and External Dimensions for Σ-V-SD Drivers 4.2.2 External Dimensions (2) SERVOPACK for Two Axes Cooling Fan Heat Sink 4-M5 Screw Holes Air Flow ∗ SERVOPACK Rear View Model Number Input Voltage Nameplate B±0.5 Ground (Mounting Pitch) Terminal M4 Screws (100) (10) Mounting Hole Diagram...
Page 91 Peripheral Devices 5.1 Absolute Encoder Battery ........5-2 5.1.1 Specifications .
Page 92: Peripheral Devices
Use the following absolute encoder battery unit. Model: BA518 (a connector included) Manufacturer: Yaskawa Controls Co., Ltd. If not using the battery unit from Yaskawa, use the following parts. Battery model: ER6V Connector Model: Housing DF3-2S-2C2C (Hirose Electric Co., Ltd.) Contact DF3-2428SCFC (Hirose Electric Co., Ltd.) or DF3-2428SCC (Hirose Electric Co.,...
Page 93: Setup Procedure
5.1 Absolute Encoder Battery 5.1.2 Setup Procedure 1. Make sure that the power supply to the Σ-V-SD driver is OFF. 2. Connect a battery to CN8 of the power regeneration converter. Battery Connector Battery For the battery replacement, refer to 8.7.3 Battery Replacement.
Page 94: Ac Reactor
50/60 0.67 55°C 85°C –10 to –20 to CACP-JU22D3 X008012 50/60 0.56 11.2 55°C 85°C ∗ This AC reactor does not comply with UL standards. If an AC reactor that complies with UL standards is required, contact your Yaskawa representative.
Page 95: External Dimensions
5.2 AC Reactor 5.2.2 External Dimensions (1) Model: X008017 6-terminals for M6 screws Nameplate 80 max. 180 max. 4-mounting holes for M6 bolts Unit: mm (2) Model: X008018 6-terminals for M6 screws Nameplate 80 max. 180 max. 4-mounting holes for M6 bolts Unit: mm...
Page 96 5 Peripheral Devices 5.2.2 External Dimensions (3) Model: X008019 6-terminals for M6 screws Nameplate 90 max. 210 max. 4-mounting holes for M6 bolts Unit: mm (4) Model: X008020 6-terminals for M8 screws Nameplate 95 max. 210 max. 4-mounting holes for M6 bolts Unit: mm...
Page 97 Note: This AC reactor does not comply with UL standards. If an AC reactor that complies with UL standards is required, contact your Yaskawa representative. The dimensional diagrams for AC reactors that comply with UL standards are different from the above diagrams.
Page 98 5 Peripheral Devices 5.2.2 External Dimensions (7) Model: X008011 Nameplate 6-terminals for M6 screws max. max. 4-mounting holes for M6 bolts Unit: mm (8) Model: X008012 6-terminals for M6 bolts Nameplate 4-mounting holes for M6 bolts 105 max. Unit: mm...
Page 99: Magnetic Contactor For Winding Selection
5.3 Magnetic Contactor for Winding Selection Magnetic Contactor for Winding Selection 5.3.1 Specifications Standard HV-75AP4 HV-150AP4 Model For UL Compliance HV-75AP4/UL HV-150AP4/UL Contact Main contact: 3NO, 3NC, auxiliary contact: 1NC Rated Insulation Voltage 600 V Continuous 75 A 150 A Rated Applying Current 87 A 175 A...
Page 100: Terminal Descriptions
5 Peripheral Devices 5.3.3 Terminal Descriptions (2) Model: HV-75AP4/UL Control circuit terminals (M4) 4-M6 mounting holes Main circuit terminals (M5) Unit: mm (3) Model: HV-150AP4, HV-150AP4/UL Control circuit terminals (M4) 4-M6 mounting holes Main circuit terminals (M8) Unit: mm 5.3.3 Terminal Descriptions The terminal name and operation status are shown below.
Page 101: Installation Orientation
5.3 Magnetic Contactor for Winding Selection 5.3.4 Installation Orientation Use the following method to install a magnetic contactor for winding selection. Mounting Model: HV-75AP4, HV-75AP4/UL Model: HV-150AP4, HV-150AP4/UL Possible possible Terminal Cover Terminal Cover 5-11...
Page 102: Noise Filter
5 Peripheral Devices 5.4.1 Specifications Noise Filter 5.4.1 Specifications Power Regeneration Noise Filter Converter Rated Leakage Input Rated Model Model Current Classification Current Manufacturer Voltage Voltage (mA) CACP-JU15A3 HF3060C-SZC-47EDD CACP-JU19A3 HF3080C-SZC-47EDD (for 200 VAC, CACP-JU22A3 HF3100C-SZC-47EDD Three- SOSHIN 60 Hz) Three-phase phase, CACP-JU30A3...
Page 103: External Dimensions
5.4 Noise Filter 5.4.2 External Dimensions (1) Model: HF3030C-SZC-47DDD, HF3040C-SZC-47EDD to HF3060C-SZC-47EDD Nameplate B±2 E±4 A±4 SOSHIN Example of Nameplate (HF3030C-SZC) EL. CO. SOSHIN EMI FILTER LINE LOAD Model name TYPE HF3030C-SZC Rated voltage and current RATING 500 VAC 30 A 50 / 60 Hz Rated frequency LOT.No,...
Page 104 5 Peripheral Devices 5.4.2 External Dimensions (2) Model: HF3080C-SZC-47EDD, HF3100C-SZC-47EDD Nameplate 290 ±2 6.5 dia. 172 ±5 310 ±5 (196) 210 ±5 Example of Nameplate (HF3080C-SZC) SOSHIN EMI FILTER 25/85/21 LINE LOAD Model name TYPE HF3080C-SZC Rated voltage and current RATING 500 VAC 80 A 50 / 60 Hz...
Page 105 5.4 Noise Filter (4) Model: HF3200C-SZC-49EDE Nameplate 380±2 260±5 400±5 6.5 dia. Example of Nameplate: HF3200C-SZC SOSHIN EMI FILTER 25/85/21 LINE LOAD Model name TYPE HF3200C-SZC Rated voltage and current RATING 500 VAC 200 A Rated frequency 50 / 60 Hz Lot No.
Page 106: Base Mounting Units
5 Peripheral Devices 5.5.1 Specifications Base Mounting Units When mounting servo drivers to bases, use the following base mounting units. 5.5.1 Specifications Cooling Fan Terminal Block Unit Width Input Input Tightening Model Terminal Wire Sizes (mm) Voltage Current Torque Screw (AWG) (VDC) (N m)
Page 107 5.5 Base Mounting Units SERVOPACK for Two Axes SERVOPACK Base Mounting Unit Input Voltage Model Model CACR-JUM23ACA JUSP-JUBM050AA 270 VDC CACR-JUM24ACA CACR-JUM25ACA JUSP-JUBM075AA CACR-JUM23DCA 540 VDC CACR-JUM24DCA JUSP-JUBM075AA CACR-JUM25DCA 5-17...
Page 108: External Dimensions
5 Peripheral Devices 5.5.3 External Dimensions 5.5.3 External Dimensions (1) Model: JUSP-JUBM050AA Unit: mm Air Flow 2-6 Dia. Nameplate (10) Air Flow (23) Cooling Fan Approx.Mass: 2.7 kg <Mounting Hole Diagram> <Unit Mounted Diagram> 4-M5 Screw Holes Base Mounting Unit Rear View (305) 30 ±...
Page 109 5.5 Base Mounting Units (2) Model: JUSP-JUBM075AA Unit: mm Air Flow 2-6 Dia. Nameplate (10) Air Flow (23) Cooling Fan Approx.Mass: 2.7 kg <Unit Mounted Diagram> <Mounting Hole Diagram> 4-M5 Screw Holes Base Mounting Unit Rear View 55 ± 0.5 (Mounting Pitch) (305) 5-19...
Page 110 5 Peripheral Devices 5.5.3 External Dimensions (3) Model: JUSP-JUBM100AA Unit: mm Air Flow 2-6 Dia. Nameplate Air Flow (10) (23) Cooling Fan Approx.Mass: 2.8 kg <Mounting Hole Diagram> <Unit Mounted Diagram> 4-M5 Screw Holes Base Mounting Unit Rear View 80 ± 0.5 (Mounting Pitch) (305) 5-20...
Page 111 5.5 Base Mounting Units (4) Model: JUSP-JUBM150AA Unit: mm Air Flow 2-6 Dia. Nameplate (10) Air Flow (23) Cooling Fan Approx.Mass: 3.5 kg <Mounting Hole Diagram> <Unit Mounted Diagram> 4-M5 Screw Holes Base Mounting Unit Rear View 130 ± 0.5 (Mounting Pitch) (305) 5-21...
Page 112: Wiring
5 Peripheral Devices 5.5.4 Wiring 5.5.4 Wiring Connect the 24-VDC and 0-VDC lines to the terminals on the base mounting unit to power the cooling fan. Note 1. The power supply for the cooling fan on the base mounting unit is separate from the control power supply for the power regeneration converter and SERVOPACK and separate from the power supply for the sequence signals.
Page 113: Mounting Method
5.5 Base Mounting Units 5.5.5 Mounting Method Mount the power regeneration converter and SERVOPACK to the base mounting units as described in this section. As shown in the following figure, insert the heat sink on the power regeneration converter or SERVOPACK into the base mounting unit and secure it with the enclosed screws (four).
Page 114: Installation
Installation 6.1 Motors ........... . 6-2 6.1.1 Installation Environment .
Page 115: Motors
6 Installation 6.1.1 Installation Environment Motors The service life of the motor will be shortened or unexpected problems will occur if the motor is installed incorrectly or in an inappropriate location. Always observe the following installation instructions. 6.1.1 Installation Environment Item Condition Ambient Temperature 0 to 40°C (no freezing)
Page 116: Enclosure
Shaft only when using a specified cable. (1) Spindle motor If the spindle motor is used in a location that is subject to water or oil mist, contact your Yaskawa representa- tive. (2) Servomotor If the servomotor is used in a location that is subject to water or oil mist, order a servomotor with an oil seal to seal the through shaft section.
Page 117: Coupling Motor And Machinery
6 Installation 6.1.4 Coupling Motor and Machinery 6.1.4 Coupling Motor and Machinery Consider the following conditions when coupling the motor with the machinery. For the servomotor, only the direct coupling is available. (1) Direct Coupling Couple the motor with the machinery so that the center of the motor shaft and that of the machinery shaft are on a straight line.
Page 118 6.1 Motors (2) Belt Coupling • Check that the motor shaft is parallel to the machinery shaft and that the line connecting the centers of the pulleys and the shafts are at right angles to each other. If the angularity of the belt is improper, the belt will vibrate or slip.
Page 119: Σ-V-Sd Driver
6 Installation 6.2.1 Installation Requirements Σ-V-SD Driver 6.2.1 Installation Requirements Item Specifications 0°C to 40°C: at 100% load Surrounding Air Temperature 0°C to 55°: at 70% load Storage -20°C to 85°C Temperature Ambient/ 90%RH or less (with no freezing or condensation) Storage Humidity Vibration 4.9 m/s...
Page 120: Thermal Design Of Control Panel
6.2 Σ-V-SD Driver 6.2.2 Thermal Design of Control Panel Install the Σ-V-SD drivers, host controllers, and other units in a control panel. Use a control panel with an enclosed structure that provides protection against corrosive gases, water, and oil. Also, design the system so that the temperature rise in the control panel does not cause the temperature to exceed the ambient operating temperature.
