YASKAWA SGD7S-1R9D Product Manual

Table of Contents

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-7-Series AC Servo Drive



-7S SERVOPACK with

400V-Input Power and

EtherCAT (CoE) Communications References

Product Manual

Model: SGD7S-  DA0 

MANUAL NO. SIEP S800001 80G

Basic Information on

SERVOPACKs

Selecting a SERVOPACK

SERVOPACK Installation

Wiring and Connecting

SERVOPACKs

Basic Functions That Require

Setting before Operation

Application Functions

Trial Operation and

Actual Operation

Tuning

Monitoring

Fully-Closed Loop Control

Safety Functions

EtherCAT Communications

CiA402 Drive Profile

Object Dictionary

Maintenance

Parameter and Object Lists

Appendices

Table of Contents

Troubleshooting

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Summary of Contents for YASKAWA SGD7S-1R9D

Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with 400V-Input Power and EtherCAT (CoE) Communications References Product Manual Model: SGD7S-  DA0  Basic Information on SERVOPACKs Selecting a SERVOPACK SERVOPACK Installation Wiring and Connecting SERVOPACKs Basic Functions That Require Setting before Operation Application Functions Trial Operation and Actual Operation...
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
Page 3 About this Manual This manual provides information required to select Σ-7S SERVOPACKs with EtherCAT Communi- cations References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.
Page 4 Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. Servo Drives Σ-7-Series Catalog...
Page 5 Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Provides detailed information for  Σ-7S SERVOPACK with the safe usage of Σ-7-Series TOMP C710828 02 Enclosed Document 400 V-Input Power SERVOPACKs. Safety Precautions Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with 400 V-Input Power and This manual EtherCAT (CoE) Communications...
Page 6 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Describes the operating proce- Digital Operator SIEP S800001 33 dures for a Digital Operator for a Σ-7-Series Servo System. Operating Manual  Σ-7-Series Operation Interface Operating Manuals AC Servo Drive Provides detailed operating proce- Engineering Tool...
Page 7 Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor or Linear Servomotor Servomotor A Σ-7-Series Rotary Servomotor (SGM7J, SGM7A, or SGM7G). Rotary Servomotor A Σ-7-Series Linear Servomotor (SGLF or SGLT). Linear Servomotor A Σ-7-Series Σ-7S servo amplifier with EtherCAT Communications References.
Page 8  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 abbreviation. Notation Example BK is written as /BK. ...
Page 9  Trademarks • EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany. • QR code is a trademark of Denso Wave Inc. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
Page 10 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
Page 11  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
Page 12 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC Reactors) to ensure that the input power is supplied within the specified voltage range.
Page 13 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
Page 14 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
Page 15  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
Page 16  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
Page 17 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
Page 18  Troubleshooting Precautions DANGER  If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper- ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
Page 19 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are...
Page 20 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • 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 21 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
Page 22 • SGM7G (E165827) • SGLFW Linear UL 1004 • SGLFW2 Servomotors (E165827) • SGLTW There are usage restrictions. Contact your Yaskawa representative for details. Certification is pending.  European Directives Product Model European Directive Harmonized Standards Machinery Directive EN ISO13849-1: 2015...
Page 23  Safety Standards Product Model Safety Standards Standards EN ISO13849-1: 2015 Safety of Machinery IEC 60204-1 • SGD7S IEC 61508 series SERVOPACKs • SGD7W Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061...
Page 24: Table Of Contents
Contents About this Manual ..........iii Outline of Manual .
Page 25 SERVOPACK Installation Installation Precautions ....... 3-2 Mounting Types and Orientation ......3-3 Mounting Hole Dimensions .
Page 26 Connecting EtherCAT Communications Cables... . 4-39 4.8.1 EtherCAT Connectors (RJ45) ........4-39 4.8.2 Ethernet Communications Cables .
Page 27 5.12 Motor Stopping Methods for Servo OFF and Alarms..5-37 5.12.1 Stopping Method for Servo OFF ....... . 5-38 5.12.2 Servomotor Stopping Method for Alarms .
Page 28 Selecting Torque Limits ......6-26 6.7.1 Internal Torque Limits .........6-26 6.7.2 External Torque Limits .
Page 29 Trial Operation and Actual Operation Flow of Trial Operation ....... . 7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .
Page 30 Autotuning without Host Reference ..... 8-23 8.6.1 Outline ........... .8-23 8.6.2 Restrictions .
Page 31 8.13 Manual Tuning ........8-76 8.13.1 Tuning the Servo Gains .
Page 32 10.4 Monitoring an External Encoder..... . . 10-10 10.4.1 Option Module Required for Monitoring ......10-10 10.4.2 Related Parameters .
Page 33 12.5 Synchronization with Distributed Clocks ....12-8 12.6 Emergency Messages ......12-11 CiA402 Drive Profile 13.1 Device Control .
Page 34 14.5 Manufacturer-Specific Objects ..... . . 14-17 14.6 Device Control ........14-21 14.7 Profile Position Mode .
Page 35 Parameter and Object Lists 16.1 List of Parameters ........16-2 16.1.1 Interpreting the Parameter Lists .
Page 36 Basic Information on SERVOPACKs This chapter provides information required to select SERVOPACKs, such as SERVOPACK models and combi- nations with Servomotors. The Σ-7 Series ..... . . 1-2 Introduction to EtherCAT .
Page 37: The Σ-7 Series
1.1 The Σ-7 Series The Σ -7 Series The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed and high-precision positioning. The SERVOPACK will make the most of machine performance in the shortest time possible, thus contributing to improving productivity. These SERVOPACKs support ZONE outputs.
Page 38: Introduction To Ethercat
1.2 Introduction to EtherCAT 1.2.1 Introduction to CANopen Introduction to EtherCAT The CANopen over EtherCAT (CoE) Communications Reference SERVOPACKs implement the CiA 402 CANopen drive profile for EtherCAT communications (real-time Ethernet communica- tions). Basic position, speed, and torque control are supported along with synchronous position, speed, and torque control.
Page 39: Sending And Receiving Data In Ethercat (Coe) Communications
1.2 Introduction to EtherCAT 1.2.3 Sending and Receiving Data in EtherCAT (CoE) Communications 1.2.3 Sending and Receiving Data in EtherCAT (CoE) Commu- nications Objects are used to send and receive data in EtherCAT (CoE) communications. Reading and writing object data is performed in process data communications (PDO service), which transfers data cyclically, and in mailbox communications (SDO service), which transfers data non-cyclically.
Page 40: Data Types
1.2 Introduction to EtherCAT 1.2.5 Data Types Continued from previous page. Term Abbreviation Description The ESC unit that coordinates data exchange between the SyncManager – master and slaves. Receive Process Data Object RXPDO The process data received by the ESC. Transmit Process Data Object TXPDO The process data sent by the ESC.
Page 41: Interpreting The Nameplate
1.3 Interpreting the Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. SERVOPACK model Degree of protection Surrounding air temperature Order number Serial number...
Page 42: Part Names
1.4 Part Names Part Names Main circuit terminals With Front Cover Open DC power Motor terminals supply terminals Servomotor Control power supply terminals brake power supply terminals* Dynamic brake terminals Name Description Reference − −  Front Cover  Model The model of the SERVOPACK.
Page 43 1.4 Part Names Continued from previous page. Name Description Reference Serial Communications Con- Connects to the Digital Operator. page 4-41 nector (CN3) − Serial Number – DIP Switch (S3) Not used. page 5-12 EtherCAT secondary Use these switches to set the device ID and address. address (S1 and S2) −...
Page 44: Model Designations
1.5 Model Designations 1.5.1 Interpreting SERVOPACK Model Numbers Model Designations 1.5.1 Interpreting SERVOPACK Model Numbers SGD7S - 1R9 D A0 B 1st+2nd+3rd 5th+6th 8th+9th+10th 11th+12th+13th Σ-7-Series digit digit digits digits digits digits Σ-7S SERVOPACKs Maximum Applicable Hardware Options 1st+2nd+3rd digits 4th digit 8th+9th+10th digits Voltage...
Page 45: Interpreting Servomotor Model Numbers
1.5 Model Designations 1.5.2 Interpreting Servomotor Model Numbers 1.5.2 Interpreting Servomotor Model Numbers This section outlines the model numbers of Σ-7-series Servomotors. Refer to the relevant man- ual in the following list for details. Σ-7-Series Rotary Servomotor with 400 V-Input Power Product Manual (Manual No.: SIEP S800001 86) Σ-7-Series Linear Servomotor with 400 V-Input Power Product Manual (Manual No.: SIEP S800001 81) Rotary Servomotors - 02 D...
Page 46: Combinations Of Servopacks And Servomotors
1.6 Combinations of SERVOPACKs and Servomotors 1.6.1 Combinations of Rotary Servomotors and SERVOPACKs Combinations of SERVOPACKs and Servomotors 1.6.1 Combinations of Rotary Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGM7J Models SGM7J-02DF 200 W 1R9D (Medium Inertia, SGM7J-04DF 400 W High Speed),...
Page 47: Combinations Of Linear Servomotors And Servopacks
1.6 Combinations of SERVOPACKs and Servomotors 1.6.2 Combinations of Linear Servomotors and SERVOPACKs 1.6.2 Combinations of Linear Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Linear Servomotor Model Maximum Torque SGD7S- SGLFW-35D120A 1R9D SGLFW-35D230A 1R9D SGLFW-50D200B 3R5D SGLFW-50D380B 1200 5R4D SGLFW-1ZD200B SGLFW-1ZD380B 1120...
Page 48: Functions
1.7 Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the reference pages for details on the functions. • Functions Related to the Machine Function Reference Power Supply Type Settings for the Main Circuit page 5-12 and Control Circuit Automatic Detection of Connected Motor page 5-13 Motor Direction Setting...
Page 49 1.7 Functions Continued from previous page. Function Reference Speed Limit Detection (/VLT) Signal page 6-12 Encoder Divided Pulse Output page 6-18 Selecting Torque Limits page 6-26 Vibration Detection Level Initialization page 6-46 Alarm Reset page 15-39 Replacing the Battery page 15-3 Setting the Position Deviation Overflow Alarm page 8-8 Level...
Page 50: Selecting A Servopack
Selecting a SERVOPACK This chapter provides information required to select SERVOPACKs, such as specifications, block diagrams, dimensional drawings, and connection examples. Ratings and Specifications ... . . 2-2 2.1.1 Ratings ....... . 2-2 2.1.2 SERVOPACK Overload Protection Characteristics .
Page 51 2.1 Ratings and Specifications 2.1.1 Ratings Ratings and Specifications This section gives the ratings and specifications of SERVOPACKs. 2.1.1 Ratings Three-Phase, 400 VAC Model SGD7S- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 11.9 20.8...
Page 52: Ratings And Specifications
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.
Page 53: Specifications
2.1 Ratings and Specifications 2.1.3 Specifications 2.1.3 Specifications Item Specification Control Method IGBT-based PWM control, sine wave current drive With Rotary Serial encoder: 24 bits Servomotor (incremental encoder/absolute encoder) • Absolute linear encoder (The signal resolution depends on the abso- Feedback lute linear encoder.) With Linear...
Page 54 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification Phase A, phase B, phase C: Line-driver output Encoder Divided Pulse Output Number of divided output pulses: Any setting is allowed. Linear Servomotor Number of input points: 1 Overheat Protection Input voltage range: 0 V to +5 V Signal Input...
Page 55 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and one-digit Displays/Indicators seven-segment display EtherCAT Communications Setting EtherCAT secondary address (S1 and S2), 16 positions Switches Applicable Communi- IEC 61158 Type 12, IEC 61800-7 CiA402 Drive Profile cations Standards 100BASE-TX (IEEE 802.3)
Page 56 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules Output EDM1: Monitors the status of built-in safety circuit (fixed output). Safety Functions Applicable ISO13849-1 PLe (category 3), IEC61508 SIL3 Standards Applicable Option Modules Fully-closed Modules...
Page 57: Block Diagrams
2.2.1 SERVOPACKs without Built-in Servomotor Brake Control Block Diagrams This section provides a block diagram of the interior of the SERVOPACKs. 2.2.1 SERVOPACKs without Built-in Servomotor Brake Control SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D CN101 CN102 CN101 Servomotor Varistor ±12 V...
Page 58 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications CN6B Status display CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative.
Page 59 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications CN6B Status display CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative. 2-10...
Page 60: Servopacks With Built-In Servomotor Brake Control
2.2 Block Diagrams 2.2.2 SERVOPACKs with Built-in Servomotor Brake Control 2.2.2 SERVOPACKs with Built-in Servomotor Brake Control SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D B1 B2 B3 CN101 CN102 Servomotor CN101 ±12 V Varistor Main ＋ circuit − power ＋...
Page 61 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications CN6B Status display CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative. 2-12...
Page 62 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications Status display CN6B CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative. 2-13...
Page 63: External Dimensions
2.3 External Dimensions 2.3.1 Front Cover Dimensions and Connector Specifications External Dimensions 2.3.1 Front Cover Dimensions and Connector Specifications The front cover dimensions and panel connector section are the same for all models. Refer to the following figures and table. •...
Page 64 − None to -370D Weidmüller Interface CN201 BLF 5.08HC/04/180LR SN OR BX SO All models GmbH & Co. KG If using these terminals, contact your YASKAWA representative. Note: The above connectors or their equivalents are used for the SERVOPACKs. 2-15...
Page 65: Servopack External Dimensions
2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions 2.3.2 SERVOPACK External Dimensions Base-mounted SERVOPACKs • Three-Phase, 400 VAC: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, and -120D Ground terminal, M4 4×M5 Exterior 60±0.5 (mounting pitch) Mounting Hole Diagram Approx. mass: SGD7S-1R9D, -3R5D, or -5R4D: 3.4 kg SGD7S-8R4D or -120D: 3.7 kg...
Page 66: Servopack External Dimensions
2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-Phase, 400 VAC: SGD7S-210D and -260D Ground terminal, M4 4 × M5 80±0.5 (mounting pitch) Mounting Hole Diagram Approx. mass: 7.0 kg Unit: mm • Three-Phase, 400 VAC: SGD7S-280D and -370D Ground terminal, M4 4 ×...
Page 67: Examples Of Standard Connections Between Servopacks And Peripheral Devices
(Wires required for a Servomotor with a Brake) (Wires required for a Servomotor with a Brake) The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the holding brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power supplies, such as the one for the I/O signals of the CN1 connector.
Page 68 2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices • Linear Servomotors Power supply Three-phase, 400 VAC R S T Molded-case circuit breaker EtherCAT Communications Cable Noise Filter To next EtherCAT station Magnetic Contactor Host controller I/O Signal Cable AC/DC power supply...
Page 69: Servopack Installation
SERVOPACK Installation This chapter provides information on installing SERVO- PACKs in the required locations. Installation Precautions ....3-2 Mounting Types and Orientation ..3-3 Mounting Hole Dimensions .
Page 70: Installation Precautions
3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.3 Specifications on page 2-4  Installation Near Sources of Heat Implement measures to prevent temperature increases caused by radiant or convection heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions.
Page 71: Mounting Types And Orientation
3.2 Mounting Types and Orientation Mounting Types and Orientation The SERVOPACKs are based mounted. Mount the SERVOPACK vertically, as shown in the fol- lowing figures. Also, mount the SERVOPACK so that the front panel is facing toward the operator. Note: Prepare four mounting holes for the SERVOPACK and mount it securely in the mounting holes. (The number of mounting holes depends on the capacity of the SERVOPACK.) Base SERVOPACK...
Page 72: Mounting Hole Dimensions
3.3 Mounting Hole Dimensions Mounting Hole Dimensions Use mounting holes to securely mount the SERVOPACK to the mounting surface. Note: To mount the SERVOPACK, you will need to prepare a screwdriver that is longer than the depth of the SER- VOPACK.
Page 73: Mounting Interval
3.4 Mounting Interval 3.4.1 Installing One SERVOPACK in a Control Panel Mounting Interval 3.4.1 Installing One SERVOPACK in a Control Panel Provide the following spaces around the SERVOPACK. 120 mm min. 30 mm min. 30 mm min. 120 mm min.* For this dimension, ignore items protruding from the main body of the SERVOPACK.
Page 74: Monitoring The Installation Environment
3.5 Monitoring the Installation Environment Monitoring the Installation Environment You can use the SERVOPACK Installation Environment Monitor parameter to check the operat- ing conditions of the SERVOPACK in the installation environment. You can check the SERVOPACK installation environment monitor with either of the following methods.
Page 75: Emc Installation Conditions
The EMC installation conditions that are given here are the conditions that were used to pass testing criteria at Yaskawa. The EMC level may change under other conditions, such as the actual installation structure and wiring conditions. These Yaskawa products are designed to be built into equipment.
Page 76: Wiring And Connecting Servopacks
Wiring and Connecting SERVOPACKs This chapter provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices. Wiring and Connecting SERVOPACKs ..4-3 4.1.1 General Precautions ..... . 4-3 4.1.2 Countermeasures against Noise .
Page 77 Connecting Safety Function Signals ..4-35 4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . 4-35 4.6.2 I/O Circuits ......4-35 Connecting Dynamic Brake Resistors .
Page 78: Wiring And Connecting Servopacks
4.1 Wiring and Connecting SERVOPACKs 4.1.1 General Precautions Wiring and Connecting SERVOPACKs 4.1.1 General Precautions DANGER  Do not change any wiring while power is being supplied. There is a risk of electric shock or injury. WARNING  Wiring and inspections must be performed only by qualified engineers. There is a risk of electric shock or product failure.
Page 79 To ensure safe, stable application of the Servo System, observe the following precautions when wiring. • Use the Cables specified by Yaskawa. Design and arrange the system so that each cable is as short as possible. Refer to the catalog for information on the specified cables.
Page 80: Countermeasures Against Noise
4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise 4.1.2 Countermeasures against Noise The SERVOPACK is designed as an industrial device. It therefore provides no measures to pre- vent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral devices may be affected by switching noise.
Page 81 4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise Noise Filters You must attach Noise Filters in appropriate places to protect the SERVOPACK from the adverse effects of noise. The following is an example of wiring for countermeasures against noise. SERVOPACK Servomotor Noise Filter...
Page 82 4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise Noise Filter Wiring and Connection Precautions Always observe the following precautions when wiring or connecting Noise Filters. • Separate input lines from output lines. Do not place input lines and output lines in the same duct or bundle them together.
Page 83: Grounding
4.1 Wiring and Connecting SERVOPACKs 4.1.3 Grounding • If a Noise Filter is located inside a control panel, first connect the Noise Filter ground wire and the ground wires from other devices inside the control panel to the grounding plate for the control panel, then ground the plate.
