YASKAWA SGD7S-3R5D Manuals

Manuals and User Guides for YASKAWA SGD7S-3R5D. We have 1 YASKAWA SGD7S-3R5D manual available for free PDF download: Product Manual

YASKAWA SGD7S-3R5D Product Manual (603 pages)

Brand: YASKAWA | Category: Servo Drives | Size: 10.4 MB

Table of Contents
24
Basic Information on
24
The Σ-7 Series
37
Introduction to Ethercat
38
- Introduction to Canopen
  38
- Canopen over Ethercat OSI Model
  38
- Sending and Receiving Data in Ethercat (Coe) Communications
  39
- Coe Terminology
  39
- Data Types
  40
- Data Ranges
  40
Interpreting the Nameplate
41
Part Names
42
Model Designations
44
- Interpreting SERVOPACK Model Numbers
  44
- Interpreting Servomotor Model Numbers
  45
Combinations of Servopacks and Servomotors
46
- Combinations of Rotary Servomotors and Servopacks
  46
- Combinations of Linear Servomotors and Servopacks
  47
Functions
48
- Selecting a SERVOPACK
  50
Ratings and Specifications
52
- SERVOPACK Overload Protection Characteristics
  52
- Specifications
  53
Block Diagrams
57
- Servopacks Without Built-In Servomotor Brake Control
  57
- Servopacks with Built-In Servomotor Brake Control
  60
External Dimensions
63
Examples of Standard Connections between Servopacks and Peripheral Devices
67
- SERVOPACK Installation
  69
Installation Precautions
70
Mounting Types and Orientation
71
Mounting Hole Dimensions
72
Mounting Interval
73
- Installing One SERVOPACK in a Control Panel
  73
- Installing more than One SERVOPACK in a Control Panel
  73
Monitoring the Installation Environment
74
EMC Installation Conditions
75
- Wiring and Connecting Servopacks
  76
Wiring and Connecting Servopacks
78
- General Precautions
  78
- Countermeasures against Noise
  80
- Grounding
  83
Basic Wiring Diagrams
84
Wiring the Power Supply to the SERVOPACK
86
- Terminal Symbols and Terminal Names
  86
- Connector Wiring Procedure
  88
- Power on Sequence
  89
- Power Supply Wiring Diagrams
  90
- Wiring Regenerative Resistors
  93
- Wiring DC Reactors
  93
Wiring Servomotors
94
Connecting I/O Signals
103
Connecting Safety Function Signals
110
- Pin Arrangement of Safety Function Signals (CN8)
  110
- I/O Circuits
  110
Connecting Dynamic Brake Resistors
112
- Terminal Symbols and Terminal Names
  112
- Connecting a Dynamic Brake Resistor
  112
Connecting Ethercat Communications Cables
114
- Ethercat Connectors (RJ45)
  114
- Ethernet Communications Cables
  115
Connecting the Other Connectors
116
Manipulating SERVOPACK Parameters (Pn)
119
Power Supply Type Settings for the Main Circuit
128
Automatic Detection of Connected Motor
129
Motor Direction Setting
130
Setting the Linear Encoder Pitch
131
Writing Linear Servomotor Parameters
132
Selecting the Phase Sequence for a Linear Servomotor
136
Polarity Sensor Setting
138
Polarity Detection
139
Overtravel and Related Settings
142
- Overtravel Signals
  142
- Setting to Enable/Disable Overtravel
  143
- Motor Stopping Method for Overtravel
  143
- Overtravel Warnings
  145
- Overtravel Release Method Selection
  146
- Overtravel Status
  147
- Overtravel Operation by Mode
  147
Holding Brake
148
Motor Stopping Methods for Servo off and Alarms
153
- Stopping Method for Servo off
  154
- Servomotor Stopping Method for Alarms
  154
Motor Overload Detection Level
156
Setting Unit Systems
158
- Setting the Position Reference Unit
  158
- Setting the Speed Reference Unit
  163
Resetting the Absolute Encoder
165
- Precautions on Resetting
  165
- Applicable Tools
  165
- Operating Procedure
  166
Setting the Origin of the Absolute Encoder
168
- Absolute Encoder Origin Offset
  168
- Setting the Origin of the Absolute Linear Encoder
  168
Setting the Regenerative Resistor Capacity
171
Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor
172
Application Functions
173
I/O Signal Allocations
176
- Input Signal Allocations
  176
- Output Signal Allocations
  177
- ALM (Servo Alarm) Signal
  179
- WARN (Warning) Signal
  179
- TGON (Rotation Detection) Signal
  180
- S-RDY (Servo Ready) Signal
  180
- V-CMP (Speed Coincidence Detection) Signal