Page 121 6 Installation 6.2.2 Thermal Design of Control Panel (2) Air Temperature Rise inside Control Panel (Average Temperature Rise) Design the control panel so that the internal air temperature will be no more than 10°C higher than the refer- ence value. If the rise in air temperature in the control panel exceeds 10°C, a cooling system must be installed. For details, refer to 6.2.2 (3) Cooling System Installation.
Page 122 6.2 Σ-V-SD Driver (3) Cooling System Installation Use the following calculation formula to select a cooling system and install it in the control panel so that the air temperature in the control panel will be no more than 10°C higher than the reference value. ∆T = k (A–B)+qh •...
Page 123: Control Panel Dust-Proof Design
6 Installation 6.2.3 Control Panel Dust-proof Design 6.2.3 Control Panel Dust-proof Design The host controller and other printed circuit boards mounted in the control panel may malfunction due to the effects of airborne particles (dust, cuttings, oil mist, etc.). Observe the following precautions to prevent air- borne particles from entering the control panel.
Page 124: Installation Precautions
6.2 Σ-V-SD Driver 6.2.4 Installation Precautions Observe the following precautions when designing the control panel. (1) General Precautions General precautions are given below. • Always use a sealed structure for the control panel. • Install the units so that maintenance inspections, removal, and installation can be performed easily. •...
Page 125: Installation Orientation And Space
6 Installation 6.2.5 Installation Orientation and Space 6.2.5 Installation Orientation and Space Precautions for the mounting the Σ-V-SD driver, including the mounting orientation and mounting space, are given below. 5 mm max. 5 mm max. 5 mm max. 5 mm min. 5 mm min.
Page 126: Wiring
Wiring 7.1 Motors ........... . 7-2 7.1.1 Precautions on Wiring .
Page 127: Motors
7 Wiring 7.1.1 Precautions on Wiring Motors CAUTION • Separate the motor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm, and do not bundle or run them in the same duct. Placing these cables too close to each other may result in malfunction. •...
Page 128 7.1 Motors (3) Connectors Observe the following precautions: • When the connectors are connected to the motor, be sure to connect the end of motor main circuit cables before connecting the encoder cable’s end. If the encoder cable’s end is connected before connecting the end of motor main circuit cables, the encoder may break because of the voltage differences between FG.
Page 129: Spindle Motors
7 Wiring 7.1.2 Spindle Motors 7.1.2 Spindle Motors (1) Main Circuit Cable Wiring Terminal Screws and Tightening Torques (200 V) Tightening Terminal Terminal Spindle Motor Model Torque Wire Sizes Symbols Screw [N m] U, V, W, FG 2.0 to 2.4 AWG8 Z1, Z2, Z3 1.2 to 1.8...
Page 130 7.1 Motors Terminal Screws and Tightening Torques (400 V) Tightening Terminal Terminal Spindle Motor Model Torque Wire Sizes Symbols Screw [N m] U, V, W, FG 2.0 to 2.4 AWG12 Z1, Z2, Z3 1.2 to 1.8 AWG14 U, V, W, FG 2.0 to 2.4 AWG10 Z1, Z2, Z3...
Page 131 7 Wiring 7.1.2 Spindle Motors Wiring • CACR-JU028ACA, -JU014DCA SERVOPACK End (CN8) Motor End Pin No. Signal Name Terminal Name • CACR-JU036ACA, -JU018DCA SERVOPACK End (CN8) Motor End Pin No. Signal Name Terminal Name • CACR-JU065ACA, -JU084ACA, -JU102ACA, -JU125ACA, -JU196ACA, -JU033DCA, -JU042DCA, -JU051DCA SERVOPACK End Motor End...
Page 132 7.1 Motors (2) Encoder Wiring Pulse Encoder (SERVOPACK-end connector: CN3) • Connections Signal Signal Pin No. Function Pin No. Function Name Name Common for magnetic Power supply for encoder PG0V – contactor for winding selection Power supply for encoder PG0V –...
Page 133 7 Wiring 7.1.2 Spindle Motors Spindle Motor Three-phase, 200 VAC Three-phase, 400 VAC SERVOPACK for One Axis CN3-8 THM1+ CN3-9 THM1- CN3-4 PG5 V CN3-1 PG0 V CN3-5 PG5 V CN3-2 PG0 V CN3-6 PG5 V CN3-3 PG0 V CN3-16 CN3-17 CN3-18 CN3-19...
Page 134 7.1 Motors Serial Encoder (SERVOPACK-end connector: CN2) • Connections Signal Signal Pin No. Function Pin No. Function Name Name Power supply for PG5V – encoder 5 V PGBAT+ Battery for encoder (+) PGBAT- Battery for encoder (–) Encoder serial signal Encoder serial signal (–) (NC)
Page 135: Spindle Motors
7 Wiring 7.1.2 Spindle Motors • Wiring in Terminal Box When connecting the motor main circuit cable and fan cable inside the terminal box, connect them so that the they do not come into contact with the serial converter unit or analog signal input section shield plate.The encoder may operate incorrectly if the connections are not appropriate.
Page 136 7.1 Motors • Connections of Serial Encoder in Terminal Box 2-M4 socket head cap screws Protective cover Shield wires 2-No.4-40 UNC screws M4 ground screw Approx. 40 mm Serial converter unit Plug housing : JEC-9P Insulock (with head) M4 screw Cable (serial data output side) Note 1.
Page 137: Servomotors
7 Wiring 7.1.3 Servomotors 7.1.3 Servomotors CAUTION • Install the I/O signal cables and encoder cable at least 30 cm away from the motor’s main circuit cable. Never place them in the same duct or bundle them together. Placing these cables too close to each other may result in malfunction. •...
Page 138 Lead on Load Side* ∗ In this case, contact your Yaskawa representative. • First, connect the servomotor to the servomotor main circuit cable end. • Do not remove the O-ring. Mount the connector so that the O-ring is seated properly.
Page 139 7 Wiring 7.1.3 Servomotors Servomotor Without Holding Brake • Cable Specifications for Servomotor-end Connector FG (Frame ground) – – Phase U Phase V Phase W Manufacturer: Japan Aviation Electronics Industry, Ltd. • Wiring Specifications • CACR-JUM23ACA, -JUM23DCA SERVOPACK End Motor End (CN18/CN28) Signal Signal...
Page 140 7.1 Motors (2) Main Circuit Cable Wiring (Model: SGMGV-09 to -75) Servomotor Without Holding Brake • Cable Specifications for Servomotor-end Connector Phase U Phase V Phase W FG (Frame ground) Manufacturer: DDK Ltd. • Wiring Specifications • CACR-JU036ACA, -JU018DCA SERVOPACK End Motor End (CN8) Signal...
Page 141 7 Wiring 7.1.3 Servomotors Servomotor With Holding Brake • Cable Specifications for Servomotor-end Connector Phase U Phase V Phase W FG (Frame ground) Manufacturer: DDK Ltd. • Cable Specifications for Brake-end Connector Receptacle: CM10-R2P-D Applicable plug (To be provided by the customer) Plug: CM10-AP2S- -D (L-shaped) CM10-SP2S- -D (Straight) (Boxes ( ) indicate a value that varies, depending on cable size.)
Page 142 7.1 Motors • CACR-JU028ACA, -JUM23 CA, -JUM24 CA, -JUM25 CA, -JU014DCA SERVOPACK End Motor End (CN8/CN18/CN28) Pin No. Signal Name Pin No. Signal Name Motor End Pin No. Signal Name Brake Brake Brake Brake Note: No polarity for connection to the brake terminals. 7-17...
Page 143 7 Wiring 7.1.3 Servomotors (3) Serial Encoder Wiring (SERVOPACK-end Connector: CN21/CN22) • Connections Signal Signal Pin No. Function Pin No. Function Name Name Power supply for ∗ encoder – PG5V PGBAT+ Encoder for battery PGBAT– Encoder for battery (–) Encoder serial signal Encoder serial signal ∗...
Page 144: Σ-V-Sd Driver
7.2 Σ-V-SD Driver Σ-V-SD Driver 7.2.1 Main Circuit • Do not touch the power terminals before the main-circuit capacitor has had time to dis- charge because high voltage may still remain in the converter and SERVOPACK. Refer to the following table for the discharge time of main-circuit capacitor. •...
Page 145 7 Wiring 7.2.1 Main Circuit (1) Wire Sizes and Tightening Torques Power Regeneration Converter Model: Terminal Tightening Input Voltage Terminal Screw Wire Sizes CACP-JU Symbols Torque [N m] L1, L2, L3 2.5 to 3.0 AWG6 15A3 B1, B2 2.0 to 2.4 AWG14 2.0 to 2.4 AWG6...
Page 146 7.2 Σ-V-SD Driver SERVOPACK for One Axis Wire Sizes Model: Terminal Tightening Input Voltage Terminal Screw For Spindle CACR-JU Symbols Torque [N m] Motor Servomotor U, V, W (connector) – AWG8 AWG10 028ACA motor (connector) – AWG8 AWG10 1.2 to 1.4 AWG8 AWG10 U, V, W...
Page 147 7 Wiring 7.2.1 Main Circuit SERVOPACK for Two Axes Model: Terminal Tightening Input Voltage Terminal Screw Wire Sizes CACR-JUM2 Symbols Torque [N m] U, V, W (connector) – AWG14 3ACA (connector) – AWG14 motor 1.2 to 1.4 AWG14 U, V, W (connector) –...
Page 148 3SA: Surge absorber 1KM: Magnetic contactor 1Ry: Relay (for control power supply) 4SA: Surge absorber 1PL: Indicator lamp 2KM: Magnetic contactor 1D: Flywheel diode 1SA: Surge absorber (for main circuit power supply) ∗ A host controller is not provided by Yaskawa. 7-23...
Page 149 7 Wiring 7.2.1 Main Circuit (10) Grounding Use the following information to ensure that the ground is sufficient. • Make sure to ground the ground terminal ( 200 V class: Ground to 100 Ω or less 400 V class: Ground to 10 Ω or less •...
Page 150: Control Circuit Power Supply
7.2 Σ-V-SD Driver 7.2.2 Control Circuit Power Supply (1) Specifications Specifications 24 VDC ± 15% Voltage Device Model Amperes CACP-JU45A3B 1.5 A Power regeneration converter Others Current CACP-JU196ACA SERVOPACK for one axis Others 1.5 A SERVOPACK for two axes All models 1.5 A •...
Page 151: Dc-Bus
7 Wiring 7.2.3 DC-bus 7.2.3 DC-bus A bus bar built into the Σ-V-SD driver connects the power regeneration converter and a SERVOPACK or two SERVOPACKs. The bus bar connection procedure is given below. Remove the barriers between the devices to connect. Barrier of SERVOPACK Barrier of power regeneration converter Rotate the bus bar of the device on the right 180°...
Page 152: Local Bus