Page 84: Basic Wiring Diagrams
4.2 Basic Wiring Diagrams Basic Wiring Diagrams This section provide the basic wiring diagrams. Refer to the reference sections given in the dia- grams for details. SERVOPACK CN115 Dynamic Brake Resistor terminals 4.7.2 Connecting a Dynamic Brake Resistor on page 4-37 CN102 Motor R S T...
Page 85 Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
Page 86: Wiring The Power Supply To The Servopack
4.3 Wiring the Power Supply to the SERVOPACK 4.3.1 Terminal Symbols and Terminal Names Wiring the Power Supply to the SERVOPACK 4.3.1 Terminal Symbols and Terminal Names Use the main circuit connector on the SERVOPACK to wire the main circuit power supply and control circuit power supply to the SERVOPACK.
Page 87 Use an SELV-compliant power supply according to EN/IEC 60950-1 to input 24 VDC to the control power sup- ply input terminals. If using these terminals, contact your YASKAWA representative. The SGD7S-210D, -260D, -280D, and -370D do not have the D1, D2, and D3 terminals.
Page 88: Connector Wiring Procedure
4.3 Wiring the Power Supply to the SERVOPACK 4.3.2 Connector Wiring Procedure 4.3.2 Connector Wiring Procedure • Required Items: Phillips or flat-blade screwdriver Screwdriver End SERVOPACK model Screwdriver Dimensions Wire Stripping Terminal Symbols SGD7S- Type Thickness × Width Length [mm] [mm] L1, L2, L3, B1, B2, B3, -1, -2 Flat-blade...
Page 89: Power On Sequence
4.3 Wiring the Power Supply to the SERVOPACK 4.3.3 Power ON Sequence 4.3.3 Power ON Sequence Consider the following points when you design the power ON sequence. • The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply is turned ON.
Page 90: Power Supply Wiring Diagrams
4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams 4.3.4 Power Supply Wiring Diagrams Using Only One SERVOPACK • Wiring Example for Three-Phase, 400-VAC Power Supply Input: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D R S T SERVOPACK 1FLT...
Page 91 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for DC Power Supply Input: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D R S T SERVOPACK 1FLT AC/DC 24 V AC/DC +24 V (For servo alarm...
Page 92 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams Using More Than One SERVOPACK Connect the ALM (Servo Alarm) output for these SERVOPACKs in series to operate the alarm detection relay (1RY). When a SERVOPACK alarm is activated, the ALM output signal transistor turns OFF. The following diagram shows the wiring to stop all of the Servomotors when there is an alarm for any one SERVOPACK.
Page 93: Wiring Regenerative Resistors
4.3 Wiring the Power Supply to the SERVOPACK 4.3.5 Wiring Regenerative Resistors 4.3.5 Wiring Regenerative Resistors This section describes how to connect External Regenerative Resistors. Refer to the catalog to select External Regenerative Resistors. WARNING  Be sure to wire Regenerative Resistors correctly. Do not connect B1/⊕ and B2. Doing so may result in fire or damage to the Regenerative Resistor or SERVOPACK.
Page 94: Wiring Servomotors
4.4 Wiring Servomotors 4.4.1 Terminal Symbols and Terminal Names Wiring Servomotors 4.4.1 Terminal Symbols and Terminal Names The SERVOPACK terminals or connectors that are required to connect the SERVOPACK to a Servomotor are given below. Terminal/Connector Terminal/Connector Name Remarks Symbols Refer to the following section for the wiring proce- U, V, and W Servomotor terminals...
Page 95: Wiring The Servopack To The Encoder
4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Absolute Encoder If you use an absolute encoder, use an Encoder Cable with a JUSP-BA01-E Battery Case or install a battery on the host controller. Refer to the following section for the battery replacement procedure.
Page 96: Wiring The Servopack To The Encoder
4.4.3 Wiring the SERVOPACK to the Encoder • When Installing a Battery on the Encoder Cable Use the Encoder Cable with a Battery Case that is specified by Yaskawa. Refer to the catalog for details. • When Installing a Battery on the Host Controller Important Insert a diode near the battery to prevent reverse current flow.
Page 97 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Absolute Linear Encoder The wiring depends on the manufacturer of the linear encoder.  Connections to Linear Encoder from Mitutoyo Corporation Absolute linear encoder from Mitutoyo Corporation SERVOPACK PG5V PG0V...
Page 98 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Incremental Linear Encoder The wiring depends on the manufacturer of the linear encoder.  Connections to Linear Encoder from Heidenhain Corporation Linear encoder from Heidenhain Corporation Serial Converter Unit SERVOPACK /COS /SIN...
Page 99 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Linear Encoder from Magnescale Co., Ltd. If you use a linear encoder from Magnescale Co., Ltd., the wiring will depend on the model of the linear encoder. ...
Page 100: Wiring The Servopack To The Holding Brake
4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake  SL700, SL710, SL720, and SL730 • MJ620-T13 Interpolator Linear encoder Interpolator SERVOPACK Head Cable from Magnescale Co., Ltd. 12, 14, 16 PG0V +5 V Connector Connector External power supply shell shell Shield...
Page 101 4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake SERVOPACKs without Built-in Servomotor Brake Control A wiring example for SERVOPACKs without built-in Servomotor brake control is provided below. Servomotor with a SERVOPACK Holding Brake Power supply 24 V AC/DC +24 V BK-RY...
Page 102 4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake SERVOPACKs with Built-in Servomotor Brake Control SERVOPACKs with built-in brake control contain a brake relay. The wiring is different because of the built-in brake relays. The following figure shows a wiring example.
Page 103: Connecting I/O Signals
Sequence Input Signal Allowable voltage range: 24 VDC ±20% − +24VIN Power Supply Input The 24-VDC power supply is not provided by Yaskawa. Battery for Absolute These are the pins to connect the abso- BAT+ Encoder (+) lute encoder backup battery.
Page 104 4.5 Connecting I/O Signals 4.5.1 I/O Signal Connector (CN1) Names and Functions Output Signals Default settings are given in parentheses. Signal Pin No. Name Function Reference ALM+ Servo Alarm Output Turns OFF (opens) when an error is detected. page 6-7 ALM- /SO1+ You can allocate the output signal to use with...
Page 105: I/O Signal Connector (Cn1) Pin Arrangement
4.5 Connecting I/O Signals 4.5.2 I/O Signal Connector (CN1) Pin Arrangement 4.5.2 I/O Signal Connector (CN1) Pin Arrangement The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings. Signal Specification Signal Specification Battery for absolute General-purpose...
Page 106: I/O Signal Wiring Examples
Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
Page 107 /PCO Phase C represents twisted-pair wires. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Always use line receivers to receive the output signals. Note: 1. You can use parameters to change the functions allocated to the /SI0, /SI3, P-OT, N-OT, /Probe1, /Probe2, and /Home input signals and the /SO1, /SO2, /SO3, /SO4, and /SO5 output signals.
Page 108: I/O Circuits
4.5 Connecting I/O Signals 4.5.4 I/O Circuits 4.5.4 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 6 to 13. Examples for Relay Circuits Examples for Open-Collector Circuits SERVOPACK SERVOPACK Ω Ω 4.7 k 4.7 k 24 VDC 24 VDC...
Page 109 4.5 Connecting I/O Signals 4.5.4 I/O Circuits Sequence Output Circuits Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail- ures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. Important This could damage the machine or cause an accident that may result in death or injury.
Page 110: Connecting Safety Function Signals
4.6 Connecting Safety Function Signals 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Connecting Safety Function Signals This section describes the wiring required to use a safety function. Refer to the following chapter for details on the safety function. Chapter 11 Safety Functions 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Pin No.
Page 111 4.6 Connecting Safety Function Signals 4.6.2 I/O Circuits  Input (HWBB) Signal Specifications Connector Type Signal Status Meaning Pin No. ON (closed) Does not activate the HWBB (normal operation). CN8-4 /HWBB1 Activates the HWBB (motor current shut-OFF CN8-3 OFF (open) request).
Page 112: Connecting Dynamic Brake Resistors
There is a risk of SERVOPACK failure or fire if incorrect wiring is performed. SERVOPACK Terminal Terminal Name Specification Model Symbols SGD7S-1R9D, -3R5D, -5R4D, Dynamic Brake Resis- These terminals are connected to an External D1, D2 -8R4D, -120D, tor terminals Dynamic Brake Resistor.
Page 113 4.7 Connecting Dynamic Brake Resistors 4.7.2 Connecting a Dynamic Brake Resistor Remove the sheath from the wire to connect. 7 mm Open the wire insertion hole on the terminal connector with the screwdriver. Insert the conductor of the wire into the wire insertion hole. After you insert the conductor, remove the screwdriver.
Page 114: Connecting Ethercat Communications Cables
4.8 Connecting EtherCAT Communications Cables 4.8.1 EtherCAT Connectors (RJ45) Connecting EtherCAT Communications Cables Connect the EtherCAT Communications Cables to the CN6A and CN6B connectors. EtherCAT Controller Note: The length of the cable between stations (L1, L2, ... Ln) must be 50 m or less. 4.8.1 EtherCAT Connectors (RJ45) Connector...
Page 115: Ethernet Communications Cables
4.8 Connecting EtherCAT Communications Cables 4.8.2 Ethernet Communications Cables 4.8.2 Ethernet Communications Cables Use category 5e Ethernet communications cables to make the connections. Use cables with the following specifications. Shielded: S/STP or S/UTP Length: 50 m max. (between nodes) The following cable is recommended. Manufacturer Model Beckhoff...
Page 116: Connecting The Other Connectors
Refer to the following manual for the operating procedures for the SigmaWin+. AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Use the Cable specified by Yaskawa for the Computer Cable. Operation may not be dependable with any other cable.
Page 117 Basic Functions That Require Setting before Operation This chapter describes the basic functions that must be set before you start Servo System operation. It also describes the setting methods. Manipulating SERVOPACK Parameters (Pn) . . 5-3 5.1.1 Classifications of SERVOPACK Parameters ..5-3 5.1.2 Notation for SERVOPACK Parameters .
Page 118 5.10 Overtravel and Related Settings ..5-26 5.10.1 Overtravel Signals ..... . .5-26 5.10.2 Setting to Enable/Disable Overtravel .
Page 119: Manipulating Servopack Parameters (Pn)
5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.1 Classifications of SERVOPACK Parameters Manipulating SERVOPACK Parameters (Pn) This section describes the classifications, notation, and setting methods for the SERVOPACK parameters given in this manual. 5.1.1 Classifications of SERVOPACK Parameters There are the following two types of SERVOPACK parameters. Classification Meaning Parameters for the basic settings that are...
Page 120 5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.2 Notation for SERVOPACK Parameters Tuning Parameters Normally the user does not need to set the tuning parameters individually. Use the various SigmaWin+ tuning functions to set the related tuning parameters to increase the response even further for the conditions of your machine. Refer to the following sections for details. 8.6 Autotuning without Host Reference on page 8-23 8.7 Autotuning with a Host Reference on page 8-34 8.8 Custom Tuning on page 8-41...
Page 121: Setting Methods For Servopack Parameters
5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.3 Setting Methods for SERVOPACK Parameters 5.1.3 Setting Methods for SERVOPACK Parameters You can use the SigmaWin+ or a Digital Operator to set the SERVOPACK parameters. A sample operating procedure is given below. Setting SERVOPACK Parameters with the SigmaWin+ Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+.
Page 122 5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.3 Setting Methods for SERVOPACK Parameters Select Edited Parameters in the Write to Servo Group. The edited parameters are written to the SERVOPACK and the backgrounds of the cells change to white. Click the OK Button. To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.
Page 123: Write Prohibition Setting For Servopack Parameters
5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.4 Write Prohibition Setting for SERVOPACK Parameters 5.1.4 Write Prohibition Setting for SERVOPACK Parameters You can prohibit writing SERVOPACK parameters from a Digital Operator. Even if you do, you will still be able to change SERVOPACK parameter settings from the SigmaWin+ or with Ether- CAT (CoE) communications.
Page 124 5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.4 Write Prohibition Setting for SERVOPACK Parameters Click the OK Button. The setting will be written to the SERVOPACK. To enable the new setting, turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to prohibit or permit writing parameter settings.
Page 125 5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.4 Write Prohibition Setting for SERVOPACK Parameters Restrictions If you prohibit writing parameter settings, you will no longer be able to execute some functions. Refer to the following table. SigmaWin+ Digital Operator When Writ- Button in ing Is Pro- Reference SigmaWin+ Function...
Page 126: Initializing Servopack Parameter Settings
5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.5 Initializing SERVOPACK Parameter Settings Continued from previous page. SigmaWin+ Digital Operator When Writ- Button in ing Is Pro- Reference SigmaWin+ Function Menu Fn No. Utility Function Name hibited Name Dialog Box Can be Fn011 Display Servomotor Model executed.
Page 127 5.1 Manipulating SERVOPACK Parameters (Pn) 5.1.5 Initializing SERVOPACK Parameter Settings Operating Procedure Use the following procedure to initialize the parameter settings. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Edit Parameters in the Menu Dialog Box. The Parameter Editing Dialog Box will be displayed.
Page 128: Power Supply Type Settings For The Main Circuit
5.2 Power Supply Type Settings for the Main Circuit Power Supply Type Settings for the Main Circuit A SERVOPACK can operate on either an AC power supply input or DC power supply input to the main circuits. This section describes the settings related to the power supply. Set Pn001 = n.X...
Page 129: Automatic Detection Of Connected Motor
5.3 Automatic Detection of Connected Motor Automatic Detection of Connected Motor You can use a SERVOPACK to operate either a Rotary Servomotor or a Linear Servomotor. If you connect the Servomotor encoder to the CN2 connector on the SERVOPACK, the SER- VOPACK will automatically determine which type of Servomotor is connected.
Page 130: Motor Direction Setting
5.4 Motor Direction Setting Motor Direction Setting You can reverse the direction of Servomotor rotation by changing the setting of Pn000 = n.X (Direction Selection) without changing the polarity of the speed or position reference. This causes the rotation direction of the motor to change, but the polarity of the signals, such as encoder output pulses, output from the SERVOPACK do not change.
Page 131: Setting The Linear Encoder Pitch
5.5 Setting the Linear Encoder Pitch Setting the Linear Encoder Pitch If you connect a linear encoder to the SERVOPACK through a Serial Converter Unit, you must set the scale pitch of the linear encoder in Pn282. If a Serial Converter Unit is not connected, you do not need to set Pn282. Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK.
Page 132: Writing Linear Servomotor Parameters
5.6 Writing Linear Servomotor Parameters Writing Linear Servomotor Parameters If you connect a linear encoder to the SERVOPACK without going through a Serial Converter Unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder. The motor parameters contain the information that is required by the SERVOPACK to operate the Linear Servomotor.
Page 133 5.6 Writing Linear Servomotor Parameters Operating Procedure Use the following procedure to write the motor parameters to the linear encoder. Prepare the motor parameter file to write to the linear encoder. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
Page 134 5.6 Writing Linear Servomotor Parameters Confirm that the motor parameter file information that is displayed is suitable for your motor, and then click the Next Button. Displays an exterior view of the motor. Click the image to enlarge it. Click the Cancel Button to cancel writing the motor parameters to the linear encoder. The Main Win- dow will return.
Page 135 5.6 Writing Linear Servomotor Parameters Click the Yes Button. Click the No Button to cancel writing the motor parameters to the linear encoder. If you click the Yes Button, writing the motor parameter scale will start. Click the Complete Button. Click the OK Button.
Page 136: Selecting The Phase Sequence For A Linear Servomotor
5.7 Selecting the Phase Sequence for a Linear Servomotor Selecting the Phase Sequence for a Linear Servomotor You must select the phase sequence of the Linear Servomotor so that the forward direction of the Linear Servomotor is the same as the encoder’s count-up direction. Before you set the Linear Servomotor phase sequence (Pn080 = n.X), check the follow- ing items.
Page 137 5.7 Selecting the Phase Sequence for a Linear Servomotor If the correct value is not displayed for the feedback pulse counter, the following condi- Information tions may exist. Check the situation and correct any problems. • The linear encoder pitch is not correct. If the scale pitch that is set in Pn282 does not agree with the actual scale pitch, the expected number of feedback pulses will not be returned.
Page 138: Polarity Sensor Setting
5.8 Polarity Sensor Setting Polarity Sensor Setting The polarity sensor detects the polarity of the Servomotor. You must set a parameter to specify whether the Linear Servomotor that is connected to the SERVOPACK has a polarity sensor. Specify whether there is a polarity sensor in Pn080 = n.X (Polarity Sensor Selection). If the Linear Servomotor has a polarity sensor, set Pn080 to n.0 (Use polarity sensor) (default setting).
Page 139: Polarity Detection
5.9 Polarity Detection 5.9.1 Restrictions Polarity Detection If you use a Linear Servomotor that does not have a polarity sensor, then you must detect the polarity. Detecting the polarity means that the position of the electrical phase angle on the electrical angle coordinates of the Servomotor is detected.
Page 140: Using The Servo On Command (Enable Operation Command) To Perform Polarity Detection
5.9 Polarity Detection 5.9.2 Using the Servo ON Command (Enable Operation Command) to Perform Polarity Detection • The parameters must not be write prohibited. (This item applies only when using the Sig- maWin+ or Digital Operator.) • The test without a motor function must be disabled (Pn00C = n.0). •...
Page 141: Using A Tool Function To Perform Polarity Detection
5.9 Polarity Detection 5.9.3 Using a Tool Function to Perform Polarity Detection 5.9.3 Using a Tool Function to Perform Polarity Detection Applicable Tools The following table lists the tools that you can use to perform polarity detection and the appli- cable tool functions.
Page 142: Overtravel And Related Settings
5.10 Overtravel and Related Settings 5.10.1 Overtravel Signals 5.10 Overtravel and Related Settings Overtravel is a function of the SERVOPACK that forces the Servomotor to stop in response to a signal input from a limit switch that is activated when a moving part of the machine exceeds the safe range of movement.
Page 143: Setting To Enable/Disable Overtravel
5.10 Overtravel and Related Settings 5.10.2 Setting to Enable/Disable Overtravel 5.10.2 Setting to Enable/Disable Overtravel You can use Pn50A = n.X (P-OT (Forward Drive Prohibit) Signal Allocation) and Pn50B = n.X (N-OT (Reverse Drive Prohibit) Signal Allocation) to enable and disable the overtravel function.
Page 144 5.10 Overtravel and Related Settings 5.10.3 Motor Stopping Method for Overtravel Stopping the Servomotor by Setting Emergency Stop Torque To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop Torque). If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the torque set in Pn406 as the maximum torque.
Page 145: Overtravel Warnings
