YASKAWA SGDS Sigma III Series Manuals

YASKAWA SGDS Sigma III Series Manuals

Manuals and User Guides for YASKAWA SGDS Sigma III Series. We have 1 YASKAWA SGDS Sigma III Series manual available for free PDF download: User Manual

YASKAWA SGDS Sigma III Series User Manual

YASKAWA SGDS Sigma III Series User Manual (376 pages)

Servo Amplifier for Mechatrolink-II Communications

Brand: YASKAWA | Category: Amplifier | Size: 5.98 MB

Table of Contents

Table of Contents
14
1 Outline

23
- Checking Products
  23
  - Check Items
    23
  - Servomotors
    23
  - Servo Amplifiers
    24
- Product Part Names
  24
  - Servomotors
    24
- Model Numbers
  25
  - Standard Servomotors
    25
  - Servo Amplifiers
    26
- Examples of Servo System Configurations
  27
- Applicable Standards
  31
  - North American Safety Standards (UL, CSA)
    31
  - CE Marking
    31
2 System Selection

33
3 SERVOPACK Specifications and Dimensional Drawings

61
4 Specifications and Dimensional Drawings of Cables and Peripheral Devices

84
5 Wiring

107
- Wiring Main Circuit
  107
- Wiring Encoders
  112
  - Connecting an Encoder
    112
  - CN2 Encoder Connector Terminal Layout
    113
- I/O Signal Connections
  114
- Wiring MECHATROLINK II Communications
  118
- Fully-Closed Encoder Connections
  121
  - Connection Example of Linear Scale by Heidenhain
    121
  - Connection Example of Linear Scale by Renishaw
    122
- Others
  123
  - Wiring Precautions
    123
  - Wiring for Noise Control
    124
  - Wiring for Noise Control
    125
  - Using more than One SERVOPACK
    127
  - Power Supply Voltage
    128
  - AC/DC Reactor for Harmonic Suppression
    129
- Connecting Regenerative Resistors
  130
  - Regenerative Power and Regenerative Resistance
    130
  - Connecting Externally Regenerative Resistors
    130
6 MECHATROLINK II Communications

134
- Specifications and Configuration
  136
  - Specifications
    136
  - System Configuration
    136
- Switches for MECHATROLINK II Communications Settings
  137
  - Communications Settings
    137
  - Setting the Transmission Cycle
    137
  - Setting the Station Address
    138
- Main Commands
  139
  - No Operation (NOP: 00H)
    139
  - Read Parameter (PRM_RD: 01H)
    140
  - Write Parameter (PRM_WR: 02H)
    141
  - Read ID (ID_RD: 03H)
    142
  - Set up Device (CONFIG: 04H)
    143
  - Read Alarm or Warning (ALM_RD: 05H)
    144
- Clear Alarm or Warning (ALM_CLR: 06H)
  146
- Start Synchronous Communications (SYNC_SET: 0DH)
  147
- MECHATROLINK II Connection (CONNECT: 0EH)
  148
- Disconnection (DISCONNECT: 0FH)
  149
- Read Non-Volatile Parameter (PPRM_RD: 1BH)
  150
- Write Non-Volatile Parameter (PPRM_WR: 1CH)
  151
- Set Coordinates (POS_SET: 20H)
  152
- Apply Brake (BRK_ON: 21H)
  153
- Release Brake (BRK_OFF: 22H)
  154
- Turn Sensor on (SENS_ON: 23H)
  155
- Turn Sensor off (SENS_OFF: 24H)
  156
- Stop Motion (HOLD: 25H)
  157
- Request Latch Mode (LTMOD_ON: 28H)
  158
- Release Latch Mode (LTMOD_OFF: 29H)
  159
- Status Monitoring (SMON: 30H)
  160
- Servo on (SV_ON: 31H)
  161
- Servo off (SV_OFF: 32H)
  162
- Interpolation Feed (INTERPOLATE: 34H)
  163
- Positioning (POSING: 35H)
  164
- Constant Speed Feed (FEED: 36H)
  165
- Interpolation Feeding with Position Detection (LATCH: 38H)
  166
- External Input Positioning (EX_POSING: 39H)
  167
- Homing (ZRET: 3AH)
  169
- Velocity Control (VELCTRL: 3CH)
  171
- Torque Control (TRQCTRL: 3DH)
  172
- Adjusting (ADJ: 3EH)
  173
- General-Purpose Servo Control (SVCTRL: 3FH)
  174
- MECHATROLINK Connection (CONNECT: 0EH)
  176
Subcommands