7.2 Σ-V-SD Driver 7.2.4 Local Bus A local bus communication cable connects the power regeneration converter (CN5) and SERVOPACK (CN5A and CN5B). Local bus communication cable Local bus terminating resistor * CN5A/B Power regeneration SERVOPACK converter ∗ Connect only one resistor on the SERVOPACK on the right. If you connect two or more SERVOPACKs to one power regeneration converter, do not set the same value for the rightmost digit of the SERVOPACK address in Pn010 (5C00h).
Page 153: I/O Signals
7 Wiring 7.2.5 I/O Signals 7.2.5 I/O Signal Do not use CN1 on the SERVOPACK as the I/O signal for an emergency stop. Use CN1 on the power regeneration converter. (1) Connections Connector Pin Arrangement (CN1) for I/O Signals of the Power Regeneration Converter Signal Signal Pin No.
Page 154 7.2 Σ-V-SD Driver Connector Pin Arrangement (CN1) for I/O Signals of the SERVOPACK for Two Axes Signal Signal Pin No. Function Pin No. Function Name Name +24 V external power COM24V (NC) – – supply input Probe 1 latch signal /Probe1 (NC) –...
Page 155 I/O Connections for SERVOPACKs for Two Axes ∗ Not provided by Yaskawa. For details, contact your Yaskawa representative. Note: If the HWBB function is not used, connect CN1-17 to CN1-20 and CN1-29 to CN1-36 as shown in the following figures.
Page 156: Ethercat (Coe) Communications
7.2 Σ-V-SD Driver 7.2.6 EtherCAT (CoE) Communications Connect the host controller and connectors CN9A and CN9B on the SERVOPACK with the EtherCAT (CoE) communications cable. Connect CN9A to the master and CN9B to the slave. If reversed, communication will not be successfully per- formed.
Page 157: Winding Selection
7 Wiring Winding Selection Winding selection for an AC spindle motor is an effective way to extend the constant output control range of a servo (spindle) drive. Contact your Yaskawa representative for details on changing the winding from the SERVOPACK. 7-32...
Page 158: Operation
Operation 8.1 EtherCAT (CoE) Communications Settings ..... . . 8-3 8.1.1 EtherCAT Secondary Address Settings ........8-3 8.1.2 EtherCAT (CoE) Commands .
Page 159 8 Operation 8.8 Hard Wire Base Block (HWBB) Function ......8-37 8.8.1 Precautions for the Hard Wire Base Block (HWBB) State .....8-37 8.8.2 Operation Example for the Hard Wire Base Block .
Page 160: Ethercat (Coe) Communications Settings
8.1 EtherCAT (CoE) Communications Settings EtherCAT (CoE) Communications Settings This section describes the switch settings necessary for EtherCAT (CoE) communications. 8.1.1 EtherCAT Secondary Address Settings The EtherCAT secondary address (Station Alias) can be used for identification or for addressing of a device. The station address is set using the rotary switches S1 and S2.
Page 161: Ethercat State Machine
8 Operation EtherCAT State Machine The EtherCAT State Machine (ESM) is responsible for the coordination of master and slave applications at start up and during operation. State changes are typically initiated by requests of the master. The states of the EtherCAT State Machine are as follows. Power ON INIT (PI)
Page 162: Device Control
8.3 Device Control Device Control The device control for the servo drive is carried out in the order shown in the following flowchart. Control- word (Object 6040h) controls the operating status of the servo drive, and Statusword (Object 6041h) is used to monitor this status.
Page 163 8 Operation (1) State Machine Controlling Command Bits of the Controlword (6040h) Command Bit7 Bit3 Bit2 Bit1 Bit0 Shutdown – Switch on Switch on + Enable operation Disable voltage – – – Quick stop – – Disable operation Enable operation 0 →...
Page 164: Settings For Common Basic Functions
8.4 Settings for Common Basic Functions Settings for Common Basic Functions The following table lists basic parameters to be set up for motor operation. Step Items Reference Parameters (Index Numbers) Servomotor Rotation 8.4.1 Servomotor Rotation Direction Pn000 (2000h) Direction Pn50A (2110h:1) Pn50B (2110h:2) Pn001 (2001h) Overtravel...
Page 165: Servomotor Rotation Direction
8 Operation 8.4.1 Servomotor Rotation Direction 8.4.1 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the servomotor. Parameter Forward/Reverse Applicable...
Page 166: Overtravel
8.4 Settings for Common Basic Functions 8.4.2 Overtravel If movable machine parts overtravel and exceed the allowable range of motion, the overtravel limit function forces the parts to stop by activating the limit switch. For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case, no wiring for overtravel input signals is required.
Page 167 8 Operation 8.4.2 Overtravel (3) Servomotor Stopping Method When Overtravel Occurs There are three servomotor stopping methods when overtravel occurs. • Dynamic brake By short-circuiting the electric circuits, the servomotor comes to a quick stop. For the spindle motor, it coasts to a stop. •...
Page 168 8.4 Settings for Common Basic Functions (4) Overtravel Warning Function This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON. Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the overtravel signal is ON only momentarily.
Page 169: Holding Brakes
8 Operation 8.4.3 Holding Brakes 8.4.3 Holding Brakes A holding brake is a brake used to hold the position of the movable part of the machine when the SERVO- PACK is turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are built into servomotors with brakes.
Page 170 8.4 Settings for Common Basic Functions (1) Wiring Example Use the brake signals (/BK1, /BK2) and the brake power supply to form a brake ON/OFF circuit. The follow- ing diagram shows a standard wiring example. The timing can be easily set using the brake signals (/BK1, /BK2). Servomotor with holding Converter:...
Page 171 8 Operation 8.4.3 Holding Brakes • Select the optimum surge absorber in accordance with the applied brake current and brake power supply. When using the LPSE-2H01-E power supply: Z10D471 (Made by SEMITEC Corpora- tion) When using the LPDE-1H01-E power supply: Z10D271 (Made by SEMITEC Corpora- tion) When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation) •...
Page 172 8.4 Settings for Common Basic Functions (3) Brake ON Timing after the Servomotor Stops When the servomotor stops, the /BK signals turn OFF at the same time as the Disable operation command is received. Use Pn506 to change the timing to turn OFF the servomotor power after the Disable operation com- mand has been received.
Page 173 8 Operation 8.4.3 Holding Brakes (4) Brake (/BK) Signal Output Timing during Servomotor Rotating If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signals will be turned OFF. The timing of brake signal output can be adjusted by setting the brake reference output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).
Page 174: Stopping Servomotor After Sv_Off Command Or Alarm Occurrence
8.4 Settings for Common Basic Functions 8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence The stopping method can be selected after the SV_OFF command is received or an alarm occurs. • Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre- quently if the power is turned ON and OFF or the SV_ON command and SV_OFF command are received with a reference input applied to start and stop the servomo- tor, which may result in deterioration of the internal elements in the SERVOPACK.
Page 175 8 Operation 8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence (1) Stopping Method for Servomotor after SV_OFF Command is Received Use Pn001.0 to select the stopping method for the servomotor after the SV_OFF command is received. The factory setting of Pn001.0 depends on the model. For details, refer to 12.1 SERVOPACK Parameters. If a spindle motor is used, a coasting to a stop is performed for the motor stopping method when the servo is turned OFF, regardless of the setting of Pn001.0.
Page 176: Instantaneous Power Interruption Settings
8.4 Settings for Common Basic Functions 8.4.5 Instantaneous Power Interruption Settings If the power interruption time is shorter than 50 ms, the servomotor will continue operation. If it is longer than 50 ms, a power failure during converter drive operation alarm (A.41C) will occur and the servomotor’s power will be turned OFF.
Page 177: Setting Motor Overload Detection Level
8 Operation 8.4.6 Setting Motor Overload Detection Level 8.4.6 Setting Motor Overload Detection Level In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect an overload warning (A.910) and overload (low load) alarm (A.720). The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.
Page 178 8.4 Settings for Common Basic Functions (2) Changing Detection Timing of Overload (Low Load) Alarm (A.720) An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading. The time required to detect an overload alarm can be shortened by using the derated motor base current obtained with the following equation.
Page 179: Spindle Motor Settings
An incorrect setting may result in spindle motor operation failure or incorrect operation. (1) Spindle Motor Constant Settings Write the motor constants of the spindle motor to use to the SERVOPACK. Ask your Yaskawa representative for information on motor constants.
Page 180: Setting Local Bus Addresses
8.4 Settings for Common Basic Functions 8.4.8 Setting Local Bus Addresses If you connect two or more SERVOPACKs to one power regeneration converter, set the SERVOPACK address in Pn010 (5C00h). The setting range is 0000 to 007F hex. Set the rightmost digit to a unique value for each SERVOPACK.
Page 181: Trial Operation
8 Operation 8.5.1 Inspection and Checking before Trial Operation Trial Operation This section describes a trial operation using EtherCAT (CoE) communications. 8.5.1 Inspection and Checking before Trial Operation To ensure safe and correct trial operation, inspect and check the following items before starting trial operation. (1) Servomotors Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.