5.10 Overtravel and Related Settings 5.10.4 Overtravel Warnings 5.10.4 Overtravel Warnings You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the servo is ON. This allows the SERVOPACK to notify the host controller with a warning even when the overtravel signal is input only momentarily.
Page 146: Overtravel Release Method Selection
5.10 Overtravel and Related Settings 5.10.5 Overtravel Release Method Selection 5.10.5 Overtravel Release Method Selection You can set Pn022 = n.X (Overtravel Release Method Selection) to release overtravel. Internal limit active (bit 11) in statusword changes to 1 during overtravel. The motor will not be driven if there is overtravel in the same direction as the reference.
Page 147: Overtravel Status
5.10 Overtravel and Related Settings 5.10.6 Overtravel Status 5.10.6 Overtravel Status If an overtravel signal is input, the following SERVOPACK status will change to 1 and the Servo- motor will be stopped according to the overtravel stopping method set in Pn001. When the overtravel signal is reset, the status changes to 0.
Page 148: Holding Brake
5.11 Holding Brake 5.11.1 Brake Operating Sequence 5.11 Holding Brake A holding brake is used to hold the position of the moving part of the machine when the SER- VOPACK is turned OFF so that moving part does not move due to gravity or an external force. You can use the brake that is built into a Servomotor with a Brake, or you can provide one on the machine.
Page 149: Bk (Brake) Signal
5.11 Holding Brake 5.11.2 /BK (Brake) Signal Time Required to Time Required to Model Voltage Release Brake [ms] Brake [ms] SGM7J-02, -04 SGM7J-08, -15 SGM7A-02, -04 SGM7A-08, -10 24 VDC SGM7A-15 to -25 SGM7A-30 to -50 SGM7G-05 to -20 SGM7G-30, -44 Linear Servomotors: The brake delay times depend on the brake that you use.
Page 150: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped
5.11 Holding Brake 5.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped Allocating the /BK (Brake) Signal Set the allocation for the /BK signal in Pn50F = n.X (/BK (Brake Output) Signal Alloca- tion). Connector Pin No. When Parameter Meaning...
Page 151: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Operating
5.11 Holding Brake 5.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating 5.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating If an alarm occurs while the Servomotor is operating, the Servomotor will start stopping and the /BK signal will be turned OFF.
Page 152: Built-In Brake Relay Usage Selection
5.11 Holding Brake 5.11.5 Built-in Brake Relay Usage Selection • When the Time Set In Pn508 Elapses after the Power Supply to the Motor Is Stopped Controlword Enable Disable (6040 hex), alarm, Operation Operation or power OFF Rotary Servomotor: Pn507 Linear Servomotor: Pn583 Motor speed Motor stopped with dynamic...
Page 153: Motor Stopping Methods For Servo Off And Alarms
• If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor stopping method depends on the SERVOPACK model as shown in the following table. Servomotor Stopping Method SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, or -170D Condition Built-in or External Dynamic Brake Resistor Not connected...
Page 154: Stopping Method For Servo Off
5.12 Motor Stopping Methods for Servo OFF and Alarms 5.12.1 Stopping Method for Servo OFF 5.12.1 Stopping Method for Servo OFF Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method). To use the dynamic brake to stop the motor, set Pn001 to n.0 or n.1.
Page 155 5.12 Motor Stopping Methods for Servo OFF and Alarms 5.12.2 Servomotor Stopping Method for Alarms Parameter Status after Servomotor When Servomotor Classification Pn00B Pn00A Pn001 Stopping Method Enabled Stops (200B hex) (200A hex) (2001 hex)  Dynamic   brake (default setting) Zero-speed stop- (default –...
Page 156: Motor Overload Detection Level
5.13 Motor Overload Detection Level 5.13.1 Detection Timing for Overload Warnings (A.910) 5.13 Motor Overload Detection Level The motor overload detection level is the threshold used to detect overload alarms and over- load warnings when the Servomotor is subjected to a continuous load that exceeds the Servo- motor ratings.
Page 157: Detection Timing For Overload Alarms (A.720)
5.13 Motor Overload Detection Level 5.13.2 Detection Timing for Overload Alarms (A.720) 5.13.2 Detection Timing for Overload Alarms (A.720) If Servomotor heat dissipation is insufficient (e.g., if the heat sink is too small), you can lower the overload alarm detection level to help prevent overheating. To reduce the overload alarm detection level, change the setting of Pn52C (Base Current Der- ating at Motor Overload Detection).
Page 158: Setting Unit Systems
5.14 Setting Unit Systems 5.14.1 Setting the Position Reference Unit 5.14 Setting Unit Systems You can set the SERVOPACK reference units with EtherCAT (CoE) communications. You can set the following four reference units with EtherCAT communications. • Position reference unit •...
Page 159 5.14 Setting Unit Systems 5.14.1 Setting the Position Reference Unit When the Electronic Gear Is Not Used When the Electronic Gear Is Used To move a workpiece 10 mm: If you use reference units to  Calculate the number of revolutions. move the workpiece when one reference unit is set to 1 μm, The motor will move 6 mm for each revolution,...
Page 160 5.14 Setting Unit Systems 5.14.1 Setting the Position Reference Unit  Linear Servomotors You can calculate the settings for the electronic gear ratio with the following equation: When Not Using a Serial Converter Unit Use the following formula if the linear encoder and SERVOPACK are connected directly or if a linear encoder that does not require a Serial Converter Unit is used.
Page 161 5.14 Setting Unit Systems 5.14.1 Setting the Position Reference Unit Continued from previous page. Linear Type of Model of Serial Con- Manufac- Linear Encoder Encoder Linear verter Unit or Model of Resolution Resolution turer Model Pitch Encoder Interpolator [μm] 0.005 μm LIC4100 Series 20.48 4,096...
Page 162 5.14 Setting Unit Systems 5.14.1 Setting the Position Reference Unit Electronic Gear Ratio Setting Examples Setting examples are provided in this section. • Rotary Servomotors Machine Configuration Ball Screw Rotary Table Belt and Pulley Reference unit: 0.005 mm Reference unit: 0.01° Reference unit: 0.001 mm Load shaft Step...
Page 163: Setting The Speed Reference Unit
5.14 Setting Unit Systems 5.14.2 Setting the Speed Reference Unit 5.14.2 Setting the Speed Reference Unit Set the speed reference unit [Vel Unit] in velocity user unit (2702 hex). For a Rotary Servomotor with an encoder resolution of 24 bits (16,777,216), Pn20E (Electronic Gear Ratio (Numerator)) is automatically set to 16 and Pn210 (Electronic Gear Ratio (Denomina- tor)) is automatically set to 1.
Page 164 5.14 Setting Unit Systems 5.14.3 Setting the Acceleration Reference Unit 5.14.3 Setting the Acceleration Reference Unit Set the acceleration reference unit [Acc Unit] in acceleration user unit (2703 hex). For a Rotary Servomotor with an encoder resolution of 24 bits (16,777,216), Pn20E (Electronic Gear Ratio (Numerator)) is automatically set to 16 and Pn210 (Electronic Gear Ratio (Denomina- tor)) is automatically set to 1.
Page 165: Resetting The Absolute Encoder
5.15 Resetting the Absolute Encoder 5.15.1 Precautions on Resetting 5.15 Resetting the Absolute Encoder In a system that uses an absolute encoder, the multiturn data must be reset at startup. An alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder must be reset, such as when the power supply is turned ON.
Page 166: Operating Procedure
5.15 Resetting the Absolute Encoder 5.15.3 Operating Procedure 5.15.3 Operating Procedure Use the following procedure to reset the absolute encoder. Confirm that the servo is OFF. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Absolute Encoder Reset in the Menu Dialog Box.
Page 167 5.15 Resetting the Absolute Encoder 5.15.3 Operating Procedure Click the OK Button. The absolute encoder will be reset. When Resetting Fails If you attempted to reset the absolute encoder when the servo was ON in the SERVOPACK, the fol- lowing dialog box will be displayed and processing will be canceled. Click the OK Button.
Page 168: Setting The Origin Of The Absolute Encoder
5.16 Setting the Origin of the Absolute Encoder 5.16.1 Absolute Encoder Origin Offset 5.16 Setting the Origin of the Absolute Encoder 5.16.1 Absolute Encoder Origin Offset The origin offset of the absolute encoder is a correction that is used to set the origin of the machine coordinate system in addition to the origin of the absolute encoder.
Page 169 5.16 Setting the Origin of the Absolute Encoder 5.16.2 Setting the Origin of the Absolute Linear Encoder Applicable Tools The following table lists the tools that you can use to set the origin of the absolute linear encoder and the applicable tool functions. Tool Function Reference...
Page 170 5.16 Setting the Origin of the Absolute Encoder 5.16.2 Setting the Origin of the Absolute Linear Encoder Click the Continue Button. Click the Cancel Button to cancel setting the origin of the absolute linear encoder. The previous dia- log box will return. Click the OK Button.
Page 171: Setting The Regenerative Resistor Capacity
20% = 20 W). Note: 1. An A.320 alarm will be displayed if the setting is not suitable. 2. The default setting of 0 specifies that the SERVOPACK’s built-in regenerative resistor or Yaskawa’s Regen- erative Resistor Unit is being used.
Page 172: Setting The Energy Consumption And Resistance Of The Dynamic Brake Resistor
5.18 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor 5.18 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor If an External Dynamic Brake Resistor is connected, you must set Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance). 　...
Page 173: Application Functions
Application Functions This chapter describes the application functions that you can set before you start Servo System operation. It also describes the setting methods. I/O Signal Allocations ....6-4 6.1.1 Input Signal Allocations .
Page 174 Absolute Encoders ....6-31 6.8.1 Connecting an Absolute Encoder ... .6-31 6.8.2 Structure of the Position Data of the Absolute Encoder .
Page 175 6.14 ZONE Outputs (FT64 Specification) ..6-58 6.14.1 ZONE Table and ZONE Signals ... . . 6-58 6.14.2 ZONE Table Settings ..... 6-59 6.14.3 ZONE Signals 1 to 4 Outputs (/ZONE0 to /ZONE3) .
Page 176: I/O Signal Allocations
6.1 I/O Signal Allocations 6.1.1 Input Signal Allocations I/O Signal Allocations Functions are allocated to the pins on the I/O signal connector (CN1) in advance. You can change the allocations and the polarity for some of the connector pins. Function allocations and polarity settings are made with parameters.
Page 177: Output Signal Allocations
6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations Continued from previous page. Parameter Pin No. Description Setting +24 V A reverse signal (a signal with “/” before the signal abbreviation, such as the / P-CL signal) is active when the contacts are OFF (open). A signal that does not have “/”...
Page 178 6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations Interpreting the Output Signal Allocation Tables These columns give the parameter settings to use. Signals are allocated to CN1 pins according to the settings. Output Signal Name CN1 Pin No. Disabled Output Signals and Parameter (Not Used) 23 and 24 25 and 26...
Page 179: Alm (Servo Alarm) Signal
6.1 I/O Signal Allocations 6.1.3 ALM (Servo Alarm) Signal Example of Changing Output Signal Allocations The following example shows disabling the /COIN (Positioning Completion) signal allocated to CN1-25 and CN1-26 and allocating the /SRDY (Servo Ready) signal.  Pn50E = n.0 Before change ↓...
Page 180: Tgon (Rotation Detection) Signal
6.1 I/O Signal Allocations 6.1.5 /TGON (Rotation Detection) Signal 6.1.5 /TGON (Rotation Detection) Signal The /TGON signal indicates that the Servomotor is operating. This signal is output when the shaft of the Servomotor rotates at the setting of Pn502 (Rotation Detection Level) or faster or the setting of Pn581 (Zero Speed Level) or faster.
Page 181: V-Cmp (Speed Coincidence Detection) Signal
6.1 I/O Signal Allocations 6.1.7 /V-CMP (Speed Coincidence Detection) Signal Type Signal Connector Pin No. Signal Status Meaning Ready to receive Servo ON command (Enable ON (closed) Operation command). Output /S-RDY Must be allocated. Not ready to receive Servo ON command OFF (open) (Enable Operation command).
Page 182: Coin (Positioning Completion) Signal
6.1 I/O Signal Allocations 6.1.8 /COIN (Positioning Completion) Signal If Pn582 is set to 100 and the speed reference is 2,000 mm/s the signal would be output Example when the motor speed is between 1,900 and 2,100 mm/s. Motor speed Pn582 Speed reference The /V-CMP signal is output when the motor speed is in...
Page 183: Near (Near) Signal
6.1 I/O Signal Allocations 6.1.9 /NEAR (Near) Signal Setting the Output Timing of the /COIN (Positioning Com- pletion Output) Signal You can add a reference input condition to the output conditions for the /COIN signal to change the signal output timing. If the position deviation is always low and a narrow positioning completed width is used, change the setting of Pn207 = n.X...
Page 184: Speed Limit During Torque Control
6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control /NEAR (Near) Signal Setting You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer- ence position and the current position (i.e., the position deviation as given by the value of the deviation counter) is equal to or less than the setting of the near signal width (Pn524).
Page 185 6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control Selecting the Speed Limit You set the speed limit to use in Pn002 = n.X (Torque Control Option). If you set Pn.002 to n.1 (Use V-REF as an external speed limit input), the smaller of the external speed limit and the internal speed limit will be used.
Page 186: Operation For Momentary Power Interruptions
6.2 Operation for Momentary Power Interruptions Operation for Momentary Power Interruptions Even if the main power supply to the SERVOPACK is interrupted momentarily, power supply to the motor (servo ON status) will be maintained for the time set in Pn509 (Momentary Power Interruption Hold Time).
Page 187: Semi F47 Function
6.3 SEMI F47 Function SEMI F47 Function The SEMI F47 function detects an A.971 warning (Undervoltage) and limits the output current if the DC main circuit power supply voltage to the SERVOPACK drops to a specified value or lower because the power was momentarily interrupted or the main circuit power supply voltage was temporarily reduced.
Page 188 6.3 SEMI F47 Function Setting for A.971 Warnings (Undervoltage) You can set whether or not to detect A.971 warnings (Undervoltage). Parameter Meaning When Enabled Classification n.0 Do not detect undervoltage warning. (default setting) Detect undervoltage warning and limit   Pn008 torque at host controller.
Page 189: Setting The Motor Maximum Speed
6.4 Setting the Motor Maximum Speed Setting the Motor Maximum Speed You can set the maximum speed of the Servomotor with the following parameter. • Rotary Servomotors Speed Position Torque Maximum Motor Speed Pn316 Setting Range Setting Unit Default Setting When Enabled Classification (2316...
Page 190: Encoder Divided Pulse Output
6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Encoder Divided Pulse Output The encoder divided 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 signals (phases A and B) with a 90°...
Page 191 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Output Phase Forms Forward rotation or movement Reverse rotation or movement (phase B leads by 90°) (phase A leads by 90°) 90° 90° Phase A Phase A Phase B Phase B Phase C Phase C...
Page 192 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Passing the First Origin Signal (Ref) in the Reverse Direction and Returning after Turning ON the Power Supply Machine position (forward) No origin signal (Ref) is output by the incremental linear encoder.
Page 193 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Note: The count direction (up or down) of the linear encoder determines whether a phase-C pulse is output. The output of the pulse does not depend on the setting of the movement direction (Pn000 = n.1). Encoder Model Interpolator Linear Encoder Pitch [μm]...
Page 194 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi- tion in the Forward Direction and Returning after Turning ON the Power Supply The encoder’s phase-C pulse is output when the origin detection position is passed for the first time in the forward direction after the power supply is turned ON.
Page 195: Setting For The Encoder Divided Pulse Output
6.5 Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output This section describes the setting for the encoder divided pulse output for a Rotary Servomotor or Linear Servomotor. Encoder Divided Pulse Output When Using a Rotary Servomotor If you will use a Rotary Servomotor, set the number of encoder output pulses (Pn212).
Page 196: Setting For The Encoder Divided Pulse Output
6.5 Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output Encoder Divided Pulse Output When Using a Linear Servomotor If you will use a Linear Servomotor, set the encoder output resolution (Pn281). Speed Position Force Encoder Output Resolution Pn281 (2281 Setting Range...
Page 197: Software Limits
6.6 Software Limits Software Limits You can set limits in the software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel. Refer to the following section for details on this function.
Page 198: Selecting Torque Limits
6.7 Selecting Torque Limits 6.7.1 Internal Torque Limits Selecting Torque Limits You can limit the torque that is output by the Servomotor. There are four different ways to limit the torque. These are described in the following table. Limit Method Outline Control Method Reference...
Page 199: External Torque Limits
6.7 Selecting Torque Limits 6.7.2 External Torque Limits • Linear Servomotors Speed Position Force Forward Force Limit Pn483 (2483 Setting Range Setting Unit Default Setting When Enabled Classification hex) 0 to 800 Immediately Setup Speed Position Force Reverse Force Limit Pn484 (2484 Setting Range...
Page 200 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Setting the Torque Limits The parameters that are related to setting the torque limits are given below. • Rotary Servomotors If the setting of Pn402 (Forward Torque Limit), Pn403 (Reverse Torque Limit), Pn404 (Forward External Torque Limit), or Pn405 (Reverse External Torque Limit) is too low, the torque may be insufficient for acceleration or deceleration of the Servomotor.
Page 201 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Changes in the Output Torque for External Torque Limits The following table shows the changes in the output torque when the internal torque limit is set to 800%. • Rotary Servomotors It is assumed that counterclockwise is set as the forward direction of motor rotation (Pn000 = n.0).
Page 202: Clt (Torque Limit Detection) Signal
6.7 Selecting Torque Limits 6.7.3 /CLT (Torque Limit Detection) Signal 6.7.3 /CLT (Torque Limit Detection) Signal This section describes the /CLT signal, which indicates the status of limiting the motor output torque. Type Signal Connector Pin No. Signal Status Meaning The motor output torque is being ON (closed) limited.
Page 203: Absolute Encoders
6.8 Absolute Encoders 6.8.1 Connecting an Absolute Encoder Absolute Encoders The absolute encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute encoder, the host controller can monitor the current position. Therefore, it is not necessary to perform an origin return operation when the power supply to the sys- tem is turned ON.
Page 204: Structure Of The Position Data Of The Absolute Encoder
6.8 Absolute Encoders 6.8.2 Structure of the Position Data of the Absolute Encoder 6.8.2 Structure of the Position Data of the Absolute Encoder The position data of the absolute encoder is the position coordinate from the origin of the absolute encoder.
Page 205: Reading The Position Data From The Absolute Encoder
6.8 Absolute Encoders 6.8.4 Reading the Position Data from the Absolute Encoder 6.8.4 Reading the Position Data from the Absolute Encoder The sequence to read the position data from the absolute encoder of a Rotary Servomotor is given below. The multiturn data is sent according to the transmission specifications. The position of the absolute encoder within one rotation is output as a pulse train.
Page 206: Transmission Specifications
6.8 Absolute Encoders 6.8.5 Transmission Specifications 6.8.5 Transmission Specifications The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal are given in the following table. The PAO signal sends only the multiturn data. Refer to the following section for the timing of sending the position data from the absolute encoder. 6.8.4 on page 6-33 Reading the Position Data from the Absolute Encoder...