  181
- COIN (Positioning Completion) Signal
  182
- NEAR (Near) Signal
  183
- Speed Limit During Torque Control
  184
Operation for Momentary Power Interruptions
186
SEMI F47 Function
187
Setting the Motor Maximum Speed
189
Encoder Divided Pulse Output
190
Software Limits
197
Selecting Torque Limits
198
- Internal Torque Limits
  198
- External Torque Limits
  199
- CLT (Torque Limit Detection) Signal
  202
Absolute Encoders
203
Absolute Linear Encoders
212
Software Reset
216
- Preparations
  216
- Applicable Tools
  216
- Operating Procedure
  217
Initializing the Vibration Detection Level
218
- Preparations
  218
- Applicable Tools
  218
- Operating Procedure
  219
- Related Parameters
  221
Adjusting the Motor Current Detection Signal Offset
222
- Automatic Adjustment
  222
- Automatic Adjustment
  224
- Manual Adjustment
  225
Forcing the Motor to Stop
227
ZONE Outputs (FT64 Specification)
230
- ZONE Table and ZONE Signals
  230
- ZONE Table Settings
  231
- ZONE Output Application Example
  234
- Trial Operation and Actual Operation
  235
Flow of Trial Operation
236
- Flow of Trial Operation for Rotary Servomotors
  236
- Flow of Trial Operation for Linear Servomotors
  238
Inspections and Confirmations before Trial Operation
240
Trial Operation for the Servomotor Without a Load
241
- Preparations
  241
- Applicable Tools
  241
- Operating Procedure
  242
Trial Operation with Ethercat (Coe) Communications
244
Trial Operation with the Servomotor Connected to the Machine
245
- Precautions
  245
- Preparations
  245
- Operating Procedure
  246
Convenient Function to Use During Trial Operation
247
- Program Jogging
  247
- Origin Search
  253
- Test Without a Motor
  255
- Monitoring
  258
- Tuning
  259
Overview and Flow of Tuning
262
- Tuning Functions
  263
- Diagnostic Tool
  264
Monitoring Methods
265
Precautions to Ensure Safe Tuning
266
Tuning-Less Function
270
- Application Restrictions
  270
- Operating Procedure
  271
- Troubleshooting Alarms
  272
- Parameters Disabled by Tuning-Less Function
  273
- Automatically Adjusted Function Setting
  273
- Related Parameters
  273
Estimating the Moment of Inertia
274
- Outline
  274
- Restrictions
  274
- Applicable Tools
  275
- Operating Procedure
  275
Autotuning Without Host Reference
281
- Outline
  281
- Restrictions
  282
- Applicable Tools
  283
- Operating Procedure
  283
- Troubleshooting Problems in Autotuning Without a Host Reference
  287
- Automatically Adjusted Function Settings
  289
- Related Parameters
  291
Autotuning with a Host Reference
292
- Outline
  292
- Restrictions
  293
- Applicable Tools
  293
- Operating Procedure
  294
- Troubleshooting Problems in Autotuning with a Host Reference
  297
- Automatically Adjusted Function Settings
  297
- Related Parameters
  298
Custom Tuning
299
- Outline
  299
- Preparations
  299
- Applicable Tools
  300
- Operating Procedure
  300
- Automatically Adjusted Function Settings
  306
- Tuning Example for Tuning Mode 2 or 3
  306
- Related Parameters
  307
Anti-Resonance Control Adjustment
308
- Outline
  308
- Preparations
  308
- Applicable Tools
  309
- Operating Procedure
  309
- Related Parameters
  311
- Suppressing Different Vibration Frequencies with Anti-Resonance Control
  311
Vibration Suppression
313
- Outline
  313
- Preparations
  314
- Applicable Tools
  314
- Operating Procedure
  314
- Setting Combined Functions
  316
- Related Parameters
  316
Speed Ripple Compensation
317
- Outline
  317
- Setting up Speed Ripple Compensation
  317
- Setting Parameters
  321
Additional Adjustment Functions
323
- Gain Switching
  323
- Friction Compensation
  326
- Current Control Mode Selection
  327
- Current Gain Level Setting
  328
- Speed Detection Method Selection
  328
- Speed Feedback Filter
  328
- Backlash Compensation
  329
Manual Tuning
334
- Tuning the Servo Gains
  334
- Compatible Adjustment Functions
  344
Diagnostic Tools
348
- Mechanical Analysis
  348
  - Easy FFT
    350
Monitoring Product Information
355
- Items that You Can Monitor