Page 182: Limiting Torque
8.6 Limiting Torque Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Each method uses the set minimum torque to limit the output. Σ For details, refer to -V-SD series User’s Manual For Command Profile EtherCAT (CoE) Communications Reference (manual no.: SIEP S800000 95).
Page 183 8 Operation • Spindle motor (Pn01E.0 = 1, 3, 5) Set the torque limit for motor acceleration in Pn430. Set the torque limit for motor deceleration in Pn431. The direction of motor rotation is not affected. Torque Limit (Powering) Position Speed Classification Pn430...
Page 184: Absolute Encoders
8.7 Absolute Encoders Absolute Encoders If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host controller. Consequently, operation can be performed without zero point return operation immediately after the power is turned ON.
Page 185: Battery Replacement
8 Operation 8.7.3 Battery Replacement 8.7.3 Battery Replacement If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or an absolute encoder battery error warning (A.930) will be displayed. If this alarm or warning is displayed, replace the batteries. Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
Page 186: Absolute Encoder Setup
8.7 Absolute Encoders Battery Replacement Procedure 1. Turn ON the control power supply of the Σ-V-SD driver only. 2. Remove the old battery from the CN8 of the power regeneration converter and mount the new battery (model: BA000518). 3. Turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830). 4.
Page 187 8 Operation 8.7.4 Absolute Encoder Setup Procedure for Setup Follow the steps below to setup the absolute encoder. Make sure that the motor power is OFF. In the SigmaWin for Σ-V-SD (MT) component main window, click Setup, point to Set Absolute Encoder and click Reset Absolute Encoder.
Page 188 8.7 Absolute Encoders Click Continue to set up the encoder. < If Setup is Unsuccessful > If setting up is attempted with the servo ON, a reset conditions error occurs, and the processing is aborted. Click OK to return to the main window. <...
Page 189: Multiturn Limit Setting
8 Operation 8.7.5 Multiturn Limit Setting 8.7.5 Multiturn Limit Setting The multiturn limit setting is used in position control applications for a turntable or other rotating device. For example, consider a machine that moves the turntable in the following diagram in only one direction. Turntable Gear Servomotor...
Page 190: Multiturn Limit Disagreement Alarm (A.cc0)
8.7 Absolute Encoders Factory Setting (= 65535) Other Setting (≠65535) +32767 Pn205 setting value Reverse Forward Forward Reverse Rotational data Rotational data Motor rotations Motor rotations -32768 8.7.6 Multiturn Limit Disagreement Alarm (A.CC0) When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm (A.CC0) will be displayed because the value differs from that of the encoder.
Page 191 8 Operation 8.7.6 Multiturn Limit Disagreement Alarm (A.CC0) Change the setting to the desired number of revolutions. To save the settings, click Writing into the Servopack, and a warning message appears. Click OK and the settings are changed to the new ones. After turning off the power, restart the Σ-V-SD driver.
Page 192 8.7 Absolute Encoders Return to the SigmaWin for Σ-V-SD (MT) component main window. To make the settings for the motor, click Setup and then click Multi-Turn Limit Setting again. A verification message appears confirming if you want to continue although the position data will change. Click Continue, and the Multi-Turn Limit Setting box appears.
Page 193: Absolute Encoder Home Offset
8 Operation 8.7.7 Absolute Encoder Home Offset 8.7.7 Absolute Encoder Home Offset If you use an absolute encoder, you can set an offset between the encoder position and the machine position. The setting is not made with a parameter. A Σ-V-SD EtherCAT (CoE) command is used as shown below. If you use an absolute encoder, the offset between the encoder position and the machine position (Position Actual Value: index 6064h) is set in reference units.
Page 194: Hard Wire Base Block (Hwbb) Function
8.8 Hard Wire Base Block (HWBB) Function Hard Wire Base Block (HWBB) Function This HWBB function is not relevant to Machinery directive, 2006/42/EC. The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a function designed to baseblock the motor (shut off the motor current) by using the hardwired circuits.
Page 195: Operation Example For The Hard Wire Base Block
8 Operation 8.8.2 Operation Example for the Hard Wire Base Block 8.8.2 Operation Example for the Hard Wire Base Block An operation example of the HWBB function is shown below. If the /HWBB signal is received (OFF) while power is being supplied to the motor, power to the motor will be shut OFF and the Statusword (Object 6041h) will change to the Switch on Disabled state.
Page 196: Connection Example And Specifications Of Input Signals (Hwbb Signals)
8.8 Hard Wire Base Block (HWBB) Function 8.8.6 Connection Example and Specifications of Input Signals (HWBB Signals) A connection example and specifications of input signals (HWBB signals) are shown below. For HWBB function signal connections, the input signal is the 0 V common and the output signal is the source output.
Page 197: Operation With Sigmawin For Σ-V-Sd (Mt)
8 Operation 8.8.7 Operation with SigmaWin for Σ-V-SD (MT) If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two chan- nels, the power supply to the motor will be turned OFF within 20 ms (see below). Within 20 ms /HWBB1 OFF (motor current...
Page 198: External Device Monitor (Edm )
8.8 Hard Wire Base Block (HWBB) Function 8.8.10 External Device Monitor (EDM ) The external device monitor (EDM ) functions to monitor failures in the HWBB function. The relation of the EDM , /HWBB1, and /HWBB2 signals is shown below. Signal Logic Name...
Page 199 8 Operation 8.8.10 External Device Monitor (EDM ) Specifications Signal Type SERVOPACK State Meaning Name Number Both the /HWBB1 and the /HWBB2 signals are working EDM1 normally. CN1-22, For one axis CN1-21 The /HWBB1 signal, the /HWBB2 signal or both are not EDM1 working normally.
Page 200: Application Example Of Hwbb Function
8.8 Hard Wire Base Block (HWBB) Function 8.8.11 Application Example of HWBB Function An example of using HWBB function is shown below. (1) Connection Example Close Limit switch Guard Device 24-V power manufactured supply Open by OMRON Corp. G9SX-BC202 T11 T12 T21 Input Power supply...
Page 201: Confirming Hwbb Function
8 Operation 8.8.12 Confirming HWBB Function (3) Usage Example Request to open the guard. When the moter is operating, the host controller stops the motor and sends servo OFF command (SV_OFF). Open the guard and enter. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.
Page 202: Adjustments
Adjustments 9.1 Type of Adjustments and Basic Adjustment Procedure ....9-2 9.1.1 Adjustments ............9-2 9.1.2 Basic Adjustment Procedure .
Page 203: Type Of Adjustments And Basic Adjustment Procedure
9 Adjustments 9.1.1 Adjustments Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 9.1.1 Adjustments Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK. The responsiveness is determined by the servo gain that is set in the SERVOPACK. The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters, moment of inertia ratio.
Page 204: Basic Adjustment Procedure
9.1 Type of Adjustments and Basic Adjustment Procedure 9.1.2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine. Start adjusting servo gain. Adjust using Advanced Autotuning. Adjust automatically the moment of inertia ratio, gains, and filters with internal references in the SERVOPACK.
Page 205: Monitoring Analog Signals
9 Adjustments 9.1.3 Monitoring Analog Signals 9.1.3 Monitoring Analog Signals Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea- suring instrument, such as a memory recorder, to connectors CN61 and CN62 analog monitor connector on the SERVOPACK to monitor analog signal waveform.
Page 206 9.1 Type of Adjustments and Basic Adjustment Procedure The following signals can be monitored by selecting functions with parameters Pn006 and Pn007. Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2. Description Parameter (Index Number) Monitor Signal Unit Remarks...
Page 207 9 Adjustments 9.1.3 Monitoring Analog Signals (3) Setting Monitor Factor The output voltages on analog monitors 1 and 2 are calculated by the following equations. × × Analog monitor 1 output voltage = (-1) Signal selection Multiplier + Offset voltage [V] (Pn550) (Pn006=n.00 (Pn552)
Page 208: Safety Precautions On Adjustment Of Servo Gains
9.1 Type of Adjustments and Basic Adjustment Procedure 9.1.4 Safety Precautions on Adjustment of Servo Gains CAUTION If adjusting the servo gains, observe the following precautions. • Do not touch the rotating section of the motor while power is being supplied to the motor. •...
Page 209: Inspection, Maintenance
9 Adjustments 9.1.4 Safety Precautions on Adjustment of Servo Gains 6000 1048576 Pn520 = × × 2 2621440 × 2 5242880 (The factory setting of Pn520) If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo- tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy these equations.
Page 210: Advanced Autotuning
9.2 Advanced Autotuning Advanced Autotuning This section describes the adjustment using advanced autotuning. • Advanced autotuning starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments. In this case, make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.