Page 207: Calculating The Current Position In Machine Coordinates
6.8 Absolute Encoders 6.8.6 Calculating the Current Position in Machine Coordinates 6.8.6 Calculating the Current Position in Machine Coordinates When you reset the absolute encoder, the reset position becomes the reference position. The host controller reads the coordinate Ps from the origin of the encoder coordinate system. The host controller must record the value of coordinate Ps.
Page 208: Multiturn Limit Setting
6.8 Absolute Encoders 6.8.7 Multiturn Limit Setting 6.8.7 Multiturn Limit Setting The multiturn limit is used in position control for a turntable or other rotating body. For example, consider a machine that moves the turntable shown in the following diagram in only one direction.
Page 209: Multiturn Limit Disagreement Alarm (A.cc0)
6.8 Absolute Encoders 6.8.8 Multiturn Limit Disagreement Alarm (A.CC0) Default Setting Not Default Setting +32,767 Setting of Pn205 Reverse Reverse Forward Forward Multiturn data Multiturn data Number of Number of rotations rotations -32,768 When the encoder is set to be used as a single-turn absolute encoder (Pn002 = n.2), Information the multiturn data will always be zero.
Page 210 6.8 Absolute Encoders 6.8.8 Multiturn Limit Disagreement Alarm (A.CC0) Operating Procedure Use the following procedure to adjust the multiturn limit setting. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Multiturn Limit Setting in the Menu Dialog Box. The Multiturn Limit Setting Dialog Box will be displayed.
Page 211 6.8 Absolute Encoders 6.8.8 Multiturn Limit Disagreement Alarm (A.CC0) Turn the power supply to the SERVOPACK OFF and ON again. An A.CC0 alarm (Multiturn Limit Disagreement) will occur because setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK. Display the Multiturn Limit Setting in the Menu Dialog Box.
Page 212: Absolute Linear Encoders
6.9 Absolute Linear Encoders 6.9.1 Connecting an Absolute Linear Encoder Absolute Linear Encoders The absolute linear encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute linear encoder, the host controller can monitor the current position.
Page 213: Output Ports For The Position Data From The Absolute Linear Encoder
6.9 Absolute Linear Encoders 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder You can read the position data of the absolute linear encoder from the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.
Page 214: Reading The Position Data From The Absolute Linear Encoder
6.9 Absolute Linear Encoders 6.9.4 Reading the Position Data from the Absolute Linear Encoder 6.9.4 Reading the Position Data from the Absolute Linear Encoder The sequence to read the position data from the absolute linear encoder of a Linear Servomotor is given below.
Page 215: Calculating The Current Position In Machine Coordinates
6.9 Absolute Linear Encoders 6.9.6 Calculating the Current Position in Machine Coordinates Data Format of PAO Signal As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit upper 15- bit position data, and “CR” (which indicates the end of the message). + or −...
Page 216: Software Reset
6.10 Software Reset 6.10.1 Preparations 6.10 Software Reset You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and changing the settings of parameters that normally require turning the power supply to the SERVOPACK OFF and ON again. This can be used to change those parameters without turning the power supply to the SERVOPACK OFF and ON again.
Page 217: Operating Procedure
6.10 Software Reset 6.10.3 Operating Procedure 6.10.3 Operating Procedure Use the following procedure to perform a software reset. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Software Reset in the Menu Dialog Box. The Software Reset Dialog Box will be displayed.
Page 218: Initializing The Vibration Detection Level
6.11 Initializing the Vibration Detection Level 6.11.1 Preparations 6.11 Initializing the Vibration Detection Level You can detect machine vibration during operation to automatically adjust the settings of Pn312 or Pn384 (Vibration Detection Level) to detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration Warning) more precisely.
Page 219: Operating Procedure
6.11 Initializing the Vibration Detection Level 6.11.3 Operating Procedure Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual (Manual Digital Operator Fn01B No.: SIEP S800001 33) Setup - Initialize Vibra- SigmaWin+ 6.11.3 Operating Procedure on page 6-47 tion Detection Level 6.11.3 Operating Procedure Use the following procedure to initialize the vibration detection level.
Page 220 6.11 Initializing the Vibration Detection Level 6.11.3 Operating Procedure Click the Execute Button. The newly set vibration detection level will be displayed and the value will be saved in the SERVO- PACK. This concludes the procedure to initialize the vibration detection level. 6-48...
Page 221: Related Parameters
6.11 Initializing the Vibration Detection Level 6.11.4 Related Parameters 6.11.4 Related Parameters The following three items are given in the following table. • Parameters Related to this Function These are the parameters that are used or referenced when this function is executed. •...
Page 222: Adjusting The Motor Current Detection Signal Offset
6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment 6.12 Adjusting the Motor Current Detection Signal Offset The motor current detection signal offset is used to reduce ripple in the torque. You can adjust the motor current detection signal offset either automatically or manually. 6.12.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
Page 223 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment Operating Procedure Use the following procedure to automatically adjust the motor current detection signal offset. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box.
Page 224: Automatic Adjustment
6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment Click the Adjust Button. The values that result from automatic adjustment will be displayed in the New Boxes. This concludes the procedure to automatically adjust the motor current detection signal offset. 6-52...
Page 225: Manual Adjustment
6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment 6.12.2 Manual Adjustment You can use this function if you automatically adjust the motor current detection signal offset and the torque ripple is still too large. If the offset is incorrectly adjusted with this function, the Servomotor characteristics may be adversely affected.
Page 226 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment Click the Manual Adjustment Tab in the Adjust the Motor Current Detection Signal Off- sets Dialog Box. Set the Channel Box in the Motor Current Detection Offset Area to U-phase. Use the +1 and -1 Buttons to adjust the offset for phase U.
Page 227: Forcing The Motor To Stop
6.13 Forcing the Motor to Stop 6.13.1 FSTP (Forced Stop Input) Signal 6.13 Forcing the Motor to Stop You can force the Servomotor to stop for a signal from the host controller or an external device. To force the motor to stop, you must allocate the FSTP (Forced Stop Input) signal in Pn516 = n.X.
Page 228 6.13 Forcing the Motor to Stop 6.13.2 Stopping Method Selection for Forced Stops Stopping the Servomotor by Setting Emergency Stop Torque (Pn406) To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop Torque). If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the torque set in Pn406 as the maximum torque.
Page 229: Resetting Method For Forced Stops
6.13 Forcing the Motor to Stop 6.13.3 Resetting Method for Forced Stops 6.13.3 Resetting Method for Forced Stops This section describes the reset methods that can be used after stopping operation for an FSTP (Forced Stop Input) signal. If the FSTP (Forced Stop Input) signal is OFF and the Servo ON command (Enable Operation command) is input, the forced stop state will be maintained even after the FSTP signal is turned Send the Servo OFF command (Disable Operation command) to place the SERVOPACK in the base block (BB) state and then send the Servo ON command (Enable Operation command).
Page 230: Zone Outputs (Ft64 Specification)
6.14 ZONE Outputs (FT64 Specification) 6.14.1 ZONE Table and ZONE Signals 6.14 ZONE Outputs (FT64 Specification) You can use ZONE signals to output a ZONE number to indicate when the current value is within a registered zone. The ZONE signals (/ZONE0 to /ZONE3) are assigned to output signals (/SO1 to /SO5) on CN1. 6.14.1 ZONE Table and ZONE Signals You can register the desired zones in the ZONE table.
Page 231: Zone Table Settings
6.14 ZONE Outputs (FT64 Specification) 6.14.2 ZONE Table Settings ZONE Table Settings and ZONE Numbers The relationship between the ZONE table settings and the ZONE numbers is shown below. • ZONE N ≤ ZONE P The ZONE signals for the corresponding ZONE number is output if the current value is between ZONE N and ZONE P, inclusive (the shaded part in the following figure).
Page 232 6.14 ZONE Outputs (FT64 Specification) 6.14.3 ZONE Signals 1 to 4 Outputs (/ZONE0 to /ZONE3) Continued from previous page. Parameter Index Subindex Name Access PDO Mapping Unit Data Type ZONE table Negative side boundary position (ZONE N) ZONE ID 0 Pos.unit DINT PnA02...
Page 233 6.14 ZONE Outputs (FT64 Specification) 6.14.4 nZONE Signal Output 6.14.4 nZONE Signal Output The /nZONE signal indicates when the current value is within a zone registered in the ZONE table. Type Signal Connector Pin No. Signal Status Meaning The current value is within a zone registered in the ZONE ON (closed) table.
Page 234: Zone Output Application Example
6.14 ZONE Outputs (FT64 Specification) 6.14.5 ZONE Output Application Example 6.14.5 ZONE Output Application Example Using the ZONE Outputs as Zone Signals The ZONE signals are output when the current value is within a zone registered in the ZONE table. The relationship between the ZONE table and ZONE signals is shown in the following table.
Page 235: Trial Operation And Actual Operation
Trial Operation and Actual Operation This chapter provides information on the flow and proce- dures for trial operation and convenient functions to use during trial operation. Flow of Trial Operation ....7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .
Page 236: Flow Of Trial Operation
7.1 Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors The procedure for trial operation is given below. • Preparations for Trial Operation Step Meaning Reference Installation Install the Servomotor and SERVOPACK...
Page 237 7.1 Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power supply 7.3 Trial Operation for the Servomotor without a Load on page 7-7 Secure the motor flange to the machine.
Page 238: Flow Of Trial Operation For Linear Servomotors
7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors 7.1.2 Flow of Trial Operation for Linear Servomotors The procedure for trial operation is given below. • Preparations for Trial Operation Step Meaning Reference Installation Install the Servomotor and SERVOPACK according to the installation conditions.
Page 239 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power supply 7.3 Trial Operation for the Servomotor without a Load on page 7-7 Trial Operation with EtherCAT (CoE) Commu- nications CN6A, to host...
Page 240: Inspections And Confirmations Before Trial Operation
7.2 Inspections and Confirmations before Trial Operation Inspections and Confirmations before Trial Operation To ensure safe and correct trial operation, check the following items before you start trial oper- ation. • Make sure that the SERVOPACK and Servomotor are installed, wired, and connected cor- rectly.
Page 241: Trial Operation For The Servomotor Without A Load
7.3 Trial Operation for the Servomotor without a Load 7.3.1 Preparations Trial Operation for the Servomotor without a Load You use jogging for trial operation of the Servomotor without a load. Jogging is used to check the operation of the Servomotor without connecting the SERVOPACK to the host controller.
Page 242: Operating Procedure
7.3 Trial Operation for the Servomotor without a Load 7.3.3 Operating Procedure 7.3.3 Operating Procedure Use the following procedure to jog the motor. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select JOG Operation in the Menu Dialog Box. The Jog Operation Dialog Box will be displayed.
Page 243 7.3 Trial Operation for the Servomotor without a Load 7.3.3 Operating Procedure Click the Forward Button or the Reverse Button. Jogging will be performed only while you hold down the mouse button. After you finish jogging, turn the power supply to the SERVOPACK OFF and ON again. This concludes the jogging procedure.
Page 244: Trial Operation With Ethercat (Coe) Communications
7.4 Trial Operation with EtherCAT (CoE) Communications Trial Operation with EtherCAT (CoE) Communications A trial operation example for EtherCAT (CoE) communications is given below. In this example, operation in Profile Position Mode is described. Refer to the following chapter for details on operation with EtherCAT (CoE) communications. Chapter 13 CiA402 Drive Profile Confirm that the wiring is correct, and then connect the I/O signal connector (CN1) and EtherCAT communications connector (CN6A).
Page 245: Trial Operation With The Servomotor Connected To The Machine
7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.1 Precautions Trial Operation with the Servomotor Connected to the Machine This section provides the procedure for trial operation with both the machine and Servomotor. 7.5.1 Precautions WARNING  Operating mistakes that occur after the Servomotor is connected to the machine may not only damage the machine, but they may also cause accidents resulting in personal injury.
Page 246: Operating Procedure
7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.3 Operating Procedure 7.5.3 Operating Procedure Enable the overtravel signals. 5.10.2 Setting to Enable/Disable Overtravel on page 5-27 Make the settings for the protective functions, such as the safety function, overtravel, and the brake.
Page 247: Convenient Function To Use During Trial Operation
7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Convenient Function to Use during Trial Operation This section describes some convenient operations that you can use during trial operation. Use them as required. 7.6.1 Program Jogging You can use program jogging to perform continuous operation with a preset operation pattern, travel distance, movement speed, acceleration/deceleration time, waiting time, and number of movements.
Page 248 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Program Jogging Operation Pattern An example of a program jogging operation pattern is given below. In this example, the Servo- motor direction is set to Pn000 = n.0 (Use CCW as the forward direction). Setting of Pn530 Setting...
Page 249 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Continued from previous page. Setting of Pn530 Setting Operation Pattern (2530 hex) Number of movements (Pn536) (Waiting time → Forward by travel dis- Movement speed Travel tance →  distance Rotary Servomotor: Pn533 Waiting time...
Page 250 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Related Parameters Use the following parameters to set the program jogging operation pattern. Do not change the settings while the program jogging operation is being executed. • Rotary Servomotors 　...
Page 251 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Operating Procedure Use the following procedure for a program jog operation. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select JOG Program in the Menu Dialog Box. The Jog Program Dialog Box will be displayed.
Page 252 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Click the Servo ON Button and then the Execute Button. The program jogging operation will be executed. CAUTION  Be aware of the following points if you cancel the program jogging operation while the motor is operating.
Page 253: Origin Search
7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search 7.6.2 Origin Search The origin search operation positions the motor to the origin within one rotation and the clamps it there. CAUTION  Make sure that the load is not coupled when you execute an origin search. The Forward Drive Prohibit (P-OT) signal and Reverse Drive Prohibit (N-OT) signal are disabled during an origin search.
Page 254 7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Operating Procedure Use the following procedure to perform an origin search. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Search Origin in the Menu Dialog Box. The Origin Search Dialog Box will be displayed.
Page 255: Test Without A Motor
7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor 7.6.3 Test without a Motor A test without a motor is used to check the operation of the host controller and peripheral devices by simulating the operation of the Servomotor in the SERVOPACK, i.e., without actually operating a Servomotor.
Page 256 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor • Linear Servomotors Motor Connection Information That Is Used Source of Information Status Motor information Information in the motor that is connected Linear encoder informa- tion Connected •...
Page 257 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Restrictions The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal Refer to the following section for information on confirming the brake output signal. 9.2.3 I/O Signal Monitor on page 9-5 •...
Page 258: Monitoring
7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Continued from previous page. SigmaWin+ Digital Operator Executable? Button in Reference SigmaWin+ Function Motor Not Motor Menu Fn No. Utility Function Name Name Connected Connected Dialog Box Display Servomotor ...
Page 259: Tuning
Tuning This chapter provides information on the flow of tuning, details on tuning functions, and related operating proce- dures. Overview and Flow of Tuning ... 8-4 8.1.1 Tuning Functions ......8-5 8.1.2 Diagnostic Tool .
Page 260 Autotuning without Host Reference ..8-23 8.6.1 Outline ....... .8-23 8.6.2 Restrictions .
Page 261 8.12 Additional Adjustment Functions ..8-65 8.12.1 Gain Switching ......8-65 8.12.2 Friction Compensation .
Page 262: Overview And Flow Of Tuning
8.1 Overview and Flow of Tuning Overview and Flow of Tuning Tuning is performed to optimize response by adjusting the servo gains in the SERVOPACK. The servo gains are set using a combination of parameters, such as parameters for the speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio.
Page 263: Tuning Functions
8.1 Overview and Flow of Tuning 8.1.1 Tuning Functions 8.1.1 Tuning Functions The following table provides an overview of the tuning functions. Applicable Con- Tuning Function Outline Reference trol Methods This automatic adjustment function is designed to enable stable operation without servo tuning. This Speed control or Tuning-less Function function can be used to obtain a stable response...
Page 264: Diagnostic Tool
8.1 Overview and Flow of Tuning 8.1.2 Diagnostic Tool 8.1.2 Diagnostic Tool You can use the following tools to measure the frequency characteristics of the machine and set notch filters. Applicable Diagnostic Tool Outline Reference Control Methods The machine is subjected to vibration to detect Speed control, Mechanical Analysis resonance frequencies.
Page 265: Monitoring Methods
8.2 Monitoring Methods Monitoring Methods You can use the data tracing function of the SigmaWin+ or the analog monitor signals of the SERVOPACK for monitoring. If you perform custom tuning or manual tuning, always use the above functions to monitor the machine operating status and SERVOPACK signal waveform while you adjust the servo gains.
Page 266: Precautions To Ensure Safe Tuning
8.3 Precautions to Ensure Safe Tuning 8.3.1 Overtravel Settings Precautions to Ensure Safe Tuning CAUTION  Observe the following precautions when you perform tuning. • Do not touch the rotating parts of the motor when the servo is ON. • Before starting the Servomotor, make sure that an emergency stop can be performed at any time.
Page 267 8.3 Precautions to Ensure Safe Tuning 8.3.3 Setting the Position Deviation Overflow Alarm Level Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units] • Rotary Servomotors Maximum motor speed [min Encoder resolution Denominator × × × (1.2 to 2) Pn520 >...
Page 268: Vibration Detection Level Setting