177
Command Data Field

182
Command and Response Timing

188
- Command Data Execution Timing
  188
  - Monitor Data Input Timing
    188
- Operation Sequence
  189
7 Operation

192
- Outline
  193
- Trial Operation
  195
- Settings According to Machine Characteristics
  199
- Settings According to Host Controller
  204
  - Sequence I/O Signals
    204
  - Using the Electronic Gear Function
    205
  - Acceleration/Deceleration Function
    209
  - Motion Settings
    212
- Setting up the SERVOPACK
  214
  - Parameters
    214
  - Input Circuit Signal Allocation
    214
  - Input Circuit Signal Allocation
    215
  - Output Circuit Signal Allocation
    217
  - Debug Function
    219
  - Monitoring
    219
- Setting Stop Functions
  220
  - Using the Dynamic Brake
    220
  - Using the Holding Brake
    221
- Absolute Encoders
  224
  - Selecting an Absolute Encoder
    224
  - Absolute Encoder Setup
    224
  - Multi-Turn Limit Setting
    226
  - Multi-Turn Limit Setting
    227
  - Absolute Encoder Home Position Offset
    228
8 Adjustments

230
- Autotuning
  232
  - Servo Gain Adjustment Methods
    232
  - List of Servo Adjustment Functions
    233
- Normal Autotuning
  236
- Advanced Autotuning
  242
  - Advanced Autotuning Procedure
    242
  - Advanced Autotuning Procedure
    244
- One-Parameter Autotuning
  247
  - One-Parameter Autotuning Procedure
    247
- Manual Tuning
  249
  - Explanation of Servo Gain
    249
  - Servo Gain Manual Tuning
    249
  - Position Loop Gain
    250
  - Servo Gain Manual Tuning
    250
  - Speed Loop Gain
    251
  - Speed Loop Integral Time Constant
    251
- Servo Gain Adjustment Functions
  252
  - Feed Forward Reference
    252
  - Using the Mode Switch (P/PI Switching)
    253
  - Setting the Speed Bias
    257
  - Speed Feedback Filter Time Constant
    257
  - Speed Feedback Compensation
    257
  - Switching Gain Settings
    259
  - Predictive Control
    264
  - Less Deviation Control
    269
  - Torque Reference Filter
    275
  - Vibration Suppression on Stopping
    277
  - Backlash Compensation
    278
  - Position Integral
    278
  - Analog Monitor
    279
- Analog Monitor
  280
9 Fully-Closed Control

283
10 Inspection, Maintenance, and Troubleshooting

292
- Troubleshooting
  292
  - Status Display on Panel Operator
    293
  - Troubleshooting
    293
  - Alarm Display Table
    294
  - Warning Displays
    297
  - Troubleshooting of Alarm and Warning
    298
  - Troubleshooting for Malfunction Without Alarm Display
    312
- Inspection and Maintenance
  316
  - Servomotor Inspection
    316
  - SERVOPACK Inspection
    316
  - Servopack's Parts Replacement Schedule
    317
11 Appendix

318
- Servomotor Capacity Selection Examples
  319
- List of Parameters
  328
  - Utility Functions List
    328
  - List of Parameters
    329
  - Monitor Modes
    354
- Using the Adjusting Command (ADJ: 3EH)
  355
- Parameter Recording Table
  363
Index

375

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