Page 211 9 Adjustments 9.2.1 Advanced Autotuning (1) Preparation Check the following settings before performing advanced autotuning. • The main circuit power supply must be ON. • There must be no overtravel. • The servomotor power must be OFF. • The control method must not be set to torque control. •...
Page 212 9.2 Advanced Autotuning (4) Advanced Autotuning Procedure The following procedure is used for advanced autotuning. Advanced autotuning is performed from the SigmaWin for Σ-V-SD (MT). WARNING Autotuning without reference input involves motor operation, and it is therefore hazardous. Refer to the SigmaWin for Σ-V-SD (MT) Operation Manual before performing autotuning without reference input. Be particularly careful of the following point.
Page 213 9 Adjustments 9.2.1 Advanced Autotuning Click Execute. The following window appears. Click Execute. The following window appears. Speed Loop Setting Set the speed loop gain and integral time constant. If the response of the speed loop is poor, the moment of inertia (mass) ratio cannot be measured accu- rately.
Page 214 9.2 Advanced Autotuning Reference Selection Select a reference pattern from the Reference Selection box or create the reference pattern by directly entering the values. As the setting for maximum acceleration increases, the accuracy of the inertia identification tends to improve. Consider the pulley diameter or the speed reduction ratio such as the ball screw pitches, and set the maximum acceleration within the operable range.
Page 215 9 Adjustments 9.2.1 Advanced Autotuning Cancel The Cancel button is available only during the transfer to the SERVOPACK. After the transmission is finished, it is unavailable and cannot be selected. <Back Click Back to return to the Condition Setting box. The Back button is unavailable during a data trans- fer.
Page 216 9.2 Advanced Autotuning Click Reverse to take measurements by turning (moving) the motor in reverse. After the measurements and the data transmission are finished, the following window appears. Repeat steps 7 through 9 until all the measurements have been taken. Measurements will be made from two to seven times and then verification will be performed.
Page 217 9 Adjustments 9.2.1 Advanced Autotuning Click Writing Results to set the moment of inertia (mass) ratio calculated in the operation/ measurement to the parameters. After confirming that the value displayed in the identified moment of inertia (mass) ratio and the value displayed in the Pn103: Moment of Inertia Ratio are the same, click Finish.
Page 218 9.2 Advanced Autotuning Select whether or not to use the load moment of inertia (load mass) identification from the Switching the load moment of inertia (load mass) identification box, the mode from the Mode selection box, the mechanism from the Mechanism selection box, and enter the moving distance.
Page 219 9 Adjustments 9.2.1 Advanced Autotuning After confirming the safety of the area adjoining the drive unit, click Yes. The motor will start rotating and tuning will start. Vibration generated during tuning is automatically detected, and the optimum setting for the detected vibration will be made.
Page 220: Related Parameters
9.2 Advanced Autotuning 9.2.2 Related Parameters The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 221: Advanced Autotuning By Reference
9 Adjustments 9.3.1 Advanced Autotuning by Reference Advanced Autotuning by Reference Adjustments with advanced autotuning by reference are described below. Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when start- ing adjustments.
Page 222 9.3 Advanced Autotuning by Reference (1) Preparation Check the following settings before performing advanced autotuning by reference. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met. • The SERVOPACK must be in Servo Ready status. •...
Page 223 9 Adjustments 9.3.1 Advanced Autotuning by Reference (3) Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference. Advanced autotuning by reference is performed from the SigmaWin for Σ-V-SD (MT). The operating procedure from the SigmaWin for Σ-V-SD (MT) is described here. Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning.
Page 224 9.3 Advanced Autotuning by Reference After confirming that there is no problem, click OK. The following window appears. Select the Position reference input option under Reference input from host controller in the Tuning main window, and then click Autotuning. The following window appears. 9-23...
Page 225 9 Adjustments 9.3.1 Advanced Autotuning by Reference Select the mode from the Mode selection combo box and the mechanism from Mechanism selection combo box, and then click Next. When the Start tuning using the default settings. check box is selected in the Autotuning-Setting Conditions box, tuning will be executed using tuning parameters set to the default value.
Page 226 9.3 Advanced Autotuning by Reference Turn the servo on and then input the reference from the host controller. Click Start tuning. After confirming the safety of the area adjoining the drive unit, click Yes. The motor will start rotating and tuning will start. Vibration generated during tuning is automatically detected, and the optimum setting for the detected vibration will be made.
Page 227: Related Parameters
9 Adjustments 9.3.2 Related Parameters 9.3.2 Related Parameters The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 228: One-Parameter Tuning
9.4 One-parameter Tuning One-parameter Tuning Adjustments with one-parameter tuning are described below. 9.4.1 One-parameter Tuning One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref- erence or speed reference input from the host controller. One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one tuning level.
Page 229 9 Adjustments 9.4.1 One-parameter Tuning (3) One-parameter Tuning Procedure One-parameter tuning is performed from the SigmaWin for Σ-V-SD (MT). The operating procedure from the SigmaWin for Σ-V-SD (MT) is described here. WARNING Be sure to carefully read the SigmaWin for Σ-V-SD (MT) Operation Manual before executing this function. Special care must be taken for the following.
Page 230 9.4 One-parameter Tuning Click OK. The following window appears. Click Advanced adjustment. The following box appears. Click Custom tuning. The following box appears. Select the tuning mode and the mechanism. The tuning modes that can be selected will vary according to the SERVOPACK setting. 9-29...
Page 231 9 Adjustments 9.4.1 One-parameter Tuning Click Next. The following box appears. Enter the correct moment of inertia ratio and then click Next. The following window appears. 9-30...
Page 232 9.4 One-parameter Tuning Turn the servo on and then input the reference from the host controller. Click Start tuning. Change the tuning level by clicking the setting arrows. Continue to raise the level until an overshoot occurs. Note: The new tuning level is applied after the positioning completion signal is output (after bit 10 (target reached) of the Statusword (6041h) is changed to 1).
Page 233 9 Adjustments 9.4.1 One-parameter Tuning Functions To Suppress Vibration For vibration frequencies above 1,000 Hz when servo gains are increased, the notch filter auto setting function provides effective suppression. For vibration frequencies between 100 and 1,000 Hz, the anti-resonance con- trol adjustment auto setting function is effective.
Page 234 9.4 One-parameter Tuning To Autotuning Click To Autotuning to execute autotuning using reference inputs from the host controller. See 9.3.1 Advanced Autotuning by Reference for details. (4) Related Functions on One-parameter Tuning This section describes functions related to one-parameter tuning. Notch Filter Usually, set this function to Auto Setting.
Page 235: Related Parameters
9 Adjustments 9.4.2 Related Parameters 9.4.2 Related Parameters The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 236: Anti-Resonance Control Adjustment Function
9.5 Anti-Resonance Control Adjustment Function Anti-Resonance Control Adjustment Function This section describes the anti-resonance control adjustment function. 9.5.1 Anti-Resonance Control Adjustment Function The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra- tion frequencies are from 100 to 1,000 Hz.
Page 237 9 Adjustments 9.5.1 Anti-Resonance Control Adjustment Function CAUTION Be sure to carefully read the SigmaWin for Σ-V-SD (MT) Operation Manual before executing this function. Special care must be taken for the following. • Before executing this function, make sure that the emergency stop (power off) can be activated when needed.
Page 238 9.5 Anti-Resonance Control Adjustment Function With Undetermined Vibration Frequency In the SigmaWin Σ-V-SD (MT) component main window, click Tuning and then click Tuning. Click Cancel to return to the SigmaWin Σ-V-SD (MT) component main window without executing tun- ing. Click Execute. The following window appears. 9-37...
Page 239 9 Adjustments 9.5.1 Anti-Resonance Control Adjustment Function Click Advanced adjustment. The following box appears. Click Custom tuning. The following box appears. Select the tuning mode and the mechanism, and then click Next. The following box appears. 9-38...
Page 240 9.5 Anti-Resonance Control Adjustment Function Enter the correct moment of inertia ratio and then click Next. The following window appears. Click Anti-res Ctrl Adj. The following window appears. 9-39...
Page 241 9 Adjustments 9.5.1 Anti-Resonance Control Adjustment Function Click Auto Detect to set the frequency and click Start adjustment. The following window appears. Adjust the damping gain by clicking the setting arrows. Click Reset to reset the settings to their original values during adjustment. When the adjustment is complete, click Finish to return to the main window.
Page 242 9.5 Anti-Resonance Control Adjustment Function With Determined Vibration Frequency In the SigmaWin Σ-V-SD (MT) component main window, click Tuning and then click Tuning. Click Cancel to return to the SigmaWin Σ-V-SD (MT) component main window without executing tun- ing. Click Execute. The following window appears. 9-41...
Page 243 9 Adjustments 9.5.1 Anti-Resonance Control Adjustment Function Click Advanced adjustment. The following box appears. Click Custom tuning. The following box appears. Select the tuning mode and the mechanism, and then click Next. The following box appears. 9-42...
Page 244 9.5 Anti-Resonance Control Adjustment Function Enter the correct moment of inertia ratio and then click Next. The following window appears. Click Anti-res Ctrl Adj. The following window appears. 9-43...
Page 245 9 Adjustments 9.5.1 Anti-Resonance Control Adjustment Function Click Manual Set to set the frequency and click Start adjustment. The following window appears. Adjust the frequency by clicking the setting arrows. Click Reset to reset the settings to their original values during adjustment. Adjust the damping gain by clicking the setting arrows.
Page 246: Related Parameters
9.5 Anti-Resonance Control Adjustment Function 9.5.2 Related Parameters The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 247: High-Speed Control Adjustments
9 Adjustments High-speed Control Adjustments After performing advanced autotuning or one-parameter tuning, servo tuning can be performed according to machine operation to enable high-speed, high-precision machine operation. The procedure is described here. Select the control functions according to the machine operation. Select the control functions to use based on the following table.
Page 248 9.6 High-speed Control Adjustments • Parameters for Gain Bank 0 to 3 Gain Bank Parameter Speed Loop Gain Pn100 Pn104 Pn12B Pn12E Speed Loop Integral Time Pn101 Pn105 Pn12C Pn12F Constant Position Loop Gain Pn102 Pn106 Pn12D Pn130 Torque Reference Filter Time Pn401 Pn412 Pn413...
Page 249 Standards Compliance 10.1 Models in Compliance with Standards ......10-2 10.2 Precautions for Complying with European Standards ....10-3 10.2.1 EMC Installation Conditions .
Page 250: Standards Compliance
SERVOPACK for One Axis CACR-JU196ACA Pending CACR-JU014DCA CACR-JU018DCA Pending CACR-JU033DCA Certified CACR-JU042DCA CACR-JU051DCA CACR-JUM23ACA CACR-JUM24ACA Certified Certified CACR-JUM25ACA SERVOPACK for Two Axes CACR-JUM23DCA CACR-JUM24DCA Certified Pending CACR-JUM25DCA Note: Contact your Yaskawa representative for details on models for which certification is pending. 10-2...
Page 251: Precautions For Complying With European Standards
This section describes the recommended installation conditions that satisfy EMC guidelines for the Σ-V-SD driver. This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual system's configuration, wiring, and other conditions.
Page 252: Precautions
10 Standards Compliance 10.2.2 Precautions (cont’d) Symbol Cable Name Specification Spindle motor main circuit cable Shield cable Spindle motor encoder cable Shield cable Servomotor main circuit cable for 1st axis Shield cable Servomotor encoder cable for 1st axis Shield cable Servomotor main circuit cable for 2nd axis Shield cable Servomotor encoder cable for 2nd axis...
Page 253: Compliance With Low Voltage Directive
10.2 Precautions for Complying with European Standards 10.2.3 Compliance with Low Voltage Directive This drive has been tested according to European standard IEC61800-5-1, and it fully complies with the Low Voltage Directive. To comply with the Low Voltage Directive, be sure to meet the following conditions when combining this drive with other devices.
Page 254: Precautions For Complying With Ul Standards
Use a magnetic contactor for winding selection for UL compliance according to 5.3.1 Specifications. (7) Heat Sink Cooling Provide an airflow of 2.5 m/s or higher in the ventilation duct to cool the heat sink. Or, use a Yaskawa base mounting unit.
Page 255 Inspection, Maintenance, and Troubleshooting 11.1 Inspection and Maintenance ....... . . 11-2 11.1.1 Motor .
Page 256: Inspection, Maintenance, And Troubleshooting
The part replacement period varies with the usage condition and usage environment. A part must be replaced if there is any problem, even if it is not yet time to replace it. Contact your Yaskawa representative if a part needs to be replaced or if the standard replacement period has elapsed.
Page 257: Σ-V-Sd Driver
Capacitor on Circuit Board Note: If the above operating conditions are not used, replacement may be required sooner than the standard replacement period. To extend the life of the parts, reduce the ambient temperature. Contact your Yaskawa representative if you require more-detailed information.
Page 258: Alarm Displays
11 Inspection, Maintenance, and Troubleshooting 11.2 Alarm Displays If the SERVOPACK detects an alarm, it stops the motor with the motor stop method for alarms that is described below and displays the alarm status. Status Indications The alarm code is displayed. SERVOPACK panel display Example: A.
Page 259: List Of Servo Drive Alarms
11.2 Alarm Displays 11.2.1 List of Servo Drive Alarms The following table shows the list of servo drive alarms. Alarm Motor Stop Alarm Alarm Name Meaning Display Method Reset A.020 Parameter Checksum Error The data of the parameter in the SERVOPACK is incorrect. Gr.1 The data format of the parameter in the SERVOPACK is A.021...
Page 260 11 Inspection, Maintenance, and Troubleshooting 11.2.1 List of Servo Drive Alarms (cont’d) Alarm Motor Stop Alarm Alarm Name Meaning Display Method Reset The DC-bus voltage inside the power regeneration converter A.41A Converter DC Undervoltage Gr.2 Available is abnormally low. The AC voltage inside the power regeneration converter is A.41B Converter AC Undervoltage Gr.1...
Page 261 11.2 Alarm Displays (cont’d) Alarm Motor Stop Alarm Alarm Name Meaning Display Method Reset All the power supplies for the absolute encoder have failed A.810 Encoder Backup Error Gr.1 and position data was cleared. A.820 Encoder Checksum Error The checksum results of encoder memory is incorrect. Gr.1 Absolute Encoder Battery The battery voltage was lower than the specified value after...
Page 262 11 Inspection, Maintenance, and Troubleshooting 11.2.1 List of Servo Drive Alarms (cont’d) Alarm Motor Stop Alarm Alarm Name Meaning Display Method Reset Phase C was not detected during the first two rotations after Phase C Not Detected the power supply was turned ON. A.C50 Gr.1 Magnetic Pole Incorrect...
Page 263 11.2 Alarm Displays (cont’d) Alarm Motor Stop Alarm Alarm Name Meaning Display Method Reset A.EF2 Local Bus Drive WD Error A local bus watchdog alarm occurred in the SERVOPACK. Gr.2 Local Bus Communications A.EF4 An error occurred during local bus communications. Gr.2 Available Error...
Page 264: List Of Alarms For Ethercat (Coe) Communications
11 Inspection, Maintenance, and Troubleshooting 11.2.2 List of Alarms for EtherCAT (CoE) Communications 11.2.2 List of Alarms for EtherCAT (CoE) Communications This table lists the alarms of the EtherCAT (CoE) communications. Alarm Motor Stop Alarm Alarm Name Meaning Code Method Reset 0EA0h System Alarm 9...
Page 265: Troubleshooting Of The Servo Drive Alarms
When an error occurs in the servo drives, LEDs on the panel operator will light up. Refer to the following table to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Alarm:...
Page 266 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name Check to see if write processing Writing the motor parameters ended before the write was com- Write the motor parameters again. failed.
Page 267 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name A.04B: Converter Parameter The power regeneration converter Setting Error Power regeneration converter − may be faulty. Replace the power failure (The parameter data in regeneration converter. the power regeneration converter is incorrect.) Check the capacities to see if they satisfy the following condition:...
Page 268 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name A.05A: Induction Motor Combination Error The SERVOPACK capacity and Check the combination of the SER- Align the SERVOPACK capacity spindle motor capacity are not VOPACK capacity and servomotor (The capacity of the...
Page 269 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name A mistake occurred when select- Check the power regeneration con- Change the power regeneration con- ing the power regeneration con- verter capacity and the total output verter capacity. verter capacity.
Page 270 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name • For 200-VAC SERVOPACKs with DC-bus power supply input: The power supply volt- age exceeded 410 V. Set AC/DC power supply voltage Measure the power supply voltage.
Page 271 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name • For 200-V power regeneration converter with DC-bus power supply input: The power voltage exceeded 410 V. Set the AC/DC power supply volt- Measure the power supply voltage. age within the specified range.
Page 272 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name Measure the AC power supply volt- Improve the power supply condi- The AC voltage is unstable. age. tions. The DC bus voltage is unstable, Measure the DC bus power supply The SERVOPACK may be faulty.
Page 273 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name • For 200-VAC power regenera- tion converter: The power supply was in the range between 50 V to 125 V. Set AC power supply voltage within Measure the power supply voltage. A.41B: the specified range.
Page 274 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name The order of phases U, V, and W Confirm that the servomotor is cor- in the servomotor wiring is incor- Check the servomotor wiring.
Page 275 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name Incorrect wiring or contact fault Confirm that the servomotor and Check the wiring. of servomotor and encoder. encoder are correctly wired. Reconsider the load conditions and Operation beyond the overload Check the servomotor overload operation conditions.
Page 276 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name The ambient temperature around Check the ambient temperature Make sure the ambient temperature A.790: the motor is high. around the motor. around the motor does not increase.
Page 277 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name Improve the installation conditions The operating ambient tempera- Check the operating ambient tem- of the power regeneration converter ture is high. perature using a thermometer. and reduce the operating ambient temperature.
Page 278 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply OFF and then ON again. If the alarm still − Encoder failure occurs, the servomotor may be A.840: faulty.
Page 279 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name A.B31: Turn the power supply OFF and Current Detection The current detection circuit for then ON again. If the alarm still − Error 1 phase U is faulty. occurs, the SERVOPACK may be faulty.
Page 280 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply OFF and A.BF4: then ON again. If the alarm still − SERVOPACK failure occurs, the SERVOPACK may be System Alarm 4 faulty.
Page 281 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name An attempt was made to detect the magnetic pole for the high- speed winding (for motors with a A.C52: winding selection). Perform magnetic pole detection for − Polarity Detection the low-speed winding.
Page 282 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name The noise interference occurred on the input/output signal line Check the encoder cable and con- Confirm that there is no problem because the encoder cable is bent nector.
Page 283 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name The multiturn limit value of the encoder is different from that of Check the value of the Pn205 of the Change the settings at the occur- the SERVOPACK. Or, the multi- SERVOPACK.
Page 284 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name After a position error pulse has been input, Pn529 limits the speed if the SV_ON command is A.D02: received. If Pn529 limits the Correct the excessive position error speed in such a state, this alarm Position Error Pulse...
Page 285 11.2 Alarm Displays (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name Check to see if the same value is set Set the rightmost digit of Pn010 The same local bus address is set for the rightmost digit of Pn010 (5C00h) to a unique value for each twice.
Page 286 11 Inspection, Maintenance, and Troubleshooting 11.2.3 Troubleshooting of the Servo Drive Alarms (cont’d) Alarm: Cause Investigative Actions Corrective Actions Alarm Name The three-phase power supply Make sure the power supply wiring Check the power supply wiring. A.F1A: wiring is faulty. is correct.
Page 287: Troubleshooting Of The Ethercat (Coe) Communications
11.2.4 Troubleshooting of the EtherCAT (CoE) Communications Refer to the following table to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.
Page 288 11 Inspection, Maintenance, and Troubleshooting 11.2.4 Troubleshooting of the EtherCAT (CoE) Communications (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action Code Object 2300h was exe- cuted while an utility Turn the power supply function was being exe- – OFF and ON again. cuted using the Sig- maWin for Σ-V-SD (MT).
Page 289: Warning Displays
11.3 Warning Displays 11.3 Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name and warning meaning are listed in order of the warning numbers in 11.3.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 11.3.2 Troubleshooting of Warnings. 11.3.1 List of Warnings This section provides list of warnings.
Page 290 11 Inspection, Maintenance, and Troubleshooting 11.3.1 List of Warnings (cont’d) Warning Setting Warning Name Meaning Reset Number Parameter This warning occurs before the motor over- heated alarm (A.790) occurs. If the warning is A.980 Motor Overheated Required – ignored and operation continues, a motor overheated alarm may occur.
Page 291: Troubleshooting Of Warnings
11.3 Warning Displays 11.3.2 Troubleshooting of Warnings Refer to the following table to identity the cause of a warning and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Warning Number:...
Page 292 11 Inspection, Maintenance, and Troubleshooting 11.3.2 Troubleshooting of Warnings (cont’d) Warning Number: Warning Name Cause Investigative Actions Corrective Actions (Warning Description) The sequence of phase Check the wiring of the motor’s main U, V, and W motor lines Correct the motor wiring. circuit cable.
Page 293 11.3 Warning Displays (cont’d) Warning Number: Warning Name Cause Investigative Actions Corrective Actions (Warning Description) A.930: The battery connection Check the battery connection. Reconnect the battery. is incorrect. Absolute Encoder Battery The battery voltage is Error lower than the specified Measure the battery voltage.
Page 294 11 Inspection, Maintenance, and Troubleshooting 11.3.2 Troubleshooting of Warnings (cont’d) Warning Number: Warning Name Cause Investigative Actions Corrective Actions (Warning Description) The ambient tempera- Check the ambient temperature Make sure the ambient temperature ture around the motor is around the motor. around the motor does not increase.
Page 295: Monitoring Communications Data When Alarms Or Warnings Occur
11.4 Monitoring Communications Data When Alarms or Warnings Occur 11.4 Monitoring Communications Data When Alarms or Warnings Occur From the host controller, you can monitor the alarm and warning codes that are detected in the SERVOPACK by using emergency messages. The Emergency Telegram consists of eight bytes with the data as shown in table below: Byte Manufacturer Specific Error Field...
Page 296: Troubleshooting Malfunction Based On Operation And Conditions Of
11 Inspection, Maintenance, and Troubleshooting 11.5 Troubleshooting Malfunction Based on Operation and Conditions of the Motor Troubleshooting for the malfunctions based on the operation and conditions of the motor is provided in this section. Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table. Problem Probable Cause Investigative Actions...
Page 297 11.5 Troubleshooting Malfunction Based on Operation and Conditions of the Motor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check if there are any loose mount- Tighten the mounting screws. ing screws. Check if there is misalignment of Mounting is not secured. Align the couplings.
Page 298 11 Inspection, Maintenance, and Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check to see if the servo gains have Unbalanced servo gains Execute the advanced autotuning. been correctly adjusted. Check the speed loop gain (Pn100). Speed loop gain value (Pn100) too Reduce the speed loop gain high (Pn100).
Page 299 11.5 Troubleshooting Malfunction Based on Operation and Conditions of the Motor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the external power supply Correct the external power supply (+24 V) voltage for the input signal. (+24 V) voltage. Forward or reverse run prohibited Check if the overtravel limit switch Correct the overtravel limit switch.
Page 300 11 Inspection, Maintenance, and Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable. encoder cable specifications pair cable with a core of 0.12 mm min.
Page 301: Appendix
Appendix 12.1 SERVOPACK Parameters ........12-2 12.2 Parameter Recording Table ....... . 12-26 12.3 Index Numbers and Corresponding Parameter Numbers .
Page 302: Servopack Parameters
12 Appendix 12.1 SERVOPACK Parameters The SERVOPACK parameters are listed in this section. Supplemental Information The index numbers for a SERVOPACK for one axis and axis 1 of a SERVOPACK for two axes are given for the index numbers of the servo parameters. The index numbers for axis 2 of a SERVOPACK for two axes can be calculated by adding 400 hex to the index numbers for axis 1.
Page 303 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Application Function motor, − − 0100 to 1222 After restart Setup Select Switch 1 servo- motor 4th 3rd 2nd 1st digit digit digit digit Reference Servomotor power OFF or Alarm Gr.1 Stop Mode...
Page 304 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Application Function Immedi- motor, − 0000 to 005F 0002 Setup 9.1.3 Select Switch 6 ately servo- motor 4th 3rd 2nd 1st digit digit digit digit Analog Monitor 1 Signal Selection Motor speed (1 V/1000 min...
Page 305 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Application Function Immedi- motor, − 0000 to 005F 0000 Setup 9.1.3 Select Switch 7 ately servo- motor 4th 3rd 2nd 1st digit digit digit digit Analog Monitor 2 Signal Selection Motor speed (1 V/1000 min...
Page 306 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Application Function motor, − − 0000 to 1111 0001 After restart Setup Select Switch B servo- motor 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Pn00B...
Page 307 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Application Function motor, 0000 to 0011 – 0000 After restart Setup – Select Switch 1B servo- motor 4th 3rd 2nd 1st digit digit digit digit Emergency Stop Signal Selection Disables the emergency stop signal.
Page 308 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Application Function motor, 0000 to 0016 – 0000 After restart Setup – Select Switch 1E servo- motor 4th 3rd 2nd 1st digit digit digit digit Motor Type Servomotor...
Page 309 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle motor, Function at Cutting Feed 0000 to 0011 – 0000 After restart Setup – servo- motor 4th 3rd 2nd 1st digit digit digit digit Predictive Function (at cutting) Disables predictive function.
Page 310 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn100 Immedi- motor, Speed Loop Gain 10 to 20000 0.1 Hz Tuning – (2040h:1) ately servo- motor spindle Pn101 Speed Loop Integral 0.01 Immedi-...
Page 311 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn121 Friction Compensation Immedi- motor, 10 to 1000 Tuning – Gain ately servo- (2067h:1) motor spindle Pn123 Friction Compensation Immedi- motor, 0 to 100...
Page 312 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn141 Model Following Immedi- motor, − 10 to 20000 0.1/s Tuning (206Ah:2) Control Gain ately servo- motor spindle Model Following Pn142 Immedi- motor,...
Page 313 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn154 Predictive Control Speed Immedi- motor, 0 to 5000 0.1% Tuning – FF Gain ately servo- (208Ah:5) motor spindle Pn155 Predictive Control...
Page 314 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn163 Anti-Resonance Immedi- motor, − 0 to 300 Tuning (206Bh:4) Damping Gain ately servo- motor spindle Anti-Resonance Filter Pn164 -1000 to 0.01 Immedi-...
Page 315 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) Pulse Encoder Stop Immedi- spindle 0000 to 0001 – 0000 Setup – Vibration Suppression ately motor 4th 3rd 2nd 1st digit digit digit digit Pulse Encoder Stop Vibration Suppression Pn234...
Page 316 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Torque Related Function motor, − − − 0000 to 1111 0000 Setup Switch servo- motor 4th 3rd 2nd 1st digit digit digit digit When 1st Step Notch Filter Selection...
Page 317 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle 1st Step 4th Torque Pn414 0.01 Immedi- motor, Reference Filter Time 0 to 65535 Tuning – ately servo- (2043h:4) Constant motor...
Page 318 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) Servo Mode Base Speed Pn434 Immedi- spindle Ratio (for High-speed 100 to 500 Setup – ately motor (20ABh:3) Winding) Pn435 Immedi- Servo Mode Flux Level spindle...
Page 319 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn490 Magnetic Pole Detection Immedi- motor, 0 to 20000 Tuning – Load Level ately servo- (20C8h:9) motor spindle Pn493 Magnetic Pole Detection Immedi-...
Page 320 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle 1st Negative Projection Pn4F7 Immedi- motor, Compensation Limit 0 to 30000 0.01% Setup – (20ADh:8) ately servo- Offset motor spindle 100000 Pn4F8...
Page 321 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle motor, − − Input Signal Selection 1 0000 to FFF1 1881 After restart Setup servo- motor digit digit digit digit Reserved (Do not change.)
Page 322 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Probe1, Probe2, HOME motor, 0000 to FFFF – 6543 After restart Setup – Input Signal setting servo- motor 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Pn511...
Page 323 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle 1 refer- Pn524 1 to Immedi- motor, NEAR Signal Width ence Setup – 1073741824 1073741824 ately servo- (2102h:4) unit motor spindle...
Page 324 12 Appendix (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn533 Program JOG Immedi- motor, 1 to 10000 Setup – 1 min (2142h:3) Movement Speed ately servo- motor spindle Pn534 Program JOG Accelera- Immedi-...
Page 325 12.1 SERVOPACK Parameters (cont’d) Parameter Setting Factory When Motor Reference Size Name Units Classification Range Setting Enabled Type Section (Index No.) spindle Pn550 Analog Monitor 1 Offset -10000 to Immedi- motor, 0.1 V Setup Voltage 10000 ately servo- (2116h:1) motor spindle Pn551 Analog Monitor 2 Offset...
Page 326: Parameter Recording Table
12 Appendix 12.2 Parameter Recording Table Use the following table for recording parameters. Index Factory When Parameter Name Number Setting Enabled Pn000 2000h 0000 Basic Function Select Switch 0 After restart Application Function Select Pn001 2001h After restart Switch 1 Application Function Select Pn002 2002h...
Page 327 12.2 Parameter Recording Table (cont’d) Index Factory When Parameter Name Number Setting Enabled Friction Compensation Coef- Pn123 2067h:3 Immediately ficient Friction Compensation Fre- Pn124 2067h:4 Immediately quency Correction Friction Compensation Gain Pn125 2067h:5 Immediately Correction Pn12B 2042h:1 3rd Speed Loop Gain Immediately 3rd Speed Loop Integral Time Pn12C...
Page 328 12 Appendix (cont’d) Index Factory When Parameter Name Number Setting Enabled Anti-Resonance Damping Pn163 206Bh:4 Immediately Gain Anti-Resonance Filter Time Pn164 206Bh:5 Immediately Constant 1 Compensation Anti-Resonance Filter Time Pn165 206Bh:6 Immediately Constant 2 Compensation Pn205 20C0h 65535 Multiturn Limit Setting After restart Number of External Scale Pn20A...
Page 329 12.2 Parameter Recording Table (cont’d) Index Factory When Parameter Name Number Setting Enabled Torque Related Function Pn416 0000 Immediately 20A9h:14 Switch 2 Pn417 2000 3rd Notch Filter Frequency Immediately 20A9h:8 Pn418 3rd Notch Filter Q Value Immediately 20A9h:9 Pn419 3rd Notch Filter Depth Immediately 20A9h:10 Pn41A...
Page 330 12 Appendix (cont’d) Index Factory When Parameter Name Number Setting Enabled 1st Positive Projection Pn4F1 20ADh:2 Immediately Compensation Limit Offset 2nd Positive Projection Pn4F2 20ADh:3 1000 Immediately Compensation Gain 2nd Positive Projection Pn4F3 20ADh:4 Immediately Compensation Limit Offset Positive Projection Compensa- Pn4F4 20ADh:5 Immediately...
Page 331 12.2 Parameter Recording Table (cont’d) Index Factory When Parameter Name Number Setting Enabled Excessive Position Error Pn528 2103h:2 Immediately Warning Level at Servo ON Speed Limit Level at Servo Pn529 2103h:3 10000 Immediately Multiplier per One Fully- Pn52A 2102h:6 Immediately closed Rotation Pn52B 2104h:1...
Page 332: Index Numbers And Corresponding Parameter Numbers
12 Appendix 12.3 Index Numbers and Corresponding Parameter Numbers Use the following table to find the parameter numbers that correspond to the index numbers of the EtherCAT (CoE) commands of the Σ-V-SD Driver. Supplemental Information The index numbers for a SERVOPACK for one axis and axis 1 of a SERVOPACK for two axes are given for the index numbers of the servo parameters.
Page 333 12.3 Index Numbers and Corresponding Parameter Numbers (cont’d) Index Number Parameter Name 2065h Pn10B Application Function for Gain Select Switch 2067h:1 Pn121 Friction Compensation Gain 2067h:3 Pn123 Friction Compensation Coefficient 2067h:4 Pn124 Friction Compensation Frequency Correction 2067h:5 Pn125 Friction Compensation Gain Correction 206Ah:1 Pn140 Model Following Control Related Switch...
Page 334 12 Appendix (cont’d) Index Number Parameter Name 20A9h:2 Pn40A 1st Notch Filter Q Value 20A9h:3 Pn40B 1st Notch Filter Depth 20A9h:4 Pn40C 2nd Notch Filter Frequency 20A9h:5 Pn40D 2nd Notch Filter Q Value 20A9h:6 Pn40E 2nd Notch Filter Depth 20A9h:7 Pn460 Notch Filter Adjustment Switch 20A9h:8...
Page 335 12.3 Index Numbers and Corresponding Parameter Numbers (cont’d) Index Number Parameter Name 20C8h:17 Pn498 Polarity Detection Allowable Error Range 20C8h:18 Pn499 Reserved (Do not change.) 20C8h:19 Pn49A Reserved (Do not change.) 20D0h:1 Pn230 Number of Encoder Pulse 20D0h:2 Pn232 C-Phase Compensation Width 20D0h:3 Pn233 Magnetic Pole Origin Corrected Value...
Page 336 12 Appendix (cont’d) Index Number Parameter Name 5C00h Pn010 SERVOPACK Address (for USB/Local bus communication) 12-36...
Page 337: Index
Index Index emergency stop torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10 EtherCAT (CoE) communications - - - - - - - - - - - - - - - - - - - - - - 8-3 EtherCAT (CoE) commands - - - - - - - - - - - - - - - - - - - - - - - 8-3 EtherCAT commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 EtherCAT communications - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9...
Page 338 Index servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii zero clamp mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10 servomotor rotation direction - - - - - - - - - - - - - - - - - - - - - - - - - 8-8...
Page 339: Revision History
Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 94A Published in Japan March 2013 13-3 Date of original publication Date of publication Date of Rev.
Page 340 480, Kamifujisawa, Iruma, Saitama 358-8555, Japan Phone 81-4-2962-5151 Fax 81-4-2962-6138 YASKAWA AMERICA, INC. 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 YASKAWA ELETRICO DO BRASIL LTDA. Avenida Piraporinha 777, Diadema, Sao Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 YASKAWA EUROPE GmbH Hauptstraβe 185, Eschborn 65760, Germany...

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YASKAWA UAK series User Manual

1 Outline

System Configurations

Model Designation

2 Compatible Devices

3 Specifications and External Dimensions for Motors

4 Specifications and External Dimensions for Σ-V-SD Drivers

5 Peripheral Devices

6 Installation

7 Wiring

8 Operation

9 Adjustments

10 Standards Compliance

11 Inspection, Maintenance, and Troubleshooting

12 Appendix

Index

Revision History

Quick Links

Troubleshooting

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Summary of Contents for YASKAWA UAK series