8.3 Precautions to Ensure Safe Tuning 8.3.4 Vibration Detection Level Setting 8.3.4 Vibration Detection Level Setting You can set the vibration detection level (Pn312) to more accurately detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration Warning) when vibration is detected during machine operation.
Page 269: Setting The Position Deviation Overflow Alarm Level At Servo On
8.3 Precautions to Ensure Safe Tuning 8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON Related Warnings Warning Number Warning Name Warning Meaning Position Deviation This warning occurs if the servo is turned ON while the position A.901 Overflow Warning at deviation exceeds the specified percentage (Pn526 ×...
Page 270: Tuning-Less Function
8.4 Tuning-less Function 8.4.1 Application Restrictions Tuning-less Function The tuning-less function performs autotuning to obtain a stable response regardless of the type of machine or changes in the load. Autotuning is started when the servo is turned ON. CAUTION  The tuning-less function is disabled during torque control. ...
Page 271: Operating Procedure
8.4 Tuning-less Function 8.4.2 Operating Procedure 8.4.2 Operating Procedure The tuning-less function is enabled in the default settings. No specific procedure is required. You can use the following parameter to enable or disable the tuning-less function. Parameter Meaning When Enabled Classification ...
Page 272: Troubleshooting Alarms
8.4 Tuning-less Function 8.4.3 Troubleshooting Alarms Click the Button to adjust the response level setting. Increase the response level setting to increase the response. Decrease the response level setting to suppress vibration. The default response level setting is 4. Response Level Setting Description Remarks Response level: High...
Page 273: Parameters Disabled By Tuning-Less Function
8.4 Tuning-less Function 8.4.4 Parameters Disabled by Tuning-less Function 8.4.4 Parameters Disabled by Tuning-less Function When the tuning-less function is enabled (Pn170 = n.1) (default setting), the parameters in the following table are disabled. Item Parameter Name Parameter Number Speed Loop Gain Pn100 (2100 hex) Second Speed Loop Gain Pn104 (2104 hex)
Page 274: Estimating The Moment Of Inertia
8.5 Estimating the Moment of Inertia 8.5.1 Outline Estimating the Moment of Inertia This section describes how the moment of inertia is calculated. The moment of inertia ratio that is calculated here is used in other tuning functions. You can also estimate the moment of inertia during autotuning without a host reference.
Page 275: Applicable Tools
8.5 Estimating the Moment of Inertia 8.5.3 Applicable Tools • When mode switching is used Note:If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used while the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia esti- mation has been completed.
Page 276 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed. Click the Cancel Button to cancel tuning. Click the Execute Button. Click the Execute Button. Set the conditions as required. ...
Page 277 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure  Speed Loop Setting Area Make the speed loop settings in this area. If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
Page 278 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure When Measurement Is Not Correct Information Estimating the moment of inertia ratio cannot be performed correctly if the torque limit is activated. Adjust the limits or reduce the acceleration rate in the reference selection so that the torque limit is not activated.
Page 279 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Forward Button. The shaft will rotate in the forward direction and the measurement will start. After the measurement and data transfer have been completed, the Reverse Button will be displayed in color. Click the Reverse Button.
Page 280 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Writing Results Button.       Identified Moment of Inertia Ratio Box The moment of inertia ratio that was found with operation and measurements is dis- played here.
Page 281: Autotuning Without Host Reference
8.6 Autotuning without Host Reference 8.6.1 Outline Autotuning without Host Reference This section describes autotuning without a host reference. • Autotuning without a host reference performs adjustments based on the setting of the speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when adjustments are started.
Page 282: Restrictions
8.6 Autotuning without Host Reference 8.6.2 Restrictions Rated motor speed Movement speed  2/3 References Time t Responses Rated motor speed  2/3 Motor rated torque: Approx. 100% SERVOPACK Travel distance Servomotor Time t Motor rated torque: Note: Execute autotuning without a host reference after jogging to a position that ensures a suitable range of motion.
Page 283: Applicable Tools
8.6 Autotuning without Host Reference 8.6.3 Applicable Tools Preparations Check the following settings before you execute autotuning without a host reference. • The main circuit power supply must be ON. • There must be no overtravel. • The servo must be OFF. •...
Page 284 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Execute Button. Select the No Reference Input Option in the Autotuning Area and then click the Auto- tuning Button. When the following dialog box is displayed, click the OK Button and then confirm that the Information correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio).
Page 285 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Set the conditions in the Switching the load moment of inertia (load mass) identifica- tion Box, the Mode selection Box, the Mechanism selection Box, and the Distance Box, and then click the Next Button. •...
Page 286 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Servo ON Button. Click the Start tuning Button. 8-28...
Page 287: Troubleshooting Problems In Autotuning Without A Host Reference
8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference Confirm safety around moving parts and click the Yes Button. The motor will start operating and tuning will be executed. Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration.
Page 288 8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference  When an Error Occurs during Execution of Autotuning without a Host Reference Error Possible Cause Corrective Action • Increase the setting of the positioning completed width (Pn522). •...
Page 289: Automatically Adjusted Function Settings
8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings 8.6.6 Automatically Adjusted Function Settings You can specify whether to automatically adjust the following functions during autotuning.  Automatic Notch Filters Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration will be detected during autotuning without a host reference and a notch filter will be adjusted.
Page 290 8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings Parameter Function When Enabled Classification Do not adjust vibration suppression automati- cally during execution of autotuning without a   host reference, autotuning with a host refer- Pn140 ence, and custom tuning. (2140 Immediately Tuning...
Page 291: Related Parameters
8.6 Autotuning without Host Reference 8.6.7 Related Parameters 8.6.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute autotuning without a host reference. Do not change the settings while autotuning without a host reference is being executed. Parameter Name Automatic Changes...
Page 292: Autotuning With A Host Reference
8.7 Autotuning with a Host Reference 8.7.1 Outline Autotuning with a Host Reference This section describes autotuning with a host reference. Autotuning with a host reference makes adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when adjustments are started.
Page 293: Restrictions
8.7 Autotuning with a Host Reference 8.7.2 Restrictions 8.7.2 Restrictions Systems for Which Adjustments Cannot Be Made Accurately Adjustments will not be made correctly for autotuning with a host reference in the following cases. Use custom tuning. • When the travel distance for the reference from the host controller is equal to or lower than the setting of the positioning completed width (Pn522) •...
Page 294: Operating Procedure
8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure 8.7.4 Operating Procedure Use the following procedure to perform autotuning with a host reference. Confirm that the moment of inertia ratio (Pn103) is set correctly. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
Page 295 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Set the conditions in the Mode selection Box and the Mechanism selection Box, and then click the Next Button. If you select the Start tuning using the default settings Check Box in the Tuning parameters Area, the tuning parameters will be returned to the default settings before tuning is started.
Page 296 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Input the correct moment of inertia ratio and click the Next Button. Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button. Confirm safety around moving parts and click the Yes Button. The motor will start operating and tuning will be executed.
Page 297: Troubleshooting Problems In Autotuning With A Host Reference
8.7 Autotuning with a Host Reference 8.7.5 Troubleshooting Problems in Autotuning with a Host Reference When tuning has been completed, click the Finish Button. The results of tuning will be set in the parameters and you will return to the Tuning Dialog Box. This concludes the procedure to perform autotuning with a host reference.
Page 298: Related Parameters
8.7 Autotuning with a Host Reference 8.7.7 Related Parameters 8.7.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute autotuning with a host reference. Do not change the settings while autotuning with a host reference is being executed. Parameter Name Automatic Changes...
Page 299: Custom Tuning
8.8 Custom Tuning 8.8.1 Outline Custom Tuning This section describes custom tuning. 8.8.1 Outline You can use custom tuning to manually adjust the servo during operation using a speed or position reference input from the host controller. You can use it to fine-tune adjustments that were made with autotuning.
Page 300: Applicable Tools
8.8 Custom Tuning 8.8.3 Applicable Tools 8.8.3 Applicable Tools The following table lists the tools that you can use to perform custom tuning and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Digital Operator Fn203 Manual (Manual No.: SIEP S800001 33) −...
Page 301 8.8 Custom Tuning 8.8.4 Operating Procedure Click the Advanced adjustment Button. When the following dialog box is displayed, click the OK Button and then confirm that the Information correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio). Click the Custom tuning Button.
Page 302 8.8 Custom Tuning 8.8.4 Operating Procedure Set the Tuning mode Box and Mechanism selection Box, and then click the Next But- ton. Tuning mode Box Mode Selection Description This setting gives priority to stability and preventing overshooting. In addi- 0: Set servo gains tion to gain adjustment, notch filters with priority given and anti-resonance control (except...
Page 303 8.8 Custom Tuning 8.8.4 Operating Procedure Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button. Tuning Mode 0 or 1 Tuning Mode 2 or 3 Use the Buttons to change the tuning level. Click the Back Button during tuning to restore the setting to its original value.
Page 304 8.8 Custom Tuning 8.8.4 Operating Procedure When tuning has been completed, click the Completed Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia- log Box. This concludes the procedure to set up custom tuning. Vibration Suppression Functions ...
Page 305 8.8 Custom Tuning 8.8.4 Operating Procedure  Automatic Setting To set vibration suppression automatically, use the parameters to enable notch filters and auto- matic anti-resonance control setting. The notch filter frequency (stage 1 or 2) or anti-resonance control frequency that is effective for the vibration that was detected during tuning will be automatically set.
Page 306: Automatically Adjusted Function Settings
8.8 Custom Tuning 8.8.5 Automatically Adjusted Function Settings 8.8.5 Automatically Adjusted Function Settings You cannot use vibration suppression functions at the same time. Other automatic function set- tings are the same as for autotuning without a host reference. Refer to the following section. 8.6.6 Automatically Adjusted Function Settings on page 8-31 8.8.6 Tuning Example for Tuning Mode 2 or 3...
Page 307: Related Parameters
8.8 Custom Tuning 8.8.7 Related Parameters 8.8.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute custom tuning. Do not change the settings while custom tuning is being executed. Parameter Name Automatic Changes Pn100 (2100 hex) Speed Loop Gain Pn101 (2101 hex) Speed Loop Integral Time Constant...
Page 308: Anti-Resonance Control Adjustment
8.9 Anti-Resonance Control Adjustment 8.9.1 Outline Anti-Resonance Control Adjustment This section describes anti-resonance control. 8.9.1 Outline Anti-resonance control increases the effectiveness of vibration suppression after custom tun- ing. Anti-resonance control is effective for suppression of continuous vibration frequencies from 100 to 1,000 Hz that occur when the control gain is increased.
Page 309: Applicable Tools
8.9 Anti-Resonance Control Adjustment 8.9.3 Applicable Tools 8.9.3 Applicable Tools The following table lists the tools that you can use to perform anti-resonance control adjust- ment and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Man- Digital Operator Fn204 ual (Manual No.: SIEP S800001 33)
Page 310 8.9 Anti-Resonance Control Adjustment 8.9.4 Operating Procedure Click the Anti-res Ctrl Adj Button. The rest of the procedure depends on whether you know the vibration frequency. If you do not know the vibration frequency, click the Auto Detect Button. If you know the vibration frequency, click the Manual Set Button.
Page 311: Related Parameters
8.9 Anti-Resonance Control Adjustment 8.9.5 Related Parameters When the adjustment has been completed, click the Finish Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia- log Box. This concludes the procedure to set up anti-resonance control. 8.9.5 Related Parameters The following parameters are automatically adjusted or used as reference when you execute...
Page 312 8.9 Anti-Resonance Control Adjustment 8.9.6 Suppressing Different Vibration Frequencies with Anti-resonance Control Required Parameter Settings The following parameter settings are required to use anti-resonance control for more than one vibration frequency. When Classifi- Parameter Description Enabled cation  Pn160 Do not use anti-resonance control. After (default setting) (2160...
Page 313: Vibration Suppression
8.10 Vibration Suppression 8.10.1 Outline 8.10 Vibration Suppression This section describes vibration suppression. 8.10.1 Outline You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.
Page 314: Preparations
8.10 Vibration Suppression 8.10.2 Preparations 8.10.2 Preparations Check the following settings before you execute vibration suppression. • Position control must be used. • The tuning-less function must be disabled (Pn170 = n.0). • The test without a motor function must be disabled (Pn00C = n.0). •...
Page 315 8.10 Vibration Suppression 8.10.4 Operating Procedure Click the Import Button or click Button to manually adjust the set frequency. When you click the Import Button, the residual vibration frequency in the motor is read as the set fre- quency. (The frequency can be read only when the residual vibration frequency is between 1.0 and 100.0.) Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies.
Page 316: Setting Combined Functions
8.10 Vibration Suppression 8.10.5 Setting Combined Functions When the vibration has been eliminated, click the Finish Button. The updated value will be saved in the SERVOPACK. Vibration suppression will be enabled in step 5. The motor response, however, will change when the Servomotor comes to a stop with no reference input.
Page 317: Speed Ripple Compensation
8.11 Speed Ripple Compensation 8.11.1 Outline 8.11 Speed Ripple Compensation This section describes speed ripple compensation. 8.11.1 Outline Speed ripple compensation reduces the amount of ripple in the motor speed due to torque rip- ple or cogging torque. You can enable speed ripple compensation to achieve smoother opera- tion.
Page 318 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Applicable Tools The following table lists the tools that you can use to set up speed ripple compensation and the applicable tool functions. Tool Function Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator. −...
Page 319 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Edit Button. Enter the jogging speed in the Input Value Box and click the OK Button. Click the Servo ON Button. 8-61...
Page 320 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Forward Button or the Reverse Button. Measurement operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton and the speed ripple will be measured.
Page 321: Setting Parameters
8.11 Speed Ripple Compensation 8.11.3 Setting Parameters Click the Forward Button or the Reverse Button. Verification operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton. The waveform with speed ripple compensation applied to it will be displayed. If the verification results are OK, click the Finish Button.
Page 322 8.11 Speed Ripple Compensation 8.11.3 Setting Parameters Speed reference/ feedback speed Setting of Pn427 or Pn49F (Ripple Compensation Time Enable Speed) Ripple Disabled Enabled Disabled Enabled Disabled compensation Speed Ripple Compensation Warnings The speed ripple compensation value is specific to each Servomotor. If you replace the Servo- motor while speed ripple compensation is enabled, an A.942 warning (Speed Ripple Compen- sation Information Disagreement) will occur to warn you.
Page 323: Additional Adjustment Functions
8.12 Additional Adjustment Functions 8.12.1 Gain Switching 8.12 Additional Adjustment Functions This section describes the functions that you can use to make adjustments after you perform autotuning without a host reference, autotuning with a host reference, and custom tuning. Function Applicable Control Methods Reference Gain Switching...
Page 324 8.12 Additional Adjustment Functions 8.12.1 Gain Switching Select one of the following settings for switching condition A. For Control Methods Position Control Gain When Parameter Other Than Position Classification Switching Condition A Enabled Control (No Switching)   /COIN (Positioning Com- Gain settings 1 used.
Page 325 8.12 Additional Adjustment Functions 8.12.1 Gain Switching Related Parameters Speed Position Speed Loop Gain Pn100 (2100 Setting Range Setting Unit Default Setting When Enabled Classification hex) 10 to 20,000 0.1 Hz Immediately Tuning Speed Loop Integral Time Constant Speed Position Pn101 (2101 Setting Range...
Page 326: Friction Compensation
8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Related Monitoring • SigmaWin+ You can monitor gain switching with the status monitor or with tracing. • Analog Monitors Parameter Analog Monitor Monitor Name Output Value Description Gain settings 1 are enabled. Pn006 (2006 hex) ...
Page 327: Current Control Mode Selection
8.12 Additional Adjustment Functions 8.12.3 Current Control Mode Selection Step Operation Set the following parameters related to friction compensation to their default settings. Friction compensation gain (Pn121): 100 Second friction compensation gain (Pn122): 100 Friction compensation coefficient (Pn123): 0 Friction compensation frequency correction (Pn124): 0 Friction compensation gain correction (Pn125): 100 Note: Always use the default settings for the friction compensation frequency correction (Pn124) and fric-...
Page 328: Current Gain Level Setting
8.12 Additional Adjustment Functions 8.12.4 Current Gain Level Setting 8.12.4 Current Gain Level Setting You can set the current gain level to reduce noise by adjusting the parameter for current control inside the SERVOPACK according to the speed loop gain (Pn100). The noise level can be reduced by decreasing the current gain level (Pn13D) from its default setting of 2,000% (dis- abled).
Page 329: Backlash Compensation
8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation 8.12.7 Backlash Compensation Outline If you drive a machine that has backlash, there will be deviation between the travel distance in the position reference that is managed by the host controller and the travel distance of the actual machine.
Page 330 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation • The backlash compensation value is restricted by the following formula. Backlash compensa- tion is not performed if this condition is not met. Important Maximum motor speed [min Denominator Pn210    Encoder resolution*  0.00025 Pn231 ≤...