  355
- Operating Procedures
  355
Monitoring SERVOPACK Status
356
- Servo Drive Status
  356
- Monitoring Status and Operations
  356
- I/O Signal Monitor
  358
Monitoring Machine Operation Status and Signal Waveforms
359
Monitoring Product Life
366
- Items that You Can Monitor
  366
- Operating Procedure
  367
- Preventative Maintenance
  368
Alarm Tracing
369
- Data for Which Alarm Tracing Is Performed
  369
- Applicable Tools
  369
Fully-Closed System
371
SERVOPACK Commissioning Procedure
372
Parameter and Object Settings for Fully-Closed Loop Control
374
Monitoring an External Encoder
379
- Option Module Required for Monitoring
  379
- Related Parameters
  379
- Block Diagrams
  379
Introduction to the Safety Functions
382
- Safety Functions
  382
- Precautions for Safety Functions
  383
Hard Wire Base Block (HWBB and SBB)
384
- Risk Assessment
  384
- Hard Wire Base Block (HWBB) State
  385
- Resetting the HWBB State
  386
- Recovery Method
  387
- Detecting Errors in HWBB Signal
  387
- HWBB Input Signal Specifications
  388
- Operation Without a Host Controller
  388
- S-RDY (Servo Ready Output) Signal
  389
- BK (Brake Output) Signal
  389
- Stopping Methods
  390
- ALM (Servo Alarm) Signal
  390
EDM1 (External Device Monitor)
391
- EDM1 Output Signal Specifications
  391
Applications Examples for Safety Functions
392
- Connection Example
  392
- Failure Detection Method
  392
- Procedure
  393
Validating Safety Functions
394
Connecting a Safety Function Device
395
Ethercat Communications
396
Ethercat Slave Information
397
Ethercat State Machine
398
Ethercat (Coe) Communications Settings
400
- Normal Device Recognition Process at Startup
  400
  - Application Example
    400
  - Device Recognition with Station Aliases
    400
PDO Mappings
401
- Setting Procedure for PDO Mappings
  402
- Default PDO Mappings
  402
Synchronization with Distributed Clocks
403
Emergency Messages
406
Cia402 Drive Profile
407
Device Control
409
- State Machine Control Commands
  410
- Bits in Statusword (6041 Hex)
  410
- Related Objects
  410
Modes of Operation
411
- Related Objects
  411
- Dynamic Mode Changes
  411
Position Control Modes
412
- Profile Position Mode
  412
- Profile Position Mode
  413
- Interpolated Position Mode
  415
- Cyclic Synchronous Position Mode
  418
- Cyclic Synchronous Position Mode
  419
Homing
420
- Related Objects
  420
- Homing Method (6098 Hex)
  420
Velocity Control Modes
423
- Profile Velocity Mode
  423
- Cyclic Synchronous Velocity Mode
  424
Torque Control Modes
425
- Profile Torque Mode
  425
- Cyclic Sync Torque Mode
  426
Torque Limits
427
Digital I/O Signals
428
Touch Probe
429
- Related Objects
  429
- Example of Execution Procedure for a Touch Probe
  430
Fully-Closed Loop Control
431
Object Dictionary
432
Object Dictionary List
434
General Objects
436
PDO Mapping Objects
440
Sync Manager Communications Objects
444
Manufacturer-Specific Objects
448
Device Control
452
Profile Position Mode
460
Homing Mode
462
Position Control Function
464
Interpolated Position Mode
466
Cyclic Synchronous Position Mode
472
Profile Velocity/Cyclic Synchronous Velocity Mode
473
Profile Torque/Cyclic Synchronous Torque Mode
474
Torque Limit Function
475
Touch Probe Function
476
Dual Encoder Feedback
480
- Maintenance
  481
Inspections and Part Replacement
482
- Inspections
  482
- Guidelines for Part Replacement
  482
- Replacing the Battery
  483
Alarm Displays
485
- List of Alarms
  485
- Troubleshooting Alarms
  491
- Resetting Alarms
  519
- Displaying the Alarm History
  520
- Clearing the Alarm History
  521
- Resetting Alarms Detected in Option Modules
  522
- Resetting Motor Type Alarms
  523
Warning Displays
525
- List of Warnings
  525
- Troubleshooting Warnings
  526
Troubleshooting Based on the Operation and Conditions of the Servomotor
531
- Parameter and Object Lists
  542
- Appendices
  589

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YASKAWA SGD7S-3R5D Product Manual (603 pages)

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