Page 1 AC Servo Drives Σ DC Power Input Series USER'S MANUAL Design and Maintenance Rotational Motor Analog Voltage Reference and Pulse Train Reference SGMMV Servomotor SGDV SERVOPACK Outline Digital Operator Wiring and Connection Trial Operation Operation Adjustments Utility Functions (Fn Monitor Displays (Un...
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
Cursor Input position indicated by Digital Operator Σ-Vmini Series SGMMV servomotor Servomotor DC Power Input Σ-V Series SGDV servo amplifier SERVOPACK Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo amplifier) A servo control system that includes the combination of a servo drive...
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 Pulse Train Reference (this manual) Σ-V Series User’s Manual Operation of Digital Operator (No.: SIEP S800000 55) DC Power Input Σ-V Series AC SERVOPACK SGDV Safety Precautions (No.: TOBP C710829 06) Σ Series Digital Operator Safety Precautions (No.: TOBP C730800 00)
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 any rotating servomotor parts during operation. Failure to observe this warning may result in injury.
Page 7 Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the equipment. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature condi- tions •...
Page 8 Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
Page 9 CAUTION • Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the holding brake from working in case of its signal line disconnection. If this setting is absolutely necessary, check the operation and confirm that there are no safety prob- lems.
Page 10 • 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 11: 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 12 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 13: Harmonized Standards
Harmonized Standards North American Safety Standards (UL) Model UL Standards SERVOPACK SGDV UL508C Servomotor SGMMV UL1004 European Directives Model European Directives Harmonized Standards EN 55011 /group 1, class A EMC Directive EN 61000-6-2 2004/108/EC EN 61800-3 SERVOPACK SGDV Low Voltage Directive...
Page 14: Table Of Contents
1.4 SERVOPACK Internal Block Diagrams ......1-7 1.4.1 Analog Voltage Reference (Model: SGDV- ES1A) .
Page 15 3.4 Examples of Connection to Host Controller ......3-22 3.4.1 Reference Input Circuit ..........3-22 3.4.2 Sequence Input Circuit.
Page 16 5.5 Torque Control (Analog Voltage Reference)......5-40 5.5.1 Basic Settings for Torque Control......... . . 5-40 5.5.2 Reference Offset Adjustment .
Page 17 6.7 Vibration Suppression Function (Fn205) ......6-48 6.7.1 Vibration Suppression Function ..........6-48 6.7.2 Vibration Suppression Function Operating Procedure .
Page 18 Chapter 9 Troubleshooting ........9-1 9.1 Alarm Displays .
Page 19 1.4 SERVOPACK Internal Block Diagrams ......1-7 1.4.1 Analog Voltage Reference (Model: SGDV- ES1A) ..... . . 1-7 1.4.2 Pulse Train Reference (Model: SGDV-...
Page 20: Dc Power Input Σ-V Series Servopacks
The SERVOPACK makes the most of machine performance in the shortest time possible, thus contributing to improving productivity. Part Names This section describes the part names of SGDV SERVOPACK for analog voltage reference and pulse train ref- erence. Analog SERVOPACK model Refer to 1.6 SERVOPACK Model Designation.
Page 21: Servopack Ratings And Specifications
1.3 SERVOPACK Ratings and Specifications SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs. 1.3.1 Ratings Ratings of SERVOPACKs are as shown below. SGDV Continuous Output Current [Arms] Instantaneous Max. Output Current [Arms] 24 VDC 48 VDC...
Page 22: Basic Specifications
1 Outline 1.3.2 Basic Specifications 1.3.2 Basic Specifications Basic specifications of SERVOPACKs are shown below. Drive Method Sine-wave current drive with PWM control Feedback Encoder: 17-bit (incremental/absolute) Surrounding Air 0°C to +55°C Temperature Storage Temperature -20°C to +85°C Ambient Humidity 90% RH or less With no freezing or condensation Storage Humidity...
Page 23 1.3 SERVOPACK Ratings and Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 5.3.7.) Number of 7 ch Channels • Servo ON (/S-ON) • Proportional control (/P-CON) • Forward run prohibited (P-OT), reverse run prohibited (N-OT) •...
Page 24: Control Specifications For Different Reference Type
1.3.3 Control Specifications for Different Reference Type 1.3.3 Control Specifications for Different Reference Type The following list shows the control specifications for SERVOPACKs with different reference types. (1) Analog Voltage Reference (Model: SGDV- ES1A) Control Method Specifications 0 to 10 s (Can be set individually for acceleration...
Page 25: Servopack Internal Block Diagrams
1.4 SERVOPACK Internal Block Diagrams SERVOPACK Internal Block Diagrams 1.4.1 Analog Voltage Reference (Model: SGDV- ES1A) Analog Servomotor Main circuit power supply DC/DC +12.5 V converter (non Voltage -isolated) +5 V sensor Current Gate drive sensor overcurrent protector +5 V ±10 V...
Page 26: Examples Of Servo System Configurations
1 Outline Examples of Servo System Configurations This section describes examples of basic servo system configuration. SGDV- ES1A SERVOPACK Analog SGDV- EP1A SERVOPACK Host controller I/O signal cable Power supply Single-phase 100/200 VAC Digital Molded-case ＳＶＯＮＣＯＩＮＴＧＯＮ...
Page 27: Servopack Model Designation
3rd digits digits SGDV – 2R9 E S1 A Series 7th digit: Design Revision Order SGDV Σ-V Series 4th digit: Voltage 1st + 2nd + 3rd digits: Current Allowable Motor Current Code Voltage Code 13th digit: Parameter Specification (Arms) 48 VDC...
Page 28: Inspection And Maintenance
• Operation Rate: 20 hours/day max. 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 29 Digital Operator 2.1 Digital Operator ..........2-2 2.2 Digital Operator Connection .
Page 30: Chapter 2 Digital Operator
2 Digital Operator Digital Operator The Digital Operator is a device that can be used to display SERVOPACK status, execute utility functions, set parameters, and monitor operation. Digital Operator Connection Use the external monitor connector (CN5) on the SERVOPACK to connect the digital operator. There are two ways to connect the digital operator.
Page 31: Utility Functions (Fn )
2.4 Utility Functions (Fn Utility Functions (Fn The utility functions are related to the setup and adjustment of the SERVOPACK. In this case, the digital operator shows numbers beginning with Fn. The following table outlines the procedures necessary for an origin search (Fn003). Step Display after Operation Keys...
Page 32: Parameters (Pn )
2 Digital Operator 2.5.1 Parameter Classification Parameters (Pn This section describes the classifications, methods of notation, and settings for parameters given in this man- ual. 2.5.1 Parameter Classification Parameters of the Σ-V Series SERVOPACK are classified into two types of parameters. One type of parame- ters is required for setting up the basic conditions for operation and the other type is required for tuning param- eters that are required to adjust servomotor characteristics.
Page 33: Setting Parameters
2.5 Parameters (Pn Analog Digital Operator Display (Display Example for Pn002) Digit Notation Setting Notation Notation Meaning Notation Meaning Indicates the value for the Indicates that the value for the Pn002.0 = x Pn002.0 1st digit 1st digit of parameter Pn002. 1st digit of parameter Pn002 is x.
Page 34 2 Digital Operator 2.5.3 Setting Parameters (cont’d) Step Display after Operation Keys Operation Press the Key to write the settings. ∗ If the Key has not been pressed but the Key has been pressed to select another mode such as the utility func- tion mode, any changes that have been made to the parameter will be saved in the SERVOPACK.
Page 35: Monitor Displays (Un )
2.6 Monitor Displays (Un Monitor Displays (Un The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. For details, refer to 8.2 Viewing Monitor Displays. The digital operator shows numbers beginning with Un. The following four settings are the factory settings.
Page 36 Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-2 3.1.1 Main Circuit Terminals (CN3, CN4) .
Page 37: Chapter 3 Wiring And Connection
3 Wiring and Connection 3.1.1 Main Circuit Terminals (CN3, CN4) Main Circuit Wiring The names and specifications of the main circuit terminals are given below. Also this section describes the general precautions for wiring and precautions under special environments. 3.1.1 Main Circuit Terminals (CN3, CN4) Analog : Main circuit terminals...
Page 38: Main Circuit Wires
3.1 Main Circuit Wiring 3.1.2 Main Circuit Wires Use the following cables for main circuit. These cables are manufactured by YASKAWA Controls Co., Ltd. SERVOPACK Model: SGDV- Terminal Cable Symbols 1R7E 2R9E For power supply L1, L2, C1, C2, JZSP-CF1G00-...
Page 39: Typical Main Circuit Wiring Examples
Before wiring or inspections, confirm that the SERVOPACK has completely discharged. Analog SERVOPACK SGDV Non-isolated AC/DC converter for main 1FLT circuit power supply...
Page 40: Power Supply Capacities And Power Losses
SERVOPACK Output Circuit Total Circuit Capacity per Circuit Servomotor Model Current Power Power Power SERVOPACK Power Capacity SGDV- [Arms] Loss Loss [W] Supply Loss [W] 1R7E 10.6 24 VDC 2R9E 14.1 1R7E 10.6 48 VDC 2R9E 14.1 3.1.5 Input Power Supply, Molded-case Circuit Breaker, and Fuse Use input power supplies that meet the following conditions.
Page 41: Using More Than One Servopack
3 Wiring and Connection 3.1.6 Using More Than One SERVOPACK 3.1.6 Using More Than One SERVOPACK This section shows an example of the wiring and the precautions when more than one SERVOPACK is used. (1) Wiring Example The alarm output (ALM) of each SERVOPACK operates a separate alarm detection relay (1Ry, 2Ry or 3Ry). When the alarm occurs, the ALM output signal transistor is turned OFF.
Page 42: General Precautions For Wiring
3.1 Main Circuit Wiring 3.1.7 General Precautions for Wiring • Always use a molded-case circuit breaker (1QF) or a fuse to protect the servo system from intersystem faults. • Install a ground fault detector. The SERVOPACK does not have a built-in protective circuit for grounding. To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker.
Page 43: I/O Signal Connections
3 Wiring and Connection 3.2.1 I/O Signal (CN1) Names and Functions I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown. 3.2.1 I/O Signal (CN1) Names and Functions The following table shows the names and functions of I/O signals (CN1).
Page 44 3.2 I/O Signal Connections (cont’d) Refer- Control Signal Pin No. Function ence Method Name Section PULS Input pulse modes: Select one of them. /PULS • Sign + pulse train 5.4.1 Pulse SIGN • CW + CCW pulse train Train /SIGN •...
Page 45: Example Of I/O Signal Connections In Speed Control (Analog Voltage Reference)
3 Wiring and Connection 3.2.2 Example of I/O Signal Connections in Speed Control (Analog Voltage Reference) 3.2.2 Example of I/O Signal Connections in Speed Control (Analog Voltage Reference) Connection example in speed control is as shown below. SERVOPACK Analog Speed reference ∗...
Page 46: Example Of I/O Signal Connections In Position Control (Pulse Train Reference)
3.2 I/O Signal Connections 3.2.3 Example of I/O Signal Connections in Position Control (Pulse Train Reference) Connection example in position control is as shown below. Analog SERVOPACK ∗ 1. 150 Ω PULS PULS ∗ 4 Encoder output Phase A /PULS /PAO Applicable line pulse phase A...
Page 47: Example Of I/O Signal Connections In Torque Control (Analog Voltage Reference)
3 Wiring and Connection 3.2.4 Example of I/O Signal Connections in Torque Control (Analog Voltage Reference) 3.2.4 Example of I/O Signal Connections in Torque Control (Analog Voltage Reference) Connection example in torque control is as shown below. Analog SERVOPACK ∗ 1 ∗...
Page 48: I/O Signal Allocations
When the control method is set to internal set speed control with a contact reference, i.e., when Pn000.1 is set to 3, signal /P-CON (CN1-16) will function as /SPD-D, signal /P-CL (CN1-26) as /SPD-A, and signal /N-CL (CN1-12) as /SPD-B. Analog Voltage Reference (Model: SGDV- ES1A) CN1 Pin No.
Page 49 3 Wiring and Connection 3.3.1 Input Signal Allocations Input signal allocation at factory setting can be checked using the parameters Pn50A and Pn50B. Analog Pn50A = n .2 1 0 0 Uses input terminal with factory setting. Allocates /S-ON signal to CN1-15. Allocates /P-CON signal to CN1-16.
Page 50 3.3 I/O Signal Allocations Connection Not Required CN1 Pin Numbers (SERVOPACK judges Input Signal Names Validity Input the connection) and Parameters Level Signal Always Always /S-ON Servo ON Pn50A.1 S-ON /P-CON Proportional Operation Reference P-CON Pn50A.2 P-OT Forward Run Prohibited Pn50A.3 /P-OT N-OT...
Page 51 3 Wiring and Connection 3.3.1 Input Signal Allocations (3) Example of Changing Input Signal Allocations The procedure to replace Servo ON (/S-ON) signal allocated on CN1-15 and Forward External Torque Limit (/P-CL) allocated on CN1-26 is shown below. <Parameter Changes> •...
Page 52 3.3 I/O Signal Allocations Step Display after Operation Keys Operation Refer to steps 5 to 9 and change the set value of Pn50B from n.6543 to n.6043. Note: If setting Pn50B.2 to 0, the allocation for /P-CL can be changed from CN1-26 to CN1-15. To enable the change in the setting, restart the SERVOPACK.
Page 53: Output Signal Allocations
3 Wiring and Connection 3.3.2 Output Signal Allocations 3.3.2 Output Signal Allocations Output signals can be allocated to I/O signal connectors (CN1) in accordance with the parameter setting of Pn50E, Pn50F, Pn510, and Pn512. (1) Checking Factory Settings Factory settings can be checked using the following parameters. Analog Pn50E = n .
Page 54 3.3 I/O Signal Allocations (2) Changing Output Signal Allocations • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid." • Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the hold- ing brake from working in case of its signal line disconnection.
Page 55 3 Wiring and Connection 3.3.2 Output Signal Allocations (3) Example of Changing Output Signal Allocations The procedure to set Rotation Detection (/TGON) signal of factory setting to Invalid and allocate Brake " " Interlock (/BK) signal is shown below. <Parameter Changes> •...
Page 56 3.3 I/O Signal Allocations Step Display after Operation Keys Operation Refer to steps 5 to 9 and change the set value of Pn50F from n.0000 to n.0200. Note: If setting Pn50F.2 to 2, /BK is allocated to CN1-9. To enable the change in the setting, restart the SERVOPACK. ∗...
Page 57: Examples Of Connection To Host Controller
3 Wiring and Connection 3.4.1 Reference Input Circuit Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.4.1 Reference Input Circuit (1) Analog Input Circuit (Analog Voltage Reference) CN1 connector terminals, 1-2 (speed reference input) and 3-4 (torque reference input) are explained below. Analog signals are either speed or torque reference signals at the impedance below.
Page 58: Sequence Input Circuit
3.4 Examples of Connection to Host Controller 3.4.2 Sequence Input Circuit (1) Photocoupler Input Circuit CN1 connector terminals 12, 14 to 18, 25, 26 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When connecting through a relay, use a low-current relay.
Page 59: Sequence Output Circuit
3 Wiring and Connection 3.4.3 Sequence Output Circuit 3.4.3 Sequence Output Circuit Two types of signal output circuits from the SERVOPACK are described below. Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir- cuit. If a short-circuit occurs as a result of any of these causes, the holding brake will not work.
Page 60: Encoder Connection
3.5 Encoder Connection Encoder Connection This section describes the encoder signal (CN2) names, functions, and connection examples. 3.5.1 Encoder Signal (CN2) Names and Functions The following table shows the names and functions of encoder signals (CN2). Signal Name Pin No. Function PG 5 V Encoder power supply +5 V...
Page 61 3 Wiring and Connection 3.5.2 Encoder Connection Examples (2) Using as an Absolute Encoder Host controller SERVOPACK ∗1 Analog Phase A /PAO Phase A Absolute encoder Phase B ∗1 /PBO Phase B Phase C /PCO Phase C Output line-driver SN75ALS174 or the equivalent PG5 V PG0 V...
Page 62: Noise Control And Measures For Harmonic Suppression
3.6 Noise Control and Measures for Harmonic Suppression Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.6.1 Wiring for Noise Control • Because the SERVOPACK is designed as an industrial device, it provides no mecha- nism to prevent noise interference.
Page 63 3 Wiring and Connection 3.6.1 Wiring for Noise Control (1) Noise Filter The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place. The following is an example of wiring for noise control. Non-isolated AC/DC converter SERVOPACK Noise filter...
Page 64: Precautions On Connecting Noise Filter
3.6 Noise Control and Measures for Harmonic Suppression 3.6.2 Precautions on Connecting Noise Filter This section describes the precautions on installing a noise filter. (1) Noise Filter Brake Power Supply If using a servomotor with a holding brake, use the following noise filter on the brake power supply input. Model: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.) (2) Precautions on Using Noise Filters Always observe the following installation and wiring instructions.
Page 65 3 Wiring and Connection 3.6.2 Precautions on Connecting Noise Filter Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Correct Incorrect Noise Noise Filter Filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK Shielded ground wire...
Page 66 Trial Operation 4.1 Inspection and Checking before Trial Operation ....4-2 4.2 Trial Operation for Servomotor without Load ..... . 4-2 4.3 Trial Operation for Servomotor without Load from Host Reference .
Page 67: Chapter 4 Trial Operation
4 Trial Operation 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 68: Trial Operation For Servomotor Without Load From Host Reference
4.3 Trial Operation for Servomotor without Load from Host Reference Trial Operation for Servomotor without Load from Host Reference Check the following items before performing trial operation of the servomotor without load from host refer- ence. • Check that servomotor operation reference input from the host controller to the SERVOPACK and I/O sig- nals are set properly.
Page 69 4 Trial Operation CAUTION Before performing trial operation of the servomotor alone under references from the host controller, be sure that the servomotor has no load (i.e., the coupling and belt are removed from the servomotor) to prevent unexpected accidents. To host controller Secure the motor flange to the machine, but do not...
Page 70: Inspecting Connection And Status Of Input Signals
4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.1 Inspecting Connection and Status of Input Signals Check the items in step 1 before trial operation of the servomotor under speed control (Analog voltage refer- ence) and position control (Pulse train reference) from the host controller. Check the connection and status of input signals using the following procedure.
Page 71 4 Trial Operation 4.3.1 Inspecting Connection and Status of Input Signals (cont’d) Step Operation Reference Turn ON the SERVOPACK power and make sure that the digital operator display is as shown below. − P R M / M O N − U n 0 0 0 = 0 0 0 0 0 U n 0 0 2 =...
Page 72: Trial Operation In Speed Control (Analog Voltage Reference)
4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.2 Trial Operation in Speed Control (Analog Voltage Reference) Perform the following steps for trial operation in speed control (Analog voltage reference). The steps are spec- ified on the condition that input signal wiring for the speed control has been completed according to 4.3.1 Inspecting Connection and Status of Input Signals.
Page 73: Trial Operation Under Position Control (Analog Voltage Reference) From The Host Controller With The Servopack Used For Speed Control
4 Trial Operation 4.3.3 Trial Operation under Position Control (Analog Voltage Reference) from the Host Controller with the SERVOPACK Used for Speed Control 4.3.3 Trial Operation under Position Control (Analog Voltage Reference) from the Host Controller with the SERVOPACK Used for Speed Control To operate the SERVOPACK in speed control (analog voltage reference) under the position control from the host controller, check the operation of the servomotor after finishing the trial operation explained in 4.3.2 Trial Operation in Speed Control (Analog Voltage Reference)
Page 74: Trial Operation In Position Control (Pulse Train Reference)
4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.4 Trial Operation in Position Control (Pulse Train Reference) Perform the following steps for trial operation in position control (pulse train reference). The steps are speci- fied on the condition that input signal wiring for the position control has been completed according to 4.3.1 Inspecting Connection and Status of Input Signals.
Page 75: Trial Operation With The Servomotor Connected To The Machine
4 Trial Operation Trial Operation with the Servomotor Connected to the Machine Perform the following steps for trial operation when the servomotor is connected to the machine. The steps are specified on the condition that trial operation for servomotor without load has been completed in each control method.
Page 76: Trial Operation Of Servomotor With Brakes
4.5 Trial Operation of Servomotor with Brakes (cont’d) Step Operation Reference Adjust the servo gain and improve the servomotor response characteristics, if neces- sary. 6 Adjustments Note: The servomotor will not be broken in completely during the trial operation. Therefore, let the system run for a sufficient amount of additional time to ensure that it is properly broken in.
Page 77: Test Without Motor Function
4 Trial Operation 4.6.1 Motor Information Test Without Motor Function The test without a motor is used to check the operation of the host controller and peripheral devices by simu- lating the operation of the servomotor in the SERVOPACK, i.e., without actually operating a servomotor. This function enables you to check wiring, verify the system while debugging, and verify parameters, thus shorten- ing the time required for setup work and preventing damage to the machine that may result from possible mal- functions.
Page 78: Motor Position And Speed Responses
4.6 Test Without Motor Function 4.6.2 Motor Position and Speed Responses For the test without a motor, the following responses are simulated for references from the host controller according to the gain settings for position or speed control. • Servomotor position •...
Page 79: Limitations
4 Trial Operation 4.6.3 Limitations 4.6.3 Limitations The following functions cannot be used during the test without a motor. • Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig- maWin+.) •...
Page 80: Digital Operator Displays During Testing Without Motor
4.6 Test Without Motor Function 4.6.4 Digital Operator Displays during Testing without Motor An asterisk (*) is displayed during execution of the test without a motor. Example: Status of power to the servomotor is OFF Analog ∗ B B − P R M / M O N − U n 0 0 0 = 0 0 0 0 0 U n 0 0 2 =...
Page 81: Chapter 5 Operation
Operation 5.1 Control Method Selection ........5-3 5.2 Basic Functions Settings .
Page 82 5 Operation 5.7 Combination of Control Methods ......5-49 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) ....5-49 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 9) .
Page 83: Control Method Selection
5.1 Control Method Selection Control Method Selection The control method supported by the SGDV SERVOPACK are described below. The control method can be selected with parameter Pn000. Analog Voltage Reference (Model: SGDV- ES1A) Control Method Selection Reference Pn.000.1 Control Description...
Page 84: Basic Functions Settings
5 Operation 5.2.1 Servo ON Signal Basic Functions Settings This section describes how to set the basic functions for operation. 5.2.1 Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1) Signal Setting Connector Type...
Page 85: Servomotor Rotation Direction
5.2 Basic Functions Settings 5.2.2 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signal, such as encoder output pulses, output from the SERVOPACK does not change.
Page 86: Overtravel
5 Operation 5.2.3 Overtravel 5.2.3 Overtravel The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a 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 87 5.2 Basic Functions Settings (2) Overtravel Function Setting Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function. If the overtravel function is not used, no wiring for overtravel input signals will be required. When Parameter Meaning Classification Enabled...
Page 88 5 Operation 5.2.3 Overtravel (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 89: Holding Brakes
5.2 Basic Functions Settings 5.2.4 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 90 5 Operation 5.2.4 Holding Brakes (1) Wiring Example Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following dia- gram shows a standard wiring example. The timing can be easily set using the brake signal (/BK). Servomotor Non-isolated with holding...
Page 91 5.2 Basic Functions Settings (2) Brake Signal (/BK) Setting This output signal controls the brake. The output signal must be allocated with Pn50F. Refer to (3) Brake Sig- nal (/BK) Allocation for allocation. The /BK signal turns OFF (applies the brake) when an alarm is detected or the /S-ON signal is turned OFF. The brake OFF timing can be adjusted with Pn506.
Page 92 5 Operation 5.2.4 Holding Brakes (4) Brake ON Timing after the Servomotor Stops When the servomotor stops, the /BK signal turns OFF at the same time as the /S-ON signal is turned OFF. Use parameter Pn506 to change the timing to turn OFF the servomotor power after the /S-ON signal has turned OFF.
Page 93 5.2 Basic Functions Settings (5) Brake Signal (/BK) Output Timing during Servomotor Rotation If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal (/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake refer- ence output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).
Page 94: Stopping Servomotors After /S-On Turned Off Or Alarm Occurrence
5 Operation 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence The servomotor stopping method can be selected after the /S-ON (Servo ON) signal turns OFF or an alarm occurs.
Page 95: Setting Motor Overload Detection Level
5.2 Basic Functions Settings 5.2.6 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 96 5 Operation 5.2.6 Setting Motor Overload Detection Level (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 97: Speed Control (Analog Voltage Reference)
5.3 Speed Control (Analog Voltage Reference) Speed Control (Analog Voltage Reference) This section describes operation with speed control. Select the speed control with parameter Pn000.1. Parameter Meaning When Enabled Classification Pn000 Speed control (analog voltage reference) After restart Setup [Factory setting] 5.3.1 Basic Settings for Speed Control This section describes the basic settings for speed control.
Page 98: Reference Offset Adjustment
5 Operation 5.3.2 Reference Offset Adjustment (2) Parameter Setting Using Pn300, set the analog voltage level for the speed reference (V-REF) necessary to operate the servomotor at the rated speed. Speed Reference Input Gain Speed Position Torque 　　 Classification Setting Range Setting Unit Factory Setting...
Page 99 5.3 Speed Control (Analog Voltage Reference) (1) Automatic Adjustment of Reference Offset (Fn009) The automatic adjustment of reference offset measures the amount of offset and adjusts the reference voltage automatically. After completion of the automatic adjustment, the amount of offset measured is saved in the SERVOPACK.
Page 100 5 Operation 5.3.2 Reference Offset Adjustment (2) Manual Adjustment of Reference Offset (Fn00A) This method adjusts the offset inputting the amount of reference offset directly. Use the manual adjustment of the reference offset (Fn00A) in the following cases: • To adjust the position error to zero when a position loop is formed with the host controller and the servomo- tor is stopped by servolock.
Page 101: Soft Start
5.3 Speed Control (Analog Voltage Reference) 5.3.3 Soft Start The soft start is a function to convert stepped speed reference input into constant acceleration and decelera- tion. The time can be set for acceleration and deceleration. Analog Speed reference Motor speed Use this function to smooth speed control (including selection of internal set speeds).
Page 102: Zero Clamp Function
5 Operation 5.3.5 Zero Clamp Function 5.3.5 Zero Clamp Function The zero clamp function locks the servo when the input voltage of the speed reference (V-REF) drops below the speed set in the zero clamp level (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is ON. The SERVOPACK internally forms a position loop, ignoring the speed reference.
Page 103 5.3 Speed Control (Analog Voltage Reference) (2) Changing Input Signal Allocations (Pn50A.0 = 1) Use the /ZCLAMP signal when switching to zero clamp function. Connector Type Setting Meaning Pin Number The zero clamp function will be turned ON if the input volt- age of the speed reference (V-REF) drops below the set speed (closed) in the zero clamp level (Pn501).
Page 104: Encoder Output Pulses
5 Operation 5.3.6 Encoder Output Pulses 5.3.6 Encoder Output Pulses The encoder pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential. It is used as the position feedback to the host controller.
Page 105: Setting Encoder Output Pulse
5.3 Speed Control (Analog Voltage Reference) 5.3.7 Setting Encoder Output Pulse Set the encoder output pulse using the following parameter. Encoder Output Pulses 　 Speed 　 Position 　 Torque Classification Pn212 Setting Range Setting Unit Factory Setting When Enabled 16 to 1073741824 1 P/rev 2048 After restart...
Page 106: Setting Speed Coincidence Signal
5 Operation 5.3.8 Setting Speed Coincidence Signal 5.3.8 Setting Speed Coincidence Signal The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host controller uses the signal as an interlock. This signal is the output signal during speed control.
Page 107: Position Control (Pulse Train Reference)
5.4 Position Control (Pulse Train Reference) Position Control (Pulse Train Reference) This section describes operation with position control. Select position control with Pn000.1. Parameter Meaning When Enabled Classification Pn000 [Factory Position Control (pulse train reference) After restart Setup setting] Block Diagram for Position Control A block diagram for position control is shown below.
Page 108: Basic Settings For Position Control
5 Operation 5.4.1 Basic Settings for Position Control 5.4.1 Basic Settings for Position Control This section describes the basic settings for position control. (1) Reference Pulse Form Set the reference pulse form using Pn200.0. Input Forward Run Reverse Run Parameter Reference Pulse Form Pulse Reference...
Page 109 5.4 Position Control (Pulse Train Reference) (3) Connection Example The following diagram shows a connection example. Use an SN75ALS174 or MC3487 manufactured by Texas Instruments Inc., or equivalent for the line driver. Line Driver Output Host controller SERVOPACK Line driver ∗...
Page 110 5 Operation 5.4.1 Basic Settings for Position Control (4) Electrical Specifications for Pulse Train Reference Forms of pulse train references are as shown below. Pulse Train Reference Form Electrical Specifications Remarks ≤ Sign + pulse train input 0.025 μs Sign (SIGN) t1, t2, t3, t7 t1 t2 SIGN...
Page 111: Clear Signal Setting
5.4 Position Control (Pulse Train Reference) 5.4.2 Clear Signal Setting Clear input signal sets SERVOPACK error counter to zero. (1) Connecting the Clear Signal Type Signal Name Connector Pin Number Name CN1-5 Input Clear input /CLR CN1-6 (2) Clear Input Signal Form Set the clear input signal form using Pn200.1.
Page 112: Reference Pulse Input Multiplication Switching Function
5 Operation 5.4.3 Reference Pulse Input Multiplication Switching Function 5.4.3 Reference Pulse Input Multiplication Switching Function The input multiplier for the position reference pulses can be switched between 1 and n (n = 1 to 100) by turn- ing the Reference Pulse Input Multiplication Switching Input signal (/PSEL) ON and OFF. The Reference Pulse Input Multiplication Switching Output signal (/PSELA) can be used to confirm that the multiplier has been switched.
Page 113 5.4 Position Control (Pulse Train Reference) (4) Output Signal Setting This output signal indicates when the multiplier of the input reference pulse has been switched for the Refer- ence Pulse Input Multiplication Switching Input signal (/PSEL). Signal Connector Type Setting Meaning Name Pin Number...
Page 114: Electronic Gear
5 Operation 5.4.4 Electronic Gear 5.4.4 Electronic Gear The electronic gear enables the workpiece travel distance per reference pulse input from the host controller. The minimum unit of the position data moving a load is called a reference unit. Note: If the multiplier of the input reference pulse is switched, the input reference pulse from the host controller will be multiplied by n and defined as the reference unit of the position data.
Page 115 5.4 Position Control (Pulse Train Reference) (1) Electronic Gear Ratio Set the electronic gear ratio using Pn20E and Pn210. Electronic Gear Ratio (Numerator) Position Classification Pn20E Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 After restart Setup Electronic Gear Ratio (Denominator) Position Classification...
Page 116: Smoothing
5 Operation 5.4.5 Smoothing 5.4.5 Smoothing Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow- ing cases. • When the host controller that outputs a reference cannot perform acceleration/deceleration processing. • When the reference pulse frequency is too low. Note: This function does not affect the travel distance (i.e., the number of reference pulses).
Page 117: Positioning Completed Signal
5.4 Position Control (Pulse Train Reference) 5.4.6 Positioning Completed Signal This signal indicates that servomotor movement has been completed during position control. When the difference between the number of reference pulses output by the host controller and the travel dis- tance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.
Page 118: Positioning Near Signal
5 Operation 5.4.7 Positioning Near Signal 5.4.7 Positioning Near Signal Before confirming that the positioning completed signal has been received, the host controller first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened.
Page 119: Reference Pulse Inhibit Function
5.4 Position Control (Pulse Train Reference) 5.4.8 Reference Pulse Inhibit Function This function inhibits the SERVOPACK from counting input pulses during position control. When this func- tion is enabled, the SERVOPACK does not accept the reference pulse input. (1) Factory-set Input Signal Allocations (Pn50A.0 = 0) Use Pn000.1=B and the /P-CON signal to use the reference pulse inhibit function while the input signal allo- cations are still in the factory settings.
Page 120: Torque Control (Analog Voltage Reference)
5 Operation 5.5.1 Basic Settings for Torque Control Torque Control (Analog Voltage Reference) This section describes operation with torque control. Input the torque reference using analog voltage reference and control the servomotor operation with the torque in proportion to the input voltage. Select the torque control with parameter Pn000.1.
Page 121: Reference Offset Adjustment
5.5 Torque Control (Analog Voltage Reference) (2) Parameter Setting Using Pn400, set the analog voltage level for the torque reference (T-REF) that is necessary to operate the ser- vomotor at the rated torque. Torque Reference Input Gain Speed Position Torque 　...
Page 122 5 Operation 5.5.2 Reference Offset Adjustment (1) Automatic Adjustment of Reference Offset (Fn009) The automatic adjustment of reference offset measures the amount of offset and adjusts the reference voltage automatically. After completion of the automatic adjustment, the amount of offset measured is saved in the SERVOPACK. The servomotor power must be OFF when automatically adjusting the reference offset.
Page 123 5.5 Torque Control (Analog Voltage Reference) (2) Manual Adjustment of Reference Offset (Fn00B) This mode adjusts the offset by inputting the amount of torque reference offset directly. Use the manual adjustment of the torque reference offset (Fn00B) in the following cases: •...
Page 124: Torque Reference Filter
5 Operation 5.5.3 Torque Reference Filter 5.5.3 Torque Reference Filter This smooths the torque reference by applying a first order lag filter to the torque reference (T-REF) input. Note: A setting value that is too large, however, will slow down response. Check the response characteristics when setting this parameter.
Page 125 5.5 Torque Control (Analog Voltage Reference) Internal Speed Limit Function If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomo- tor in Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the overspeed alarm detection speed.
Page 126: Internal Set Speed Control
5 Operation 5.6.1 Basic Settings for Speed Control with an Internal Set Speed Internal Set Speed Control This section describes operation using speed control with the internal set speeds. This function enables an operation to be executed at a controlled speed. The speed, direction, or both are selected in accordance with a combination of input signals from an external source.
Page 127 5.6 Internal Set Speed Control (3) Related Parameters Set the internal set speed with Pn301, Pn302, and Pn303. Internal Set Speed 1 Speed Classification Pn301 Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 Immediately Setup 1 min Internal Set Speed 2 Speed Classification...
Page 128: Example Of Operating With Internal Set Speeds
5 Operation 5.6.2 Example of Operating with Internal Set Speeds 5.6.2 Example of Operating with Internal Set Speeds An operating example of speed control with the internal set speeds is as shown below. This example combines speed control with the internal set speeds with the soft start function. The shock that results when the speed is changed can be reduced by using the soft start function.
Page 129: Combination Of Control Methods
5.7 Combination of Control Methods Combination of Control Methods SERVOPACK can switch the combination of control methods. Select the control method with Pn000.1. Analog Voltage Reference (Model: SGDV- ES1A) Parameter Combination of Control Methods When Enabled Classification ⇔ Internal Set Speed Control Speed Control ⇔...
Page 130 5 Operation 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) The following diagram describes an operation example for internal set speed control + soft start <=> position control. Analog Motor speed +SPEED3 Decelerating to a stop +SPEED2 +SPEED1 -SPEED1...
Page 131 5.7 Combination of Control Methods (2) Changing Input Signal Allocations (Pn50A.0 = 1) The control method can be switched by turning the /C-SEL signal ON/OFF. Pn000 Setting and Control Method Signal Connector Type Setting Name Pin Number ON (closed) Speed Position Torque Must be...
Page 132: Switching Other Than Internal Set Speed Control (Pn000.1 = 9)
5 Operation 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 9) 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 9) Use the following signals to switch control methods when Pn000.1 is set to 9. The control methods switch depending on the signal status as shown below.
Page 133: Limiting Torque
5.8 Limiting Torque Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Reference Limiting Method Description Section Always limits torque by setting the parameter. 5.8.1 Internal torque limit Limits torque by input signal from the host controller. 5.8.2 External torque limit Torque limiting by analog...
Page 134: External Torque Limit
5 Operation 5.8.2 External Torque Limit 5.8.2 External Torque Limit Use this function to limit torque by inputting a signal from the host controller at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.
Page 135: Torque Limiting Using An Analog Voltage Reference
5.8 Limiting Torque (3) Changes in Output Torque during External Torque Limiting The following diagrams show the change in output torque when the internal torque limit is set to 800%. In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction). /P-CL Pn402 Pn402...
Page 136 5 Operation 5.8.3 Torque Limiting Using an Analog Voltage Reference (1) Input Signals Use the following input signals to limit a torque by analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-3 Torque reference input Input CN1-4 Signal ground for torque reference input Refer to 5.5.1 Basic Settings for Torque Control.
Page 137: Torque Limiting Using An External Torque Limit And Analog Voltage Reference
5.8 Limiting Torque 5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference This function can be used to combine torque limiting by an external input and by analog voltage reference. When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or Pn405) will be applied as the torque limit, whichever is smaller.
Page 138: Checking Output Torque Limiting During Operation
5 Operation 5.8.5 Checking Output Torque Limiting during Operation (2) Related Parameters Set the following parameters for torque limit by external torque limit and analog voltage reference. Torque Reference Input Gain Classification Speed Position Torque 　　 Setting Range Setting Unit Factory Setting When Enabled Pn400...
Page 139: Absolute Encoders
5.9 Absolute Encoders Absolute Encoders If using an absolute encoder, a system to detect the absolute position can be designed for use with the host controller. As a result, an operation can be performed without a zero point return operation immediately after the power is turned ON.
Page 140: Absolute Data Request Signal (/Sen)
5 Operation 5.9.2 Absolute Data Request Signal (/SEN) 5.9.2 Absolute Data Request Signal (/SEN) The absolute data request signal (/SEN) must be input to obtain absolute data as an output from the SERVO- PACK. The following table describes the SEN signal. Connector Type Signal Name...
Page 141: Battery Replacement
5.9 Absolute Encoders 5.9.3 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 using the following procedure. Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
Page 142 5 Operation 5.9.3 Battery Replacement (1) Battery Replacement Procedure 1. Turn ON the control power supply of the SERVOPACK only. 2. Open the battery case cover. Open the cover. 3. Remove the old battery and mount the new JZSP-BA01 battery as shown below. To the SERVOPACK Encoder Cable Mount the JZSP-BA01 battery.
Page 143: Absolute Encoder Setup
5.9 Absolute Encoders 5.9.4 Absolute Encoder Setup CAUTION • The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe- cuted. The reference position of the machine system will change. Set the reference position of the host controller to the position after setup.
Page 144: Absolute Data Reception Sequence
5 Operation 5.9.5 Absolute Data Reception Sequence 5.9.5 Absolute Data Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below. (1) Outline of Absolute Data The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.
Page 145 5.9 Absolute Encoders (2) Absolute Data Reception Sequence 1. Set the SEN signal at ON (closed). 2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/ down counter is cleared to zero. 3.
Page 146 5 Operation 5.9.5 Absolute Data Reception Sequence Analog Reference position Current position (at setup) Coordinate value ±0 Value of M M × R Final absolute data P is calculated by following formula. =M× R+P × R+P ’ Signal Meaning Current value read by encoder Rotational serial data Number of initial incremental pulses Absolute data read at setup (This is saved and controlled by the host controller.)
Page 147 5.9 Absolute Encoders (3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Data Specifications The rotational serial data is output from PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even...
Page 148: Multiturn Limit Setting
5 Operation 5.9.6 Multiturn Limit Setting 5.9.6 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 149: Multiturn Limit Disagreement Alarm (A.cc0)
5.9 Absolute Encoders Set the value, the desired rotational amount -1, to Pn205. Factory Setting (= 65535) Other Setting (≠65535) +32767 Reverse Pn205 setting value Forward Forward Reverse Rotational data Rotational data Motor rotations -32768 Motor rotations 5.9.7 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 150: Other Output Signals
5 Operation 5.10.1 Servo Alarm Output Signal (ALM) 5.10 Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 5.10.1 Servo Alarm Output Signal (ALM) This section describes signals that are output when the SERVOPACK detects errors and resetting methods. (1) Servo Alarm Output Signal (ALM) This signal is output when the SERVOPACK detects an error.
Page 151: Rotation Detection Output Signal (/Tgon)
5.10 Other Output Signals 5.10.3 Rotation Detection Output Signal (/TGON) This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed. (1) Signal Specifications Signal Connector Pin Type Setting Meaning Name Number Servomotor is rotating with the motor speed above ON (closed) CN1-9...
Page 152 Adjustments 6.1 Type of Adjustments and Basic Adjustment Procedure ....6-3 6.1.1 Adjustments ............6-3 6.1.2 Basic Adjustment Procedure .
Page 153 6 Adjustments 6.8 Additional Adjustment Function ....... 6-53 6.8.1 Switching Gain Settings ..........6-53 6.8.2 Manual Adjustment of Friction Compensation .
Page 154: Chapter 6 Adjustments
6.1 Type of Adjustments and Basic Adjustment Procedure Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 6.1.1 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, friction compensation, and moment of inertia ratio.
Page 155: Basic Adjustment Procedure
6 Adjustments 6.1.2 Basic Adjustment Procedure 6.1.2 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. (1) Adjust using Tuning-less Function. Runs the servomotor without any adjustments.
Page 156: Monitoring Operation During Adjustment
6.1 Type of Adjustments and Basic Adjustment Procedure 6.1.3 Monitoring Operation during Adjustment While adjusting the servo gain, always monitor the operating status of the machine and the signal waveform. Connect a measurement instrument, such as a memory recorder, to the SERVOPACK to monitor the signal waveform.
Page 157 6 Adjustments 6.1.3 Monitoring Operation during Adjustment Pulse Train Reference Analog SERVOPACK Position reference speed Speed reference Position Torque Speed amplifier error Active gain reference conversion Position loop PULS Reference SIGN Electronic Error Speed Current Pulse Load Multiplier gear counter loop loop ×...
Page 158 6.1 Type of Adjustments and Basic Adjustment Procedure (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] (Pn006=n.00 ) (Pn552) (Pn550)
Page 159: Safety Precautions On Adjustment Of Servo Gains
6 Adjustments 6.1.4 Safety Precautions on Adjustment of Servo Gains 6.1.4 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 servomotor while power is being supplied to the motor. •...
Page 160 6.1 Type of Adjustments and Basic Adjustment Procedure Under these conditions, the following equation is used to calculate the maximum limit (Pn520). 6000 131072 Pn520 = × × × 2 400/10 327680 × 2 655360 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 161 6 Adjustments 6.1.4 Safety Precautions on Adjustment of Servo Gains Related Alarms Alarm Alarm Name Meaning Display This alarm occurs if the servomotor power is turned ON when the position Position Error Overflow A.d01 error is greater than the set value of Pn526 while the servomotor power is Alarm at Servo ON OFF.
Page 162: Tuning-Less Function
6.2 Tuning-less Function Tuning-less Function The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration occurs, refer to 6.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level. CAUTION •...
Page 163 6 Adjustments 6.2.1 Tuning-less Function (cont’d) Function Availability Remarks Disable the tuning-less function by setting Offline moment of inertia calculation * Not available Pn170.0 to 0 before executing this function. While this function is being used, the tuning- Mechanical analysis* Available less function cannot be used.
Page 164: Tuning-Less Levels Setting (Fn200) Procedure
6.2 Tuning-less Function Load Level a) Using the utility function To change the setting, refer to 6.2.2 Tuning-less Levels Setting (Fn200) Procedure. Load Level Meaning Mode 0 Load level : Low Mode 1 [Factory setting] Load level : Medium Mode 2 Load level : High b) Using the parameter Parameter...
Page 165 6 Adjustments 6.2.2 Tuning-less Levels Setting (Fn200) Procedure (cont’d) Step Display after Operation Keys Operation Press the Key to display the rigidity level of the tuning-less mode setting screen. Press the Key or the Key to select the rigid- ity level. Select the rigidity level from 0 to 4.
Page 166: Related Parameters
6.2 Tuning-less Function (cont’d) Parameters Disabled by Tuning-less Function Related Functions and Parameters* Mechanical Torque Easy Analysis Item Name Pn Number Control (Vertical Axis Mode) Friction Compensation Function Selec- × × × Pn408.3 tion Advanced Control Anti-resonance Control Adjustment × ×...
Page 167: Advanced Autotuning (Fn201)
6 Adjustments 6.3.1 Advanced Autotuning Advanced Autotuning (Fn201) 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.
Page 168 6.3 Advanced Autotuning (Fn201) Advanced autotuning performs the following adjustments. • Moment of inertia ratio • Gains (e.g., position loop gain and speed loop gain) • Filters (torque reference filter and notch filter) • Friction compensation • Anti-resonance control • Vibration suppression (Mode = 2 or 3) Refer to 6.3.3 Related Parameters for parameters used for adjustments.
Page 169 6 Adjustments 6.3.1 Advanced Autotuning (3) When Advanced Autotuning Cannot Be Performed Successfully Advanced autotuning cannot be performed successfully under the following conditions. Refer to 6.4 Advanced Autotuning by Reference (Fn202) (Pulse Train Reference) and 6.5 One-parameter Tuning (Fn203) for details. •...
Page 170: Advanced Autotuning Procedure
6.3 Advanced Autotuning (Fn201) 6.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning. The digital operator or SigmaWin+ is required to execute this function. Σ Refer to the -V Series User’s Manual, Operation of Digital Operator (Manual No.: SIEP S800000 55) for basic key operations of the digital operator.
Page 171: Advanced Autotuning Procedure
6 Adjustments 6.3.2 Advanced Autotuning Procedure (cont’d) Step Display after Operation Keys Operation STROKE (Travel Distance) Setting Travel distance setting range: The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE (travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse rotation, and the positive (+) direction is for forward rotation.
Page 172 6.3 Advanced Autotuning (Fn201) (cont’d) Step Display after Operation Keys Operation Gain Adjustment When the Key is pressed according to the sign (+ or -) of the value set for stroke (travel dis- tance), the calculated value of the moment of inertia ratio will be saved in the SERVOPACK and the auto run operation will restart.
Page 173 6 Adjustments 6.3.2 Advanced Autotuning Procedure (2) Failure in Operation When "NO-OP" Flashes on the Display Probable Cause Corrective Actions The main circuit power supply was OFF. Turn ON the main circuit power supply. An alarm or warning occurred. Remove the cause of the alarm or the warning. Overtraveling occurred.
Page 174 6.3 Advanced Autotuning (Fn201) Related Functions on Advanced Autotuning This section describes functions related to advanced tuning. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and the notch filter will be set.
Page 175 6 Adjustments 6.3.2 Advanced Autotuning Procedure Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...
Page 176: Related Parameters
6.3 Advanced Autotuning (Fn201) 6.3.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting 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 177: Advanced Autotuning By Reference (Fn202) (Pulse Train Reference)
6 Adjustments 6.4.1 Advanced Autotuning by Reference Advanced Autotuning by Reference (Fn202) (Pulse Train Reference) Adjustments with advanced autotuning by reference are described below. This function can be used only with a SERVOPACK for pulse train reference. • Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100).
Page 178 6.4 Advanced Autotuning by Reference (Fn202) (Pulse Train Reference) (1) Preparation The following conditions must be met to perform 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. •...
Page 179: Advanced Autotuning By Reference Procedure
6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure 6.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference. The digital operator or SigmaWin+ is required to execute this function. Σ Refer to the -V Series User’s Manual, Operation of Digital Operator (Manual No.: SIEP S800000 55) for basic key operations of the digital operator.
Page 180 6.4 Advanced Autotuning by Reference (Fn202) (Pulse Train Reference) (cont’d) Step Display after Operation Keys Operation Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN" will be displayed. Note: Not to save the values set in step 6, press the Key.
Page 181 6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure (3) Related Functions on Advanced Autotuning by Reference This section describes functions related to advanced autotuning by reference. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by reference, and the notch filter will be set.
Page 182 6.4 Advanced Autotuning by Reference (Fn202) (Pulse Train Reference) Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine •...
Page 183: Related Parameters
6 Adjustments 6.4.3 Related Parameters 6.4.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting 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 184: One-Parameter Tuning (Fn203)
6.5 One-parameter Tuning (Fn203) One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 6.5.1 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 or two tuning levels.
Page 185: One-Parameter Tuning Procedure
6 Adjustments 6.5.2 One-parameter Tuning Procedure (1) Operating Procedure Setting the Tuning Mode 0 or 1 Step Display after Operation Keys Operation Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning. Press the Key to view the main menu for the utility function.
Page 186 6.5 One-parameter Tuning (Fn203) (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the LEVEL with the Key. Check the response. If readjustment is not required, go to step 10. Note: The higher the level, the greater the respon- siveness will be.
Page 187 6 Adjustments 6.5.2 One-parameter Tuning Procedure Setting the Tuning Mode 2 or 3 Step Display after Operation Keys Operation Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning. Press the Key to view the main menu for the utility function.
Page 188 6.5 One-parameter Tuning (Fn203) (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the FF LEVEL and FB LEVEL with the Key. Check the response. If readjustment is not required, go to step 10. Note: The higher the FF LEVEL, the positioning time will be shorter and the response will be better.
Page 189 6 Adjustments 6.5.2 One-parameter Tuning Procedure (2) Related Functions on One-parameter Tuning This section describes functions related to one-parameter tuning. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and the notch filter will be set.
Page 190 6.5 One-parameter Tuning (Fn203) Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...
Page 191: One-Parameter Tuning Example
6 Adjustments 6.5.3 One-parameter Tuning Example 6.5.3 One-parameter Tuning Example The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2 or 3. This mode is used to reduce positioning time. Step Measuring Instrument Display Example Operation Position error...
Page 192: Related Parameters
6.5 One-parameter Tuning (Fn203) 6.5.4 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting 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 193: Anti-Resonance Control Adjustment Function (Fn204)
6 Adjustments 6.6.1 Anti-Resonance Control Adjustment Function Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 6.6.1 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 1000 Hz.
Page 194: Anti-Resonance Control Adjustment Function Operating Procedure
6.6 Anti-Resonance Control Adjustment Function (Fn204) 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With this function, an operation reference is sent, and the function is executed while vibration is occurring. The digital operator or SigmaWin+ is required to execute this function. The following methods can be used for the anti-resonance control adjustment function.
Page 195 6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation Press the Key. The cursor will move to "damp," and the flashing of "freq" will stop. Select the digit with the Key, and press Key to set the damping gain.
Page 196 6.6 Anti-Resonance Control Adjustment Function (Fn204) With Determined Vibration Frequency Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn204. Press the Key to display the initial setting screen for tuning mode.
Page 197 6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation If fine tuning of the frequency is necessary, press the Key. The cursor will move from "damp" to "freq." If fine-tuning is not necessary, skip step 9 and go to step 10.
Page 198: Related Parameters
6.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation Press the Key to complete the anti-resonance control adjustment function. The screen in step 1 will appear again. 6.6.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function.
Page 199: Vibration Suppression Function (Fn205)
6 Adjustments 6.7.1 Vibration Suppression Function Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. This function can be used only with a SERVOPACK for pulse train references. 6.7.1 Vibration Suppression Function The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.
Page 200: Vibration Suppression Function Operating Procedure
6.7 Vibration Suppression Function (Fn205) (3) Detection of Vibration Frequencies No frequency detection may be possible if the vibration does not appear as a position error or the vibration resulting from the position error is too small. The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width (Pn560) which is set as a percentage of the positioning completed width (Pn522).
Page 201 6 Adjustments 6.7.2 Vibration Suppression Function Operating Procedure (2) Operating Procedure Step Display after Operation Keys Operation Input a operation reference and take the following steps while repeating positioning. Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn205.
Page 202 6.7 Vibration Suppression Function (Fn205) (cont’d) Step Display after Operation Keys Operation Press the Key. The "Setting f" will change to usual display and the frequency currently displayed will be set for the vibration suppression function Position Error Torque reference Example of measured waveform Press the Key to save the setting.
Page 203: Related Parameters
6 Adjustments 6.7.3 Related Parameters 6.7.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting 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 204: Additional Adjustment Function
6.8 Additional Adjustment Function Additional Adjustment Function This section describes the functions that can be used for additional fine tuning after making adjustments with advanced autotuning, advanced autotuning by reference, or one-parameter tuning. • Switching gain settings • Friction compensation •...
Page 205 6 Adjustments 6.8.1 Switching Gain Settings (2) Manual Gain Switching Manual gain switching uses an external input signal (/G-SEL) to switch between gain setting 1 and gain set- ting 2. Connector Pin Type Signal Name Setting Meaning Number Switches to gain setting 1. Input /G-SEL Must be allocated...
Page 206 6.8 Additional Adjustment Function Relationship between the Waiting and Switching Times for Gain Switching In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in Pn106 (2nd position loop gain).
Page 207 6 Adjustments 6.8.1 Switching Gain Settings (cont’d) 2nd Speed Loop Integral Time Constant Speed Position 　　 Classification Pn105 Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0.01 ms 2000 Immediately Tuning 2nd Position Loop Gain 　 Position Classification Pn106...
Page 208: Manual Adjustment Of Friction Compensation
6.8 Additional Adjustment Function 6.8.2 Manual Adjustment of Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The friction compensation function can be automatically adjusted with advanced autotuning (Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required.
Page 209 6 Adjustments 6.8.2 Manual Adjustment of Friction Compensation (2) Operating Procedure for Friction Compensation The following procedure is used for friction compensation. CAUTION • Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If the wrong moment of inertia ratio is set, vibration may result.
Page 210: Current Control Mode Selection Function
6.8 Additional Adjustment Function 6.8.3 Current Control Mode Selection Function This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled by default and set to be effective under different application conditions. Set Pn009.1 = 1 to use this function. Parameter Meaning When Enabled...
Page 211: Compatible Adjustment Function
6 Adjustments 6.9.1 Feedforward Reference (Pulse Train Reference) Compatible Adjustment Function The DC Power Input Σ-V series SERVOPACKs have adjustment functions as explained in sections 6.1 to 6.8 to make machine adjustments. This section explains compatible functions provided by earlier models, such as the Σ-III Series SERVOPACK. 6.9.1 Feedforward Reference (Pulse Train Reference) This function applies feedforward compensation to position control and shortens positioning time.
Page 212: Proportional Control
6.9 Compatible Adjustment Function (2) Related Parameters Torque feedforward is set using the parameters Pn002, Pn400, and Pn415. The factory setting is Pn400 = 3.0 V/rated torque. ± ± For example, the torque feedforward value is 3 V, then, the torque is limited to 100% of the rated torque.
Page 213 6 Adjustments 6.9.3 Proportional Control (2) Control Method and Proportional Control Input Signal Proportional control operation is enabled when the control method is set to speed or position control. Switching to the Proportional Parameter Contents Control Can be switched with the factory Speed control [Factory setting] setting (CN1-16=/P-CON).
Page 214: Mode Switch (P/Pi Switching)
6.9 Compatible Adjustment Function 6.9.4 Mode Switch (P/PI Switching) The mode switch automatically switches between proportional and PI control. Set the switching condition with Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and detection points.
Page 215 6 Adjustments 6.9.4 Mode Switch (P/PI Switching) (2) Operating Examples for Different Switching Conditions Using the Torque Reference [Factory Setting] With this setting, the speed loop is switched to P control when the value of torque reference input exceeds the torque set in Pn10C.
Page 216: Torque Reference Filter
6.9 Compatible Adjustment Function 6.9.5 Torque Reference Filter As shown in the following diagram, the torque reference filter contains first order lag filter and notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the Pn408.
Page 217 6 Adjustments 6.9.5 Torque Reference Filter (2) Notch Filter The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso- nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre- quency.
Page 218: Position Integral
6.9.6 Position Integral The position integral is the integral function of the position loop. It is used for the electronic cams and elec- tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers. Position Integral Time Constant Position...
Page 219 Utility Functions (Fn 7.1 List of Utility Functions ........7-2 7.2 Alarm History Display (Fn000) .
Page 220: Chapter 7 Utility Functions (Fn )
7 Utility Functions (Fn List of Utility Functions Utility functions are used to execute the functions related to servomotor operation and adjustment. Each utility function has a number starting with Fn. The following table lists the utility functions and reference section. Function Reference Comment: SigmaWin+...
Page 221: Alarm History Display (Fn000)
7.2 Alarm History Display (Fn000) Alarm History Display (Fn000) This function displays the last ten alarms that have occurred in the SERVOPACK. The latest ten alarm numbers and time stamps* can be checked. ∗ Time Stamps A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the total operating time when an alarm occurs.
Page 222: Jog Operation (Fn002)
7 Utility Functions (Fn JOG Operation (Fn002) JOG operation is used to check the operation of the servomotor under speed control without connecting the SERVOPACK to the host controller. CAUTION • While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operat- ing range of the machine when performing JOG operation for the SERVOPACK.
Page 223 7.3 JOG Operation (Fn002) (cont’d) Step Display after Operation Keys Operation The servomotor will rotate at the present speed set in Pn304 while the Key (for forward rotation) or Key (for reverse rotation) is pressed. − J O G − R U N P n 3 0 4 = 0 1 0 0 0 U n 0 0 0 =...
Page 224: Origin Search (Fn003)
7 Utility Functions (Fn Origin Search (Fn003) The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to clamp at the position. CAUTION • Perform origin searches without connecting the coupling. The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.
Page 225 7.4 Origin Search (Fn003) (cont’d) Step Display after Operation Keys Operation Pressing the Key will rotate the servomotor in the forward direction. Pressing the Key will rotate the servomotor in the reverse direction. The rotation direc- tion of the servomotor changes according to the setting of Pn000.0 as shown in the following table.
Page 226: Program Jog Operation (Fn004)
7 Utility Functions (Fn Program JOG Operation (Fn004) The program JOG operation is a utility function, that allows continuous operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number of times of movement. This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode.
Page 227 7.5 Program JOG Operation (Fn004) Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) Number of movements Pn536 Number of movements Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed speed Movement Movement Movement distance distance distance Diagram Pn533 Press the key.
Page 228 7 Utility Functions (Fn Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × Number of movements Pn536 Number of movements Pn536 Movement Pn531 speed Movement Speed Pn533 distance Diagram At zero speed Press the key.
Page 229 7.5 Program JOG Operation (Fn004) (cont’d) Program JOG Movement Speed Speed 　 Position 　 Torque Classification Pn533 Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 Immediately Setup 1 min Program JOG Acceleration/Deceleration Time Speed 　 Position 　 Torque Classification Pn534...
Page 230: Initializing Parameter Settings (Fn005)
7 Utility Functions (Fn Initializing Parameter Settings (Fn005) This function is used when returning to the factory settings after changing parameter settings. • Be sure to initialize the parameter settings while the servo ON (/S-ON) signal is OFF • After initialization, restart the SERVOPACK to validate the settings. Note: Any value adjusted with Fn009, Fn00A, Fn00B, Fn00C, Fn00D, Fn00E, and Fn00F cannot be initialized by Fn005.
Page 231: Clearing Alarm History (Fn006)
7.7 Clearing Alarm History (Fn006) Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK. Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO- PACK is turned OFF.
Page 232: Offset Adjustment Of Analog Monitor Output (Fn00C)
7 Utility Functions (Fn Offset Adjustment of Analog Monitor Output (Fn00C) If connecting an analog monitor unit, the analog monitor signal output (factory setting: torque monitor or motor speed monitor) can be monitored. The offset is adjusted in the analog monitor unit at the factory. The user need not usually use this function.
Page 233 7.8 Offset Adjustment of Analog Monitor Output (Fn00C) Step Display after Operation Keys Operation Press the Key to adjust the offset of CH1 − Z e r o A D J − C H 1 = − 0 0 0 0 5 (torque reference monitor).
Page 234: Gain Adjustment Of Analog Monitor Output (Fn00D)
7 Utility Functions (Fn Gain Adjustment of Analog Monitor Output (Fn00D) If connecting an analog monitor unit, the analog monitor signal output (factory setting: torque monitor or motor speed monitor) can be monitored. The gain is adjusted in the analog monitor unit at the factory. The user need not usually use this function.
Page 235 7.9 Gain Adjustment of Analog Monitor Output (Fn00D) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. Step Display after Operation Keys Operation Press the Key to view the main menu for the −...
Page 236: Automatic Offset-Signal Adjustment Of The Motor Current Detection Signal
7 Utility Functions (Fn 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. The user need not usually use this function. •...
Page 237: Manual Offset-Signal Adjustment Of The Motor Current
7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E).
Page 238 7 Utility Functions (Fn Step Display after Operation Keys Operation Press the Key to save the result of adjustment in R U N the SERVOPACK. M a n u a l O f f s e t − A D J When the saving is completed, the status display o f M o t o r C u r r e n t shows "DONE"...
Page 239: Fn00E
7.12 Write Prohibited Setting (Fn010) 7.12 Write Prohibited Setting (Fn010) This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function. Parameter changes and execution of the utility function become restricted in the following manner when Write prohibited (P.0001) is assigned to the write prohibited setting parameter (Fn010).
Page 240 7 Utility Functions (Fn (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Follow the steps to set enable or disable writing. Setting values are as follows: • P.0000 : Write permitted (Releases write prohibited mode.) [Factory setting] "...
Page 241: Servomotor Model Display (Fn011)
7.13 Servomotor Model Display (Fn011) 7.13 Servomotor Model Display (Fn011) This function is used to check the servomotor model, encoder type, and encoder resolution. If the SERVO- PACK has been custom-made, you can also check the specification codes of SERVOPACKs. (1) Preparation There are no tasks that must be performed before the execution.
Page 242: Software Version Display (Fn012)
7 Utility Functions (Fn 7.14 Software Version Display (Fn012) Select Fn012 to check the SERVOPACK and encoder software version numbers. (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Use the following procedure. Step Display after Operation Keys...
Page 243: Vibration Detection Level Initialization (Fn01B)
7.15 Vibration Detection Level Initialization (Fn01B) 7.15 Vibration Detection Level Initialization (Fn01B) This function detects vibration when servomotor is connected to a machine in operation and automatically adjusts the vibration detection level (Pn312) to output more exactly the vibration alarm (A.520) and the vibra- tion warning (A.911).
Page 244 7 Utility Functions (Fn (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.
Page 245: Display Of Servopack And Servomotor Id (Fn01E)
7.16 Display of SERVOPACK and Servomotor ID (Fn01E) 7.16 Display of SERVOPACK and Servomotor ID (Fn01E) This function displays ID information for SERVOPACK, servomotor and encoder connected to the SERVO- PACK. The digital operator or SigmaWin+ is required to perform this function. Σ...
Page 246 7 Utility Functions (Fn Step Display after Operation Keys Operation Serial number Encoder model Press the Key. − S v M o t O p I D − The encoder ID information is displayed. E n c o d e r U T T A I −...
Page 247: Software Reset (Fn030)
7.17 Software Reset (Fn030) 7.17 Software Reset (Fn030) This function enables resetting the SERVOPACK internally from software. This function is used when reset- ting alarms and changing the settings of parameters that normally require restarting the SERVOPACK. This function can be used to change those parameters without restarting the SERVOPACK. •...
Page 248: Easyfft (Fn206)
7 Utility Functions (Fn 7.18 EasyFFT (Fn206) EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the reso- nance frequency detection.
Page 249 7.18 EasyFFT (Fn206) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − utility function. F n 2 0 5 : V i b S u p F n 2 0 6 : E a s y F F T Use the Key to move through the list and...
Page 250 7 Utility Functions (Fn (cont’d) Step Display after Operation Keys Operation To exit the EasyFFT function at this stage, press Key. The power to the servomotor is turned − E a s y F F T − OFF and the display returns to the main menu of the R e a d y utility function.
Page 251: Online Vibration Monitor (Fn207)
7.19 Online Vibration Monitor (Fn207) 7.19 Online Vibration Monitor (Fn207) If vibration is generated during operation and this function is executed while the servo ON signal (/S-ON) is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies.
Page 252 7 Utility Functions (Fn (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.
Page 253 7.19 Online Vibration Monitor (Fn207) (3) Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting 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 254: Chapter 8 Monitor Displays (Un )
Monitor Displays (Un 8.1 List of Monitor Displays ........8-2 8.2 Viewing Monitor Displays .
Page 255: List Of Monitor Displays
8 Monitor Displays (Un List of Monitor Displays The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status. Refer to the following table. Parameter Description Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference (in percentage to the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: ∗3...
Page 256: Viewing Monitor Displays
8.2 Viewing Monitor Displays Viewing Monitor Displays The monitor display can be checked or viewed in the Parameter/Monitor (-PRM/MON-) window of the digital operator. The following figure shows four factory settings that are first displayed if viewing monitor displays. Indicates that the value of Un000 (motor rotating speed) is 0 min Analog To view any items that are not shown, press the...
Page 257: Monitoring Input Signals
8 Monitor Displays (Un 8.3.1 Interpreting Input Signal Display Status Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The method of interpreting the display and a display example are shown below. 8.3.1 Interpreting Input Signal Display Status The input signal monitor (Un005) can be read in the following way.
Page 258: Input Signal Display Example
8.3 Monitoring Input Signals 8.3.2 Input Signal Display Example Input signals are displayed as shown below. • When the /S-ON signal is ON The first digit Analog is in the lower level. U n 0 0 5 = 8 7 6 5 4 3 2 1 digit •...
Page 259: Monitoring Output Signals
8 Monitor Displays (Un 8.4.1 Interpreting Output Signal Display Status Monitoring Output Signals The status of output signals can be checked with the output signal monitor (Un006). The method of interpret- ing the display and a display example are shown below. 8.4.1 Interpreting Output Signal Display Status The output signal monitor (Un006) can be read in the following way.
Page 260 Troubleshooting 9.1 Alarm Displays ..........9-2 9.1.1 List of Alarms .
Page 261 9 Troubleshooting 9.1.1 List of Alarms Alarm Displays The following sections describe troubleshooting in response to alarm displays. The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the alarm numbers in 9.1.1 List of Alarms. The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms.
Page 262: Alarm Displays
9.1 Alarm Displays (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method Overspeed of Encoder The pulse output speed upper limit of the set A.511 Gr.1 Available Output Pulse Rate encoder output pulse (Pn212) is exceeded. Incorrect vibration at the motor speed was A.520 Vibration Alarm Gr.1...
Page 263: List Of Alarms
9 Troubleshooting 9.1.1 List of Alarms (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method Encoder Communications An encoder position data calculation error A.C91 Gr.1 Position Data Error occurred. Encoder Communications An error occurs in the communications timer A.C92 Gr.1 Timer Error...
Page 264: Troubleshooting Of Alarms
SigmaWin+. 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 Number:...
Page 265 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The speed of program JOG oper- ation (Fn004) is lower than the setting range after having Decrease the setting of the elec- Check if the detection conditions changed the electronic gear ratio tronic gear ratio (Pn20E/Pn210).
Page 266 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Incorrect wiring or contact fault Check the wiring. Refer to 3.1 of servomotor main circuit Correct the wiring. Main Circuit Wiring. cables. Check for short-circuits across the servomotor terminal phases U, V, Short-circuit or ground fault of and W, or between the grounding...
Page 267 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The order of phases U, V, and W Confirm that the servomotor is cor- in the servomotor wiring is incor- Check the motor wiring. rectly wired.
Page 268 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Decrease the surrounding air tem- The surrounding air temperature Check the surrounding air tempera- perature by improving the SERVO- is too high. ture using a thermostat. PACK installation conditions.
Page 269 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The servomotor speed is higher Reduce the servomotor speed to a Check the motor rotating speed (Un000) to confirm the servomotor than 200 min when the control value less than 200 min , and turn...
Page 270 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Restart the SERVOPACK. If the A.bF0: alarm still occurs, the SERVO- − A SERVOPACK fault occurred. System Alarm 0 PACK may be faulty. Replace the SERVOPACK.
Page 271 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Contact fault of connector or Re-insert the connectors and con- Check the connector contact status incorrect wiring for encoder firm that the encoder is correctly for encoder cable.
Page 272 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The wiring and contact for Check the wiring. Correct the wiring. encoder cable are incorrect. Use tinned annealed copper Noise interference occurred due shielded twisted-pair or screened −...
Page 273 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) When the position errors remain in the error counter, Pn529 limits Set position error to be cleared the speed if the servomotor power A.d02 while the servomotor power is OFF.
Page 274: Warning Displays
9.2 Warning Displays 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 9.2.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings. 9.2.1 List of Warnings This section provides list of warnings.
Page 275: Troubleshooting Of Warnings
9.2.2 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: Warning Name...
Page 276 9.2 Warning Displays (cont’d) Warning Number: Warning Name Cause Investigative Actions Corrective Actions (Warning Description) Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the detected at the motor servomotor, and check the speed and servo gain by using the function such speed.
Page 277: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor
9 Troubleshooting Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor 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 278 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Set the power supply voltage to Check voltage between main circuit within the specified range. The main circuit power supply volt- power input terminals during opera- age is 13 V or lower.
Page 279 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Reduce the load so that the moment of inertia ratio becomes within the The servomotor largely vibrated allowable value, or increase the during execution of tuning-less Check the motor speed waveform. load level or lower the tuning level function.
Page 280 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (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.
Page 281 9 Troubleshooting (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. Check if the overtravel limit switch Correct the overtravel limit switch. operates properly.
Page 282 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (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 283: Chapter 10 Appendix
Appendix 10.1 Connection to Host Controller ....... . 10-2 10.1.1 Connection to MP2200/MP2300 Motion Module SVA-01 ....10-2 10.1.2 Connection to OMRON’s Position Control Unit .
Page 284: Connection To Host Controller
(torque reference monitor) (torque reference monitor) Analog monitor 2 Analog monitor 2 (speed monitor) (speed monitor) MP2200/MP2300 Motion Module SVA-01 manufactured by SGDV- ES1A SERVOPACK Yaskawa Electric Corporation CN1/CN2 AO_0 (NREF) V-REF /PAO Control power supply /PCO Main circuit power supply...
Page 285: Connection To Omron's Position Control Unit
10.1.2 Connection to OMRON’s Position Control Unit Analog I/O power supply Position Control Unit manufactured by OMRON Corporation +24 V CS1W-NC133 / 233 / 433 SGDV- EP1A SERVOPACK +5 V 5-V power supply for pulse output 5-V GND for pulse output ∗2 ∗4...
Page 286: Connection To Mitsubishi's Qd75D Positioning Module
Positioning Module (SERVOPACK in Position Control) 10.1.3 Connection to MITSUBISHI's QD75D Positioning Module (SERVOPACK in Position Control) Analog Positioning Module QD75D manufactured by Mitsubishi Electric SGDV- EP1A SERVOPACK Corporation Control power supply ON when proximity is detected Main circuit power supply STOP...
Page 287: List Of Parameters
10.2 List of Parameters 10.2 List of Parameters 10.2.1 Utility Functions The following list shows the available utility functions. Parameter Reference Comment: SigmaWin+ Function Section function names Fn000 Alarm history display Alarm Display Fn002 JOG operation JOG Operation Fn003 Origin search Origin Search Fn004 Program JOG operation...
Page 288: Parameters
10 Appendix 10.2.2 Parameters 10.2.2 Parameters Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Basic Function Select − − 0000 to 00B3 0000 After restart Setup Switch 0 4th 3rd 2nd 1st digit digit digit digit Reference Direction Selection Section...
Page 289 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 4113 0000 After restart Setup Switch 2 4th 3rd 2nd 1st digit digit digit digit Reference Speed/Position Control Option (T-REF Terminal Allocation) Section...
Page 290 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − 0000 to 005F 0000 Immediately Setup 6.1.3 Switch 7 4th 3rd 2nd 1st digit digit digit digit Analog Monitor 2 Signal Selection Motor rotating speed (1 V / 1000 min Speed reference (1 V / 1000 min Torque reference (1 V/100% rated torque)
Page 291 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 0111 0010 After restart Tuning Switch 9 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Reference Current Control Method Selection...
Page 292 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − 0000 to 0111 0000 After restart Setup Switch C 4th 3rd 2nd 1st digit digit digit digit Selection of Test without a Motor Disables test without a motor.
Page 293 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function for − − − − 0000 to 5334 0000 Gain Select Switch 4th 3rd 2nd 1st digit digit digit digit When Reference Mode Switch Selection...
Page 294 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Automatic Gain Changeover − 0000 to 0052 0000 Immediately Tuning 6.8.1 Related Switch 1 4th 3rd 2nd 1st digit digit digit digit Gain Switching Selection Switch Manual gain switching Changes gain manually using external input signal (/G-SEL).
Page 295 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Model Following Control − Pn143 Bias 0 to 10000 0.1% 1000 Immediately Tuning (Forward Direction) Model Following Control − Pn144 Bias 0 to 10000 0.1% 1000 Immediately...
Page 296 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Anti-Resonance Control 6.3.1, 6.4.1, − 0000 to 0011 0010 Immediately Tuning Related Switch 6.5.1, 6.7.1 4th 3rd 2nd 1st digit digit digit digit Anti-Resonance Control Selection Does not use anti-resonance control.
Page 297 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Position Control Reference − − 0000 to 2236 0000 After restart Setup Form Selection Switch 4th 3rd 2nd 1st digit digit digit digit Reference Reference Pulse Form Section...
Page 298 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Position Control Function − − 0000 to 2210 0000 After restart Setup Switch 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Reference Position Control Option Section...
Page 299 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Vibration Detection Switch 0000 to 0002 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit Reference Vibration Detection Selection Section Does not detect vibration.
Page 300 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Torque Related Function − − − − 0000 to 1111 0000 Switch 4th 3rd 2nd 1st digit digit digit digit When Reference 1st Step Notch Filter Selection Classification Section...
Page 301 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section 6.2.1, Notch Filter Adjustment − 0000 to 0101 0101 Immediately Tuning 6.3.1, Switch 6.5.1 4th 3rd 2nd 1st digit digit digit digit Notch Filter Adjustment Selection 1 Does not adjust 1st step notch filter automatically using utility function.
Page 302 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 1 0000 to FFF1 2100 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Input Signal Allocation Mode Section Uses the sequence input signal terminals with the factory-set allocations.
Page 303 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Input Signal Selection 2 0000 to FFFF 6543 After restart Setup – 4th 3rd 2nd 1st digit digit digit digit Reference N-OT Signal Mapping (Reverse run prohibited when OFF (H-level)) Section Reverse run allowed when CN1-15 input signal is ON (L-level).
Page 304 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 3 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit /SPD-D Signal Mapping Reference (Refer to 5.6 Internal Set Speed Control.) Section...
Page 305 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 4 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference /ZCLAMP Signal Mapping (Zero clamp when ON (L-level)) Section Active when CN1-15 input signal is ON (L-level).
Page 306 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Output Signal Selection 2 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Torque Limit Detection Signal Mapping (/CLT) Section Disabled (the above signal is not used.)
Page 307 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Output Signal Inverse Set- − 0000 to 0111 0000 After restart Setup 3.3.2 ting 4th 3rd 2nd 1st digit digit digit digit Output Signal Inversion for CN1-7 Terminal Does not inverse outputs.
Page 308 10 Appendix 10.2.2 Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 6 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Absolute Data Request Signal Mapping (/SEN) Active when CN1-15 input signal is ON (low level).
Page 309 10.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Pn52F Reserved (Do not change.) – 0FFF – – – Program JOG Operation − 0000 to 0005 0000 Immediately Setup Related Switch 4th 3rd 2nd 1st digit digit digit digit Program JOG Operation Switch...
Page 310: List Of Monitor Displays
10 Appendix 10.3 List of Monitor Displays The following list shows the available monitor displays. Parameter Description Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference (in percentage to the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: ∗3 Un003 encoder pulse...
Page 311: Parameter Recording Table
10.4 Parameter Recording Table 10.4 Parameter Recording Table Use the following table for recording parameters. Note: Pn10B, Pn170, and Pn408 have two kinds of digits: the digit which does not need the restart after changing the set- tings and the digit which needs the restart. The underlined digits of the factory setting in the following table show the digit which needs the restart.
Page 312 10 Appendix (cont’d) Factory When Parameter Name Setting Enabled Automatic Gain Changeover Related Pn139 0000 Immediately Switch 1 Pn13D 2000 Current Gain Level Immediately Model Following Control Related Pn140 0100 Immediately Switch Pn141 Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 1000 Immediately...
Page 313 10.4 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn300 Speed Reference Input Gain Immediately Pn301 Internal Set Speed 1 Immediately Pn302 Internal Set Speed 2 Immediately Pn303 Internal Set Speed 3 Immediately Pn304 JOG Speed Immediately Pn305 Soft Start Acceleration Time Immediately Pn306...
Page 314 10 Appendix (cont’d) Factory When Parameter Name Setting Enabled Pn507 Brake Reference Output Speed Level Immediately Waiting Time for Brake Signal When Pn508 Immediately Motor Running − Pn509 Reserved Pn50A 2100 Input Signal Selection 1 After restart Pn50B 6543 Input Signal Selection 2 After restart Pn50C 8888...
Page 315 10.4 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn600 Reserved – Pn601 Reserved – 10-33...
Page 316: Index
Index Index torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 automatic gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-54 automatic offset-signal adjustment of the motor current detection signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18 automatically setting the notch filter - - - - - - - - - - - - - - - - - - - - 6-12...
Page 317 Index notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38 tuning mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34 6-36 gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 7-16 type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34...
Page 318 Index inspection and maintenance - - - - - - - - - - - - - - - - - - - - - - - 1-10 tuning-less level settings (Fn200) - - - - - - - - - - - - - - - - - - - - - - 6-12 model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii...
Page 319: 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 81A Published in Japan November 2011 11-11 Analog Date of Date of original publication publication Date of Rev.
Page 320 Phone 81-4-2962-5151 Fax 81-4-2962-6138 YASKAWA AMERICA, INC. 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7310 YASKAWA ELETRICO DO BRASIL LTDA. Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil Phone 55-11-3585-1100 Fax 55-11-5581-8795 YASKAWA EUROPE GmbH Hauptstraβe 185, Eschborn 65760, Germany...

This manual is also suitable for:

Sgmmv S-v series

YASKAWA SGDV User Manual

Chapter 1 Outline

Chapter 2 Digital Operator

Chapter 3 Wiring and Connection

Chapter 4 Trial Operation

Chapter 5 Operation

Chapter 6 Adjustments

Chapter 7 Utility Functions (Fn )

Chapter 8 Monitor Displays (un )

Chapter 9 Troubleshooting

Chapter 10 Appendix

Quick Links

Troubleshooting

Related Manuals for YASKAWA SGDV

Summary of Contents for YASKAWA SGDV