Page 331 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation CAUTION  The encoder divided pulse output will output the number of encoder pulses for which driv- ing was actually performed, including the backlash compensation value. If you use the encoder output pulses for position feedback at the host controller, you must consider the backlash compensation value.
Page 332 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Operation When the Servo Is OFF Backlash compensation is not applied when the servo is OFF (i.e., when power is not supplied to motor). Therefore, the reference position (position demand value (6062 hex)) is moved by only the backlash compensation value.
Page 333 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Related Monitoring Diagrams The following symbols are used in the related monitoring diagrams. [A]: Analog monitor [E]: EtherCAT monitor Information [U]: Monitor mode (Un monitor) [O]: Output signal [T]: Trace data [U]: Reference pulse counter [A] [T]: Speed feedforward Feedforward [A] [T]: Position reference speed...
Page 334: Manual Tuning
Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) In order to manually tune the servo gains, you must understand the configuration and charac- teristic of the SERVOPACK and adjust the servo gains individually.
Page 335 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Applicable Tools You can monitor the servo gains with the SigmaWin+ or with the analog monitor. Precautions Vibration may occur while you are tuning the servo gains. We recommend that you enable vibration alarms (Pn310 = n.2) to detect vibration.
Page 336 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Position Position Loop Gain Pn102 (2102 Setting Range Setting Unit Default Setting When Enabled Classification hex) 10 to 20,000 0.1/s Immediately Tuning For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can Information occur during high-speed operation.
Page 337 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Torque Reference Filter As shown in the following diagram, the torque reference filter contains a first order lag filter and notch filters arranged in series, and each filter operates independently. The notch filters can be enabled and disabled with Pn408 = n.XX and Pn416 = n.XXX. Torque-Related Torque-Related Function...
Page 338 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains The notch filter frequency characteristics for different notch filter Q values are shown below. Q = 0.7 Q = 1.0 Frequency [Hz] Q = 0.5 Note: The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics.
Page 339 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Speed Position Torque First Stage Notch Filter Frequency Pn409 (2409 Setting Range Setting Unit Default Setting When Enabled Classification hex) 50 to 5,000 1 Hz 5,000 Immediately Tuning Speed Position Torque First Stage Notch Filter Q Value Pn40A (240A Setting Range...
Page 340 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Guidelines for Manually Tuning Servo Gains When you manually adjust the parameters, make sure that you completely understand the information in the product manual and use the following conditional expressions as guidelines. The appropriate values of the parameter settings are influenced by the machine specifications, so they cannot be determined universally.
Page 341 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains • Speed Loop Gain (Pn100 [Hz]) and Second Stage Second Torque Reference Filter Frequency (Pn40F [Hz]) Critical gain: Pn40F [Hz] > 4 × Pn100 [Hz] Note: Set the second stage second torque reference filter Q value (Pn410) to 0.70. •...
Page 342 Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) mKp: Model following control gain (Pn141)
Page 343 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Parameter Function When Enabled Classification  Do not use model following control. (default setting)  Use model following control.   Pn140 Do not perform vibration suppression. (2140 Immediately Tuning (default setting) hex) Perform vibration suppression for a specific ...
Page 344: Compatible Adjustment Functions
8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Model Following Control Speed Feedforward Compensation If overshooting occurs even after you adjust the model following control gain, model following control bias in the forward direction, and model following control bias in the reverse direction, you may be able to improve performance by setting the following parameter.
Page 345 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions Mode Switching (Changing between Proportional and PI Control) You can use mode switching to automatically change between proportional control and PI con- trol. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and switching levels.
Page 346 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions • Linear Servomotors Speed Position Mode Switching Level for Force Reference Pn10C (210C Setting Range Setting Unit Default Setting When Enabled Classification hex) 0 to 800 Immediately Tuning Mode Switching Level for Speed Reference Speed Position Pn181...
Page 347 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Using the Acceleration as the Mode Switching Condition • Rotary Servomotors When the speed reference equals or exceeds the acceleration rate set for the mode switching level for acceleration (Pn10E), the speed loop is changed to P control. Speed reference Motor speed Speed...
Page 348: Diagnostic Tools
8.14 Diagnostic Tools 8.14.1 Mechanical Analysis 8.14 Diagnostic Tools 8.14.1 Mechanical Analysis Overview You can connect the SERVOPACK to a computer to measure the frequency characteristics of the machine. This allows you to measure the frequency characteristics of the machine without using a measuring instrument.
Page 349 8.14 Diagnostic Tools 8.14.1 Mechanical Analysis Frequency Characteristics The motor is used to cause the machine to vibrate and the frequency characteristics from the torque to the motor speed are measured to determine the machine characteristics. For a nor- mal machine, the resonance frequencies are clear when the frequency characteristics are plot- ted on graphs with the gain and phase (bode plots).
Page 350: Easy Fft
8.14 Diagnostic Tools 8.14.2 Easy FFT 8.14.2 Easy FFT The machine is made to vibrate and a resonance frequency is detected from the generated vibration to set notch filters according to the detected resonance frequencies. This is used to eliminate high-frequency vibration and noise. During execution of Easy FFT, a frequency waveform reference is sent from the SERVOPACK to the Servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rota- tion, thus causing the machine to vibrate.
Page 351 8.14 Diagnostic Tools 8.14.2 Easy FFT Operating Procedure Use the following procedure for Easy FFT. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Easy FFT in the Menu Dialog Box. The Easy FFT Dialog Box will be displayed. Click the Cancel Button to cancel Easy FFT.
Page 352 8.14 Diagnostic Tools 8.14.2 Easy FFT Select the instruction (reference) amplitude and the rotation direction in the Measure- ment condition Area, and then click the Start Button. The motor shaft will rotate and measurements will start. When measurements have been completed, the measurement results will be displayed. Check the results in the Measurement result Area and then click the Measurement complete Button.
Page 353 8.14 Diagnostic Tools 8.14.2 Easy FFT Click the Result Writing Button if you want to set the measurement results in the param- eters. This concludes the procedure to set up Easy FFT. Related Parameters The following parameters are automatically adjusted or used as reference when you execute Easy FFT.
Page 354 Monitoring This chapter provides information on monitoring SERVO- PACK product information and SERVOPACK status. Monitoring Product Information ..9-2 9.1.1 Items That You Can Monitor ....9-2 9.1.2 Operating Procedures .
Page 355: Monitoring Product Information
9.1 Monitoring Product Information 9.1.1 Items That You Can Monitor Monitoring Product Information 9.1.1 Items That You Can Monitor Monitor Items • Model/Type • Serial Number • Manufacturing Date Information on SERVOPACKs • Software version (SW Ver.) • Remarks • Model/Type •...
Page 356: Monitoring Servopack Status
9.2 Monitoring SERVOPACK Status 9.2.1 Servo Drive Status Monitoring SERVOPACK Status 9.2.1 Servo Drive Status Use the following procedure to display the Servo Drive status. • Start the SigmaWin+. The Servo Drive status will be automatically displayed when you go online with a SERVOPACK.
Page 357 9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations • Motion Monitor Window Monitor Items • Current Alarm State • Target Position (TPOS) • Motor Speed • Latched Position 1 (LPOS1) • Speed Reference • Latched Position 2 (LPOS2) • Latched Position 3 (LPOS3) •...
Page 358: I/O Signal Monitor
9.2 Monitoring SERVOPACK Status 9.2.3 I/O Signal Monitor 9.2.3 I/O Signal Monitor Use the following procedure to check I/O signals. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Wiring Check in the Menu Dialog Box. The Wiring Check Dialog Box will be displayed.
Page 359: Monitoring Machine Operation Status And Signal Waveforms
9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.1 Items That You Can Monitor Monitoring Machine Operation Status and Signal Waveforms To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a memory recorder. 9.3.1 Items That You Can Monitor You can use the SigmaWin+ or a measuring instrument to monitor the shaded items in the fol- lowing block diagram.
Page 360: Using The Sigmawin
9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.2 Using the SigmaWin+ 9.3.2 Using the SigmaWin+ This section describes how to trace data and I/O with the SigmaWin+. Refer to the following manual for detailed operating procedures for the SigmaWin+. AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Operating Procedure Click the...
Page 361 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.2 Using the SigmaWin+ • I/O Tracing Trace Objects • /P-CON (Proportional Control Input Sig- • ALM (Servo Alarm Output Signal) • /COIN (Positioning Completion Output nal) • P-OT (Forward Drive Prohibit Input Signal) Signal) •...
Page 362: Using A Measuring Instrument
Connect a measuring instrument, such as a memory recorder, to the analog monitor connector (CN5) on the SERVOPACK to monitor analog signal waveforms. The measuring instrument is not provided by Yaskawa. Refer to the following section for details on the connection.
Page 363 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument Changing the Monitor Factor and Offset You can change the monitor factors and offsets for the output voltages for analog monitor 1 and analog monitor 2. The relationships to the output voltages are as follows: Analog Monitor 1 Signal Analog Monitor 1 Analog Monitor 1...
Page 364 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument  Adjustment Example An example of adjusting the output of the motor speed monitor is provided below. Offset Adjustment Gain Adjustment Analog monitor output voltage Analog monitor output voltage 1 [V] Gain adjustment...
Page 365 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument • Gain Adjustment Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn00D (Manual No.: SIEP S800001 33)  SigmaWin+ Setup - Adjust Offset Operating Procedure on page 9-12 ...
Page 366: Monitoring Product Life
9.4 Monitoring Product Life 9.4.1 Items That You Can Monitor Monitoring Product Life 9.4.1 Items That You Can Monitor Monitor Item Description The operating status of the SERVOPACK in terms of the installation envi- ronment is displayed. Implement one or more of the following actions if the SERVOPACK Installation Envi- monitor value exceeds 100%.
Page 367: Operating Procedure
9.4 Monitoring Product Life 9.4.2 Operating Procedure 9.4.2 Operating Procedure Use the following procedure to display the installation environment and service life prediction monitor dialog boxes. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
Page 368: Preventative Maintenance
9.4 Monitoring Product Life 9.4.3 Preventative Maintenance 9.4.3 Preventative Maintenance You can use the following functions for preventative maintenance. • Preventative maintenance warnings • /PM (Preventative Maintenance Output) signal The SERVOPACK can notify the host controller when it is time to replace any of the main parts. Preventative Maintenance Warning An A.9b0 warning (Preventative Maintenance Warning) is detected when any of the following service life prediction values drops to 10% or less: SERVOPACK built-in fan life, capacitor life,...
Page 369: Alarm Tracing
9.5 Alarm Tracing 9.5.1 Data for Which Alarm Tracing Is Performed Alarm Tracing Alarm tracing records data in the SERVOPACK from before and after an alarm occurs. This data helps you to isolate the cause of the alarm. You can display the data recorded in the SERVOPACK as a trace waveform on the SigmaWin+. •...
Page 370 Fully-Closed Loop Control This chapter provides detailed information on performing fully-closed loop control with the SERVOPACK. 10.1 Fully-Closed System ....10-2 10.2 SERVOPACK Commissioning Procedure . . 10-3 10.3 Parameter and Object Settings for Fully-closed Loop Control .
Page 371: Fully-Closed System
Encoder Cable* External encoder (Not provided by Yaskawa.) The connected devices and cables depend on the type of external linear encoder that is used. Note: Refer to the following section for details on connections that are not shown above, such as connections to power supplies and peripheral devices.
Page 372: Servopack Commissioning Procedure
10.2 SERVOPACK Commissioning Procedure 10.2 SERVOPACK Commissioning Procedure First, confirm that the SERVOPACK operates correctly with semi-closed loop control, and then confirm that it operates correctly with fully-closed loop control. The commissioning procedure for the SERVOPACK for fully-closed loop control is given below. Con- Required Parameter and Step...
Page 373 10.2 SERVOPACK Commissioning Procedure Continued from previous page. Con- Required Parameter and Step Description Operation trolling Object Settings Device Perform a program jog- Perform a program jogging opera- ging operation. tion and confirm that the travel dis- Items to Check tance is the same as the reference Pn530 to Pn536 (program SERVO-...
Page 374: Parameter And Object Settings For Fully-Closed Loop Control
10.3 Parameter and Object Settings for Fully-closed Loop Control 10.3.1 Control Block Diagram for Fully-Closed Loop Control 10.3 Parameter and Object Settings for Fully-closed Loop Control This section describes the parameter settings that are related to fully-closed loop control. Parameter and Position Speed Torque...
Page 375: Setting The Motor Direction And The Machine Movement Direction
10.3 Parameter and Object Settings for Fully-closed Loop Control 10.3.2 Setting the Motor Direction and the Machine Movement Direction 10.3.2 Setting the Motor Direction and the Machine Movement Direction You must set the motor direction and the machine movement direction. To perform fully-closed loop control, you must set both Pn000 = n.X (Direction Selection) and Pn002 = n.X...
Page 376: Setting The Pao, Pbo, And Pco (Encoder Divided Pulse Output)
10.3 Parameter and Object Settings for Fully-closed Loop Control 10.3.4 Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals Setting Example Number of external encoder pitches per motor rotation Specifications External encoder External encoder scale pitch: 20 μm (scale pitch: 20 m) Ball screw lead: 30 mm Workpiece position...
Page 377: External Absolute Encoder Data Reception Sequence
10.3 Parameter and Object Settings for Fully-closed Loop Control 10.3.5 External Absolute Encoder Data Reception Sequence Related Parameters 　 Encoder Output Resolution Position Pn281 (2281 Setting Range Setting Unit Default Setting When Enabled Classification hex) 1 to 4,096 1 edge/pitch After restart Setup Note: The maximum setting for the encoder output resolution is 4,096.
Page 378: Analog Monitor Signal Settings
10.3 Parameter and Object Settings for Fully-closed Loop Control 10.3.8 Analog Monitor Signal Settings Deviation between motor and external encoder Pn52A = 0 Large Pn52A = 20 Small Pn52A = 100 Motor speed 1st rotation 2nd rotation 3rd rotation 4th rotation ...
Page 379: Monitoring An External Encoder
10.4 Monitoring an External Encoder 10.4.1 Option Module Required for Monitoring 10.4 Monitoring an External Encoder You can monitor the current value of an external encoder attached to a machine without creat- ing a fully-closed loop. A dual encoder system with an encoder in the Rotary Servomotor and an external encoder attached to the machine is used, but only the encoder in the Rotary Servomotor is used in the control loop.
Page 380 10.4 Monitoring an External Encoder 10.4.3 Block Diagrams The following block diagram shows monitoring an external encoder in the Profile Position Mode. Target position Multiplier (607A hex) Position [Pos unit] [inc] Position user unit Software position (2701 hex: 1/ limit function 2701 hex: 2) limit (607D hex) Proﬁle velocity...
Page 381 Safety Functions This chapter provides detailed information on the safety functions of the SERVOPACK. 11.1 Introduction to the Safety Functions ..11-2 11.1.1 Safety Functions ......11-2 11.1.2 Precautions for Safety Functions .
Page 382: Introduction To The Safety Functions
11.1 Introduction to the Safety Functions 11.1.1 Safety Functions 11.1 Introduction to the Safety Functions 11.1.1 Safety Functions Safety functions are built into the SERVOPACK to reduce the risks associated with using the machine by protecting workers from the hazards of moving machine parts and otherwise increasing the safety of machine operation.
Page 383: Precautions For Safety Functions
11.1 Introduction to the Safety Functions 11.1.2 Precautions for Safety Functions 11.1.2 Precautions for Safety Functions WARNING  To confirm that the HWBB function satisfies the safety requirements of the system, you must conduct a risk assessment of the system. Incorrect use of the safety function may cause injury.
Page 384: Hard Wire Base Block (Hwbb And Sbb)
11.2 Hard Wire Base Block (HWBB and SBB) 11.2.1 Risk Assessment 11.2 Hard Wire Base Block (HWBB and SBB) A hard wire base block (abbreviated as HWBB) is a safety function that is designed to shut OFF the current to the motor with a hardwired circuit. The drive signals to the Power Module that controls the motor current are controlled by the cir- cuits that are independently connected to the two input signal channels to turn OFF the Power Module and shut OFF the motor current.
Page 385: Hard Wire Base Block (Hwbb) State
11.2 Hard Wire Base Block (HWBB and SBB) 11.2.2 Hard Wire Base Block (HWBB) State • If a failure occurs such as a Power Module failure, the Servomotor may move within an elec- tric angle of 180°. Ensure safety even if the Servomotor moves. The rotational angle or travel distance depends on the type of Servomotor as follows: •...
Page 386: Resetting The Hwbb State
11.2 Hard Wire Base Block (HWBB and SBB) 11.2.3 Resetting the HWBB State 11.2.3 Resetting the HWBB State Normally, after the Shutdown command is received and power is no longer supplied to the Ser- vomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVOPACK will enter the HWBB state.
Page 387: Recovery Method
11.2 Hard Wire Base Block (HWBB and SBB) 11.2.4 Recovery Method 11.2.4 Recovery Method  Recovery Conditions All of the following conditions must be met. • All safety request inputs are ON. • The Servo ON command (Enable Operation command) was not sent. •...
Page 388: Hwbb Input Signal Specifications
11.2 Hard Wire Base Block (HWBB and SBB) 11.2.6 HWBB Input Signal Specifications 11.2.6 HWBB Input Signal Specifications If an HWBB is requested by turning OFF the two HWBB input signal channels (/HWBB1 and /HWBB2), the power supply to the Servomotor will be turned OFF within 8 ms. 8 ms max.
Page 389: S-Rdy (Servo Ready Output) Signal
11.2 Hard Wire Base Block (HWBB and SBB) 11.2.8 /S-RDY (Servo Ready Output) Signal 11.2.8 /S-RDY (Servo Ready Output) Signal The Servo ON command (Enable Operation command) will not be acknowledged in the HWBB state. Therefore, the Servo Ready Output Signal will turn OFF. The Servo Ready Output Signal will turn ON if both the /HWBB1 and /HWBB2 signals are ON and the servo is turned OFF (BB state).
Page 390: Stopping Methods
11.2 Hard Wire Base Block (HWBB and SBB) 11.2.10 Stopping Methods 11.2.10 Stopping Methods If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the Servomotor will stop according to the stop mode that is set for stopping the Servomotor when the servo turns OFF (Pn001 = n.X).
Page 391: Edm1 (External Device Monitor)
11.3 EDM1 (External Device Monitor) 11.3.1 EDM1 Output Signal Specifications 11.3 EDM1 (External Device Monitor) The EDM1 (External Device Monitor) signal is used to monitor failures in the HWBB. Connect the monitor signal as a feedback signal, e.g., to the Safety Unit. Note: To meet performance level e (PLe) in EN ISO 13849-1 and SIL3 in IEC 61508, the EDM1 signal must be mon- itored by the host controller.
Page 392: Applications Examples For Safety Functions
11.4 Applications Examples for Safety Functions 11.4.1 Connection Example 11.4 Applications Examples for Safety Functions This section provides examples of using the safety functions. 11.4.1 Connection Example In the following example, a Safety Unit is used and the HWBB operates when the guard is opened.
Page 393: Procedure
11.4 Applications Examples for Safety Functions 11.4.3 Procedure 11.4.3 Procedure Request is received to open the guard. If the motor is operating, a stop command is received from the host controller, the motor stops, and the servo is turned OFF. The guard is opened.
Page 394: Validating Safety Functions
11.5 Validating Safety Functions 11.5 Validating Safety Functions When you commission the system or perform maintenance or SERVOPACK replacement, you must always perform the following validation test on the HWBB after completing the wiring. (It is recommended that you keep the confirmation results as a record.) •...
Page 395: Connecting A Safety Function Device
11.6 Connecting a Safety Function Device 11.6 Connecting a Safety Function Device Use the following procedure to connect a safety function device. Remove the Safety Jumper Connector from the connector for the safety function device (CN8). Enlarged View Safety Jumper Hold the Safety Jumper Connector Connector between your...
Page 396: Ethercat Communications
EtherCAT Communications This chapter provides basic information on EtherCAT com- munications. 12.1 EtherCAT Slave Information ... 12-2 12.2 EtherCAT State Machine ....12-3 12.3 EtherCAT (CoE) Communications Settings .
Page 397: Ethercat Slave Information
12.1 EtherCAT Slave Information 12.1 EtherCAT Slave Information You can use EtherCAT slave information files (XML format) to configure the EtherCAT master. The XML file contains general information on EtherCAT communications settings that are related to the SERVOPACK settings. The following file is provided for the SERVOPACK. SERVOPACK File Name SGD7S-DA0...
Page 398: Ethercat State Machine
12.2 EtherCAT State Machine 12.2 EtherCAT State Machine The EtherCAT state machine is used to manage the communications states between the mas- ter and slave applications when EtherCAT communications are started and during operation, as shown in the following figure. Normally, the state changes for requests from the master. Power ON INIT (PI)
Page 399 12.2 EtherCAT State Machine 1. The SERVOPACK does not support EtherCAT Read/Write commands (APRW, FPRW, BRW, and LRW). Information 2. For SDO and PDO communications through the EtherCAT data link layer, the FMMUs and Sync Managers must be set as follows: •...
Page 400: Ethercat (Coe) Communications Settings
12.3 EtherCAT (CoE) Communications Settings 12.3.1 Normal Device Recognition Process at Startup 12.3 EtherCAT (CoE) Communications Settings You can use EtherCAT secondary addresses (station aliases) to identify devices or to specify addresses. Upper four bits Lower four bits of EtherCAT of EtherCAT secondary address secondary address...
Page 401: Pdo Mappings
12.4 PDO Mappings 12.4 PDO Mappings The process data that is used in process data communications is defined in the PDO map- pings. POD mappings are definitions of the applications objects that are sent with PDOs. The PDO mapping tables are in indexes 1600 hex to 1603 hex for the RxPDOs and indexes 1A00 hex to 1A03 hex for the TxPDOs in the object dictionary.
Page 402: Setting Procedure For Pdo Mappings
12.4 PDO Mappings 12.4.1 Setting Procedure for PDO Mappings 12.4.1 Setting Procedure for PDO Mappings Disable the assignments between the Sync Manager and PDOs. (Set subindex 0 of objects 1C12 hex to 1C13 hex to 0.) Set all of the mapping entries for the PDO mapping objects. (Set objects 1600 hex to 1603 hex and 1A00 hex to 1A03 hex.) Set the number of mapping entries for the PDO mapping objects.
Page 403: Synchronization With Distributed Clocks
12.5 Synchronization with Distributed Clocks 12.5 Synchronization with Distributed Clocks The synchronization of EtherCAT communications is based on a mechanism called a distrib- uted clock. With the distributed clock, all devices are synchronized with each other by sharing the same reference clock. The slave devices synchronize the internal applications to the Sync0 events that are generated according to the reference clock.
Page 404 12.5 Synchronization with Distributed Clocks Sub- Index Name Access Map- Data Type Description index ping Sync manager channel 2 synchronization Current status of DC mode Synchronization type UINT 0: Free-run 2: DC mode (synchronous with Sync0) Sync0 event cycle [ns] (The value is set by the master via an Cycle time UDINT...
Page 405 12.5 Synchronization with Distributed Clocks Example of PDO Data Exchange Timing in DC Mode • DC Cycle Time = 1 ms, Input Shift Time = 500 μs Master application task Master application task Master application task Master Master user shift time Network Frame Frame...
Page 406: Emergency Messages
12.6 Emergency Messages 12.6 Emergency Messages Emergency messages are triggered by alarms and warnings detected within the SERVOPACK. They are sent via the mailbox interface. An emergency message consists of eight bytes of data as shown in the following table. Byte Manufacturer-specific error field Error reg-...
Page 407: Cia402 Drive Profile
CiA402 Drive Profile 13.1 Device Control ..... . 13-3 13.1.1 State Machine Control Commands ..13-4 13.1.2 Bits in Statusword (6041 Hex) .
Page 408 13.8 Digital I/O Signals ....13-22 13.9 Touch Probe ..... . . 13-23 13.9.1 Related Objects .
Page 409: Device Control
13.1 Device Control 13.1 Device Control You use the controlword (6040 hex) to execute device control for the Servo Drive according to the following state transitions. You can use the statusword (6041 hex) to monitor the device status of the Servo Drive. Power ON (A): The control power supply is ON, but the...
Page 410: State Machine Control Commands
13.1 Device Control 13.1.1 State Machine Control Commands 13.1.1 State Machine Control Commands Bits in Controlword (6040 Hex) Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 − Shutdown Switch ON Switch ON + Enable Operation − − −...
Page 411: Modes Of Operation
13.2 Modes of Operation 13.2.1 Related Objects 13.2 Modes of Operation The SERVOPACK supports the following modes of operation. • Profile Position Mode • Homing Mode • Interpolated Position Mode • Profile Velocity Mode • Torque Profile Velocity Mode • Cyclic Sync Position Mode •...
Page 412: Position Control Modes
13.3 Position Control Modes 13.3.1 Profile Position Mode 13.3 Position Control Modes 13.3.1 Profile Position Mode The Profile Position Mode is used to position to the target position at the profile velocity and the profile acceleration. The following figure shows the block diagram for the Profile Position Mode. Target position (607A hex) Multiplier Position...
Page 413: Profile Position Mode
13.3 Position Control Modes 13.3.1 Profile Position Mode In the Profile Position Mode, the following two methods can be used to start positioning.  Single Set Point (When Change Set Immediately Bit in Controlword Is 1) When a new command is input to the New Set Point bit (bit 4) in controlword during position- ing, positioning for the new command is started immediately.
Page 414 13.3 Position Control Modes 13.3.1 Profile Position Mode  SPOSING (S-curve Acceleration/Deceleration Positioning) If you set Motion profile type to 2, S-curve acceleration/deceleration will be used for positioning to Target position. Speed Profile velocity (6081 hex) Profile Profile deceleration acceleration (6084 hex) (6083 hex) Time...
Page 415: Interpolated Position Mode
13.3 Position Control Modes 13.3.2 Interpolated Position Mode 13.3.2 Interpolated Position Mode The Interpolated Position Mode is used to control multiple coordinated axes or to control a sin- gle axis that requires time interpolation of the set point data. There are the following two sub- modes for the Interpolated Position Mode.
Page 416 13.3 Position Control Modes 13.3.2 Interpolated Position Mode Continued from previous page. Data Index Subindex Name Access Unit Mapping Type Interpolation time period Interpolation time period − 60C2 hex USINT value − Interpolation time index SINT Software position limit 607D hex Min position limit Pos unit DINT...
Page 417 13.3 Position Control Modes 13.3.2 Interpolated Position Mode Continued from previous page. Data Index Subindex Name Access Unit Mapping Type Interpolation data configuration for 1st profile − Maximum buffer size UDINT − Actual buffer size UDINT − Buffer organization USINT −...
Page 418: Cyclic Synchronous Position Mode
13.3 Position Control Modes 13.3.3 Cyclic Synchronous Position Mode  Object Setting Procedure The recommended object setting procedure to use mode 2 is given in the following table. Step Description Set interpolation submode select (60C0 hex). Set interpolation profile select (2732 hex). Set interpolation data configuration for 1st profile (2730 hex) and interpolation data configuration for 2nd profile (2731 hex).
Page 419: Cyclic Synchronous Position Mode
13.3 Position Control Modes 13.3.3 Cyclic Synchronous Position Mode Continued from previous page. Data Index Subindex Name Access Unit Mapping Type 60B1 hex Velocity offset Vel unit DINT 60B2 hex Torque offset Trq unit Interpolation time period − 60C2 hex Interpolation time period value USINT −...
Page 420: Homing
13.4 Homing 13.4.1 Related Objects 13.4 Homing The following figure shows the relationship between the input objects and the output objects in the Homing Mode. You can specify the speeds, acceleration rate, and homing method. You can also use home offset to offset zero in the user coordinate system from the home position. Controlword (6040 hex) Homing method (6098 hex) Statusword (6041 hex)
Page 421 13.4 Homing 13.4.2 Homing Method (6098 Hex) Continued from previous page. Value Definition Description With this method, homing starts in the positive direction if the positive limit switch is inactive. The home position is the first index pulse that is detected after the positive limit switch becomes inactive.
Page 422 13.4 Homing 13.4.2 Homing Method (6098 Hex) Continued from previous page. Value Definition Description This method is same as method 8 except that the home position does not depend on the index pulse. Here, it depends only on changes in the relevant /Home signal or limit switch.
Page 423: Velocity Control Modes
13.5 Velocity Control Modes 13.5.1 Profile Velocity Mode 13.5 Velocity Control Modes 13.5.1 Profile Velocity Mode In the Profile Velocity Mode, the speed is output according to the profile acceleration and pro- file deceleration until it reaches the target velocity. The following figure shows the block diagram for the Profile Velocity Mode.
Page 424: Cyclic Synchronous Velocity Mode
13.5 Velocity Control Modes 13.5.2 Cyclic Synchronous Velocity Mode 13.5.2 Cyclic Synchronous Velocity Mode In the Cyclic Synchronous Velocity Mode, the master provides the target speed to the Servo Drive, which performs speed control. In this mode, a torque compensation can be specified by the master to enable torque feedforward.
Page 425: Torque Control Modes
13.6 Torque Control Modes 13.6.1 Profile Torque Mode 13.6 Torque Control Modes 13.6.1 Profile Torque Mode In the Profile Torque Mode, the torque is output up to the target torque according to the torque slope setting. The following figure shows the block diagram for the Profile Torque Mode. Torque Target torque (6071 hex) demand...
Page 426: Cyclic Sync Torque Mode
13.6 Torque Control Modes 13.6.2 Cyclic Sync Torque Mode 13.6.2 Cyclic Sync Torque Mode In the Cyclic Synchronous Torque Mode, the master provides the target torque to the Servo Drive, which performs torque control. Torque offset (60B2 hex) Torque demand Target torque (6071 hex) value (6074 hex)
Page 427: Torque Limits
13.7 Torque Limits 13.7 Torque Limits The following figure shows the block diagram for the torque limits. The torque is limited by the lowest limit value. Torque control Torque Torque offset 0x60E0 0x60E1 0x6072 Positive torque Negative torque Max torque limit value limit value Position...
Page 428: Digital I/O Signals
13.8 Digital I/O Signals 13.8 Digital I/O Signals The digital inputs and digital outputs are used to control the I/O signals of the CN1 connector on the SERVOPACK. Data Index Subindex Name Access Unit Mapping Type − 60FD hex Digital inputs UDINT Digital outputs −...
Page 429: Touch Probe
13.9 Touch Probe 13.9.1 Related Objects 13.9 Touch Probe You can latch the feedback position with the following trigger events. • Trigger with probe 1 input (Probe 1 Latch Input (/Probe1) signal) • Trigger with probe 2 input (Probe 2 Latch Input (/Probe2) signal) •...
Page 430: Example Of Execution Procedure For A Touch Probe
13.9 Touch Probe 13.9.2 Example of Execution Procedure for a Touch Probe 13.9.2 Example of Execution Procedure for a Touch Probe • Single Trigger Mode (60B8 hex bit 1 = 0 or bit 9 = 0) 60B8 hex bit 0 (bit 8) 60B8 hex bit 4 (bit 12)
Page 431: Fully-Closed Loop Control
13.10 Fully-Closed Loop Control 13.10 Fully-Closed Loop Control The following figure shows the block diagram for the fully-closed loop control. Option Module SERVOPACK Multiplier FS->S Unit Velocity offset or (Pn20A (220A hex)) Velocity demand value Multiplier Position demand Speed Position Torque FS->S Unit Motor...
Page 432: Object Dictionary
Object Dictionary This chapter provides tables of the objects that are sup- ported by an EtherCAT SERVOPACK. Each object is described. 14.1 Object Dictionary List ....14-3 14.2 General Objects .
Page 433 14.14 Torque Limit Function ....14-44 14.15 Touch Probe Function ....14-45 14.16 Digital Inputs/Outputs .
Page 434: Object Dictionary List
14.1 Object Dictionary List 14.1 Object Dictionary List The following table lists the dictionary objects. Functional Classification Object Name Index Refer to Device type (1000 hex) 14.2 Error register (1001 hex) 14.2 Manufacturer device name (1008 hex) 14.2 General Objects Manufacturer software version (100A hex) 14.2...
Page 435 14.1 Object Dictionary List Continued from previous page. Functional Classification Object Name Index Refer to Position demand value (6062 hex) 14.9 Position actual internal value (6063 hex) 14.9 Position actual value (6064 hex) 14.9 Position demand internal value (60FC hex) 14.9 Position Control Func- Following error window...
Page 436: General Objects
14.2 General Objects 14.2 General Objects Device Type (1000 Hex) This object contains the device type and functionality. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 1000 hex Device type UDINT 0x00020192  Data Description Bit 31 16 15 Additional Information Device profile number...
Page 437 14.2 General Objects Store Parameters Field (1010 Hex) You can use this object to save the parameter settings in non-volatile memory. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Largest subindex sup- USINT ported 0x00000000 Save all parameters UDINT 0xFFFFFFFF (default:...
Page 438 14.2 General Objects Restore Default Parameters (1011 Hex) You can use this object to restore the parameters to the default values. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Largest subindex sup- USINT ported 0x00000000 Restore all default param- UDINT 0xFFFFFFFF eters...
Page 439 14.2 General Objects Identity Object (1018 Hex) This object contains general information on the device. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of entries USINT Vendor ID UDINT 0x00000539 Product code UDINT 0x02200401 1018 hex −...
Page 440: Pdo Mapping Objects
14.3 PDO Mapping Objects 14.3 PDO Mapping Objects The CANopen over EtherCAT protocol allows the user to map objects to process data objects (PDOs) in order to use the PDOs for realtime data transfer. The PDO mappings define which objects will be included in the PDOs. A mapping entry (subindexes 1 to 8) is defined as shown below.
Page 441 14.3 PDO Mapping Objects  2nd Receive PDO Mapping Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of objects in this 0 to 8 USINT (default: 2) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (default: 0x60400010) 1601 hex 0 to 0xFFFFFFFF...
Page 442 14.3 PDO Mapping Objects Transmit PDO Mapping (1A00 Hex to 1A03 Hex)  1st Transmit PDO Mapping Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of objects in this 0 to 8 USINT (default: 8) 0 to 0xFFFFFFFF Mapping entry 1 UDINT...
Page 443 14.3 PDO Mapping Objects  3rd Transmit PDO Mapping Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of objects in this 0 to 8 USINT (default: 2) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (default: 0x60410010) 1A02 hex 0 to 0xFFFFFFFF...
Page 444: Sync Manager Communications Objects
14.4 Sync Manager Communications Objects 14.4 Sync Manager Communications Objects Sync Manager Communications Type (1C00 Hex) Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of used Sync Manager USINT channels 1: Mailbox recep- Communication type USINT tion sync manager 0 (master to slave)
Page 445 14.4 Sync Manager Communications Objects Sync Manager Synchronization (1C32 Hex and 1C33 Hex)  Sync Manager 2 (Process Data Output) Synchronization Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of synchroni- USINT zation parameters 0: Free-Run (DC not used) Synchronization type UINT...
Page 446 14.4 Sync Manager Communications Objects  Sync Manager 3 (Process Data Input) Synchronization Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of synchroni- USINT zation parameters Same as 1C32 hex: Synchronization type UINT Same as 1C32 hex: Cycle time UDINT 125,000 ×...
Page 447 14.4 Sync Manager Communications Objects In this example, a failure in receiving the process data occurs every other DC (Sync0) cycle. After eight DC cycles, the internal error count reaches the Sync Error Count Limit, and an error occurs. No alarm will be detected if the DC mode is disabled or when the Sync Error Count Limit is set to 0.
Page 448: Manufacturer-Specific Objects
14.5 Manufacturer-Specific Objects 14.5 Manufacturer-Specific Objects SERVOPACK Parameters (2000 Hex to 26FF Hex) Objects 2000 hex to 26FF hex are mapped to SERVOPACK parameters (Pn). Object index 2 hex corresponds to Pn in the SERVOPACK parameters (e.g., object 2100 hex is the same as Pn100). User Parameter Configuration (2700 Hex) This object enables all user parameter settings and initializes all of the position data.
Page 449 14.5 Manufacturer-Specific Objects Velocity User Unit (2702 Hex) This object sets the user-defined speed reference unit (Vel unit). The user-defined speed reference unit is calculated with the following formula. 1 [Vel unit] = (Numerator/Denominator) [inc/sec] Subin- Data Saving to Index Name Access Value...
Page 450 14.5 Manufacturer-Specific Objects Continued from previous page. EtherCAT(CoE) Communications Object Data Type Positive torque limit value (60E0 hex) UINT Negative torque limit value (60E1 hex) UINT Torque offset (60B2 hex) SERVOPACK Adjusting Command (2710 Hex) This object is used for SERVOPACK adjustment services (e.g., encoder setup or multiturn reset).
Page 451 14.5 Manufacturer-Specific Objects  Executable Adjustment Services Preparation Request Processing Adjustment Service before Execution Conditions Code Time Execution If an incremental encoder is used, it is Absolute Encoder Reset 1008 hex Required 5 s max. not possible to reset the encoder while the servo is ON.
Page 452: Device Control
14.6 Device Control 14.6 Device Control Error Code (603F Hex) This object provides the SERVOPACK alarm/warning code of the last error that occurred. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 603F hex Error code UINT Controlword (6040 Hex) This object controls the device and operation mode.
Page 453 14.6 Device Control  Details on Bits 4 to 9 • Bits 4, 5, and 9: Profile Position Mode Bit 9 Bit 5 Bit 4 Description Starts the next positioning operation after the current positioning operation is 0 → 1 completed (i.e., after the target is reached).
Page 454 14.6 Device Control Statusword (6041 Hex) Statusword contains the bits that give the current state of the Servo Drive and the operating state of the operation mode. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 6041 hex Statusword UINT ...
Page 455 14.6 Device Control  Details on Bits 10, 12, and 13 • Bits 10, 12, and 13: Profile Position Mode Meaning Value Description Halt (bit 8 in controlword) = 0: The target position has not been reached. Halt (bit 8 in controlword) = 1: The axis is decelerating. Target reached Halt (bit 8 in controlword) = 0: The target position was reached.
Page 456 14.6 Device Control • Bits 10, 12, and 13: Profile Velocity Mode State Value Description Halt (bit 8 in controlword) = 0: The target speed has not been reached. Halt (bit 8 in controlword) = 1: The axis is decelerating. Target reached Halt (bit 8 in controlword) = 0: The target speed was reached.
Page 457 14.6 Device Control  Data Description Value Description Disables the Servo Drive (moves to the Switch ON Disabled state). Decelerates at the deceleration rate for decelerating to a stop and moves to *1, *2 the Switch ON Disabled state. The motor is always stopped according to option code 0 (servo OFF stop) in Profile Torque Mode or Cyclic Torque Mode.
Page 458 14.6 Device Control Fault Reaction Option Code (605E Hex) This object defines the operation that is performed when an alarm is detected in the Servo Drive system. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Fault reaction option 605E hex code ...
Page 459 14.6 Device Control Supported Drive Modes (6502 Hex) This object gives the operation modes that are supported by the device. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Supported drive 6502 hex UDINT 03ED hex modes  Data Description Applicable Mode Definition Pp (Profile position mode)
Page 460: Profile Position Mode
14.7 Profile Position Mode 14.7 Profile Position Mode Target Position (607A Hex) This object contains the target position for the Profile Position Mode or Cyclic Synchronous Position Mode. In Profile Position Mode, the value of this object is interpreted as either an absolute or relative value depending on the Abs/Rel Flag in controlword.
Page 461 14.7 Profile Position Mode Profile Velocity (6081 Hex) This object contains the final movement speed at the end of acceleration for a Profile Mode operation. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 0 to 4,294,967,295 6081 hex Profile velocity UDINT (default: 0) [Vel.
Page 462: Homing Mode
14.8 Homing Mode 14.8 Homing Mode Home Offset (607C Hex) This object contains the offset between the zero position for the application and the machine home position (found during homing). Subin- Data Saving to Index Name Access Value Type Mapping EEPROM –536,870,912 to 607C hex...
Page 463 14.8 Homing Mode Homing Speeds (6099 Hex) This object defines the speeds that are used during homing. The speeds are given in user speed reference units. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of entries USINT 0 to 4,294,967,295 Speed during search...
Page 464: Position Control Function
14.9 Position Control Function 14.9 Position Control Function Position Demand Value (6062 Hex) This object specifies the current reference position in user position reference units. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Position demand − [Pos. unit] 6062 hex DINT value...
Page 465 14.9 Position Control Function Following Error Actual Value (60F4 Hex) This object provides the current following error. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Following error − [Pos. unit] 60F4 hex DINT actual value Position Window (6067 Hex) This object defines the positioning completed width for the target position.
Page 466: Interpolated Position Mode
14.10 Interpolated Position Mode 14.10 Interpolated Position Mode Interpolation Submode Select (60C0 Hex) (Object Shared by Mode 1 and Mode 2) This object is used to select the submode for the Interpolated Position Mode. To use Interpolated Position Mode, set this object first. Subin- Data Saving to...
Page 467 14.10 Interpolated Position Mode Interpolation Time Period (60C2 hex) (Object Shared by Mode 1 and Mode 2) This object defines the interpolated position reference period for Interpolation Position Mode. If DC Sync0 Mode is selected, the interpolation time period is automatically stored as the Sync0 Cycle Time.
Page 468 14.10 Interpolated Position Mode  2730 Hex: 4 Buffer Position The object contains the entry point for the available area in the reference input buffer. Note: Do not change this value while enable interpolation (6040 hex bit 4) is 1. ...
Page 469 14.10 Interpolated Position Mode  2731 Hex: 3 Buffer Organization Value (Method) Description Uses the reference input buffer as a FIFO buffer. Uses the reference input buffer is as a ring buffer. Note: Do not change this value while enable interpolation (6040 hex bit 4) is 1. ...
Page 470 14.10 Interpolated Position Mode Interpolation Profile Select (2732 Hex) (Mode 2 Object) This object is used to select the type of interpolation profile to use. Change the interpolation profile only after execution of the current profile has been completed. You can change the object when enable interpolation (6040 hex bit 4) is 0. Subin- Data Saving to...
Page 471 14.10 Interpolated Position Mode Interpolation Data Read/Write Pointer Position Monitor (2741 Hex) (Mode 2 Object) This object gives the current values of the read and write pointers for the reference input buffers in the EtherCAT (CoE) Network Module. Subin- Data Saving to Index Name...
Page 472: Cyclic Synchronous Position Mode
14.11 Cyclic Synchronous Position Mode 14.11 Cyclic Synchronous Position Mode Velocity Offset (60B1 Hex) In Cyclic Synchronous Position Mode, this object contains the speed feedforward value. In Cyclic Synchronous Velocity Mode, this object contains the offset value to add to the speed reference.
Page 473: Profile Velocity/Cyclic Synchronous Velocity Mode
14.12 Profile Velocity/Cyclic Synchronous Velocity Mode 14.12 Profile Velocity/Cyclic Synchronous Velocity Mode Velocity Demand Value (606B Hex) This object contains the output value from the velocity trajectory generator or the output value from the position control function (i.e., the input reference for the speed loop). Subin- Data Saving to...
Page 474: Profile Torque/Cyclic Synchronous Torque Mode
14.13 Profile Torque/Cyclic Synchronous Torque Mode 14.13 Profile Torque/Cyclic Synchronous Torque Mode Target Torque (6071 Hex) This object specifies the input torque reference value for Torque Control Mode. Set the value in units of 0.1% of the motor rated torque. Subin- Data Saving to...
Page 475: Torque Limit Function
14.14 Torque Limit Function 14.14 Torque Limit Function Max Torque (6072 Hex) This object sets the maximum output torque for the motor. Set the value in units of 0.1% of the motor rated torque. The maximum motor torque is automatically set in this object when the power is turned ON. Subin- Data Saving to...
Page 476: Touch Probe Function
14.15 Touch Probe Function 14.15 Touch Probe Function Touch Probe Function (60B8 Hex) This object sets the touch probes. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Touch probe func- 0 to 0xFFFF 60B8 hex UINT tion (default: 0) ...
Page 477 14.15 Touch Probe Function  Data Description Value Description Touch probe 1 is disabled. Touch probe 1 is enabled. No latched position is stored for touch probe 1. A latch position is stored for touch probe 1. − 2 to 6 Reserved.
Page 478 14.16 Digital Inputs/Outputs 14.16 Digital Inputs/Outputs Digital Inputs (60FD Hex) This object gives the status of the digital inputs to CN1 on the SERVOPACK. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM − 60FD hex Digital inputs UDINT ...
Page 479 14.16 Digital Inputs/Outputs Digital Outputs (60FE Hex) This object controls the status of the general-purpose output signals (SO1 to SO5) from CN1 on the SERVOPACK. Subindex 1 is used to control the status of the output signals. Subindex 2 determines which output signals in subindex 1 are enabled.
Page 480: Dual Encoder Feedback
14.17 Dual Encoder Feedback 14.17 Dual Encoder Feedback You can monitor the position of the external encoder in dual encoder feedback (60E4 hex). Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of entries USINT 60E4 hex External encoder DINT (Default: 0)
Page 481: Maintenance
Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. In this chapter, the object index number (2 hex) for EtherCAT communications is given after the SERVOPACK parameter number (Pn) 15.1 Inspections and Part Replacement ..15-2 15.1.1 Inspections .
Page 482: Inspections And Part Replacement
After an examination of the part in question, we will determine whether the part should be replaced. The parameters of any SERVOPACKs that are sent to Yaskawa for part replacement are reset to the factory settings before they are returned to you. Always keep a record of the parameter set- tings.
Page 483: Replacing The Battery
15.1 Inspections and Part Replacement 15.1.3 Replacing the Battery 15.1.3 Replacing the Battery If the battery voltage drops to approximately 2.7 V or less, an A.830 alarm (Encoder Battery Alarm) or an A.930 warning (Encoder Battery Warning) will be displayed. If this alarm or warning is displayed, the battery must be replaced.
Page 484 15.1 Inspections and Part Replacement 15.1.3 Replacing the Battery  When Using an Encoder Cable with a Battery Case Turn ON only the control power supply to the SERVOPACK. If you remove the battery or disconnect the Encoder Cable while the control power supply to the SERVOPACK is OFF, the absolute encoder data will be lost.
Page 485: Alarm Displays
15.2 Alarm Displays 15.2.1 List of Alarms 15.2 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. If there is an alarm, the code will be displayed one character at a time, as shown below.
Page 486 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method A parameter setting is outside of the setting 040 hex Parameter Setting Error Gr.1 range.
Page 487 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method Vibration was detected during autotuning for the 521 hex Autotuning Alarm Gr.1 tuning-less function. The setting of Pn385 (2385 hex) (Maximum Motor Maximum Speed Setting 550 hex...
Page 488 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method External Encoder Over- An overheating error occurred in the external Gr.1 encoder. heated EtherCAT DC Synchroni- The SERVOPACK and Sync0 events cannot be A10 hex Gr.2...
Page 489 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method Encoder Communications An error occurred in the communications timer C92 hex Gr.1 between the encoder and SERVOPACK. Timer Error CA0 hex Encoder Parameter Error The parameters in the encoder are corrupted.
Page 490 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method An error occurred in communications memory Command-Option IF EA1 hex between the SERVOPACK and EtherCAT (CoE) Gr.1 Memory Check Error Network Module.
Page 491: Troubleshooting Alarms
15.2.2 Troubleshooting Alarms 15.2.2 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Code: Possible Cause Confirmation...
Page 492 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name 024 hex: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in faulty. Replace the SER- – – the SERVOPACK.
Page 493 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Check the capacities to see if they satisfy the The SERVOPACK and Select a proper combina- following condition: Servomotor capaci- tion of the SERVOPACK page 1-11 050 hex: ties do not match...
Page 494 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits across Servomotor There is a short-circuit The cable may be short-...
Page 495 Built-in Brake noise may be the Relay Answer cause. Error Replace the part. Con- The built-in brake – tact your Yaskawa repre- – relay failed. sentative for replacement. Continued on next page. 15-15...
Page 496 Alarm Name 232 hex: The service life of the Replace the part. Con- Built-in Brake built-in brake relay – tact your Yaskawa repre- – Relay Life Alarm was exceeded. sentative for replacement. The jumper between the Regenerative Resistor terminals (B2...
Page 497 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name If you are using the The Regenerative Regenerative Resistor built Resistor was discon- Measure the resistance into the SERVOPACK, nected when the of the Regenerative replace the SERVOPACK.
Page 498 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage went below age within the specified – supply voltage. the specified range.
Page 499 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Check for abnormal Reduce the motor speed. Abnormal oscillation motor noise, and check Or, reduce the setting of was detected in the the speed and torque page 8-76 Pn100 (2100 hex) (Speed...
Page 500 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Implement measures to The Servomotor was Check the operation ensure that the motor will rotated by an external – status. not be rotated by an force.
Page 501 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- page 3-6 perature is too high.
Page 502 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter 7Ab hex: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
Page 503 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- – occurs, the Servomotor or –...
Page 504 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature – the Servomotor is too Servomotor to 40°C or around the Servomotor.
Page 505 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. 8A1 hex: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter...
Page 506 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name A40 hex: A failure occurred in Replace the SERVO- – System Initializa- – the SERVOPACK. PACK. tion Error A41 hex: A failure occurred in Replace the SERVO- Communications –...
Page 507 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and bF1 hex: A failure occurred in ON again. If an alarm still –...
Page 508 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Fine-tune the mounting of Check the voltage of The linear encoder the scale head. Or, the linear encoder sig- – signal level is too low. replace the linear nal.
Page 509 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (2282 hex) (Linear Check the linear Encoder Pitch) and Pn080 The parameter set- encoder specifications (2080 hex) = n.X page 5-15, tings are not correct.
Page 510 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- C51 hex: nals. Execute polarity The overtravel signal Overtravel Check the overtravel detection at a position was detected during page 4-31 position.
Page 511 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the page 4-19 the encoder connector.
Page 512 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the page 4-5 encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating...
Page 513 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly page 4-19 encoder.
Page 514 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- page 4-21 is not wired correctly external encoder.
Page 515 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position d01 hex: deviation exceeded the setting of Pn526 Check the position Position Devia- Optimize the setting of (2526 hex) (Excessive deviation while the...
Page 516 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- Check the connection nection between the between the SERVO- Correctly connect the – SERVOPACK and the PACK and the Safety Safety Option Module.
Page 517 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Fluctuation in the Eth- erCAT communica- Turn the power supply tions synchronization EA2 hex: OFF and ON again and re- timing (Sync0) caused –...
Page 518 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name F50 hex: The SERVOPACK may be A failure occurred in – faulty. Replace the SER- Servomotor Main – the SERVOPACK. VOPACK. Circuit Cable Dis- connection (The Servomotor...
Page 519: Resetting Alarms
15.2 Alarm Displays 15.2.3 Resetting Alarms 15.2.3 Resetting Alarms If there is an ALM (Servo Alarm) signal, use one of the following methods to reset the alarm after eliminating the cause of the alarm. Be sure to eliminate the cause of an alarm before you reset the alarm. If you reset the alarm and continue operation without eliminating the cause of the alarm, it may result in damage to the equipment or fire.
Page 520: Displaying The Alarm History
15.2 Alarm Displays 15.2.4 Displaying the Alarm History 15.2.4 Displaying the Alarm History The alarm history displays up to the last ten alarms that have occurred in the SERVOPACK. Note: The following alarms are not displayed in the alarm history: A.E50 (EtherCAT Synchronization Error), A.E60 (Reception Error in EtherCAT Communications), and FL-1 to FL-5.
Page 521: Clearing The Alarm History
15.2 Alarm Displays 15.2.5 Clearing the Alarm History 15.2.5 Clearing the Alarm History You can clear the alarm history that is recorded in the SERVOPACK. The alarm history is not cleared when alarms are reset or when the SERVOPACK main circuit power is turned OFF.
Page 522: Resetting Alarms Detected In Option Modules
15.2 Alarm Displays 15.2.6 Resetting Alarms Detected in Option Modules 15.2.6 Resetting Alarms Detected in Option Modules If any Option Modules are attached to the SERVOPACK, the SERVOPACK detects the pres- ence and models of the connected Option Modules. If it finds any errors, it outputs alarms. You can delete those alarms with this operation.
Page 523: Resetting Motor Type Alarms
15.2 Alarm Displays 15.2.7 Resetting Motor Type Alarms Click the OK Button. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to reset alarms detected in Option Modules. 15.2.7 Resetting Motor Type Alarms The SERVOPACK automatically determines the type of motor that is connected to it.
Page 524 15.2 Alarm Displays 15.2.7 Resetting Motor Type Alarms Operating Procedure Use the following procedure to reset Motor Type alarm. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Reset Motor Type Alarm in the Menu Dialog Box. The Reset Motor Type Alarm Dialog Box will be displayed.
Page 525: Warning Displays
15.3 Warning Displays 15.3.1 List of Warnings 15.3 Warning Displays To check a warning that occurs in the SERVOPACK, use one of the following methods. Warnings are displayed to warn you before an alarm occurs. If there is a warning, the code will be displayed one character at a time, as shown below.
Page 526: Troubleshooting Warnings
9-15 15.3.2 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause...
Page 527 15.3 Warning Displays 15.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The position devi- ation exceeded the parameter set- 901 hex: Optimize the setting of tings (Pn526 Pn528 (2528 hex) (Exces- Position Deviation (2526 hex) ×...
Page 528 15.3 Warning Displays 15.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status page 3-6 the SERVOPACK installa- high.
Page 529 15.3 Warning Displays 15.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The power supply Set the power supply volt- voltage exceeded Measure the power age within the specified – the specified supply voltage. range.
Page 530 • Implement countermea- sures against noise. One of the con- 9b0 hex: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- page 9-14 reached the end nance Warning tive for replacement. of its service life. 15-50...
Page 531: Troubleshooting Based On The Operation And Conditions Of The Servomotor
15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Problem Possible Cause Confirmation...
Page 532 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn ON the /HWBB1 and /HWBB2 input sig- nals. If you are not The safety input signals Check the /HWBB1 and using the safety func- (/HWBB1 or /HWBB2) were page 9-5...
Page 533 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The connector connec- tions for the power line (U, V, and W phases) and Servomotor Tighten any loose ter- There is a faulty connection the encoder or Serial −...
Page 534 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Reduce the load so that the moment of inertia ratio or mass The Servomotor vibrated ratio is within the allow- considerably while perform- Check the waveform of able value, or increase...
Page 535 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- Replace the Encoder Noise interference occurred tem. Check the Encoder Cable and correct the because the Encoder Cable Cable to see if it is –...
Page 536 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- page 8-23 anced.
Page 537 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check the Encoder Cable to see if it satisfies specifications. Noise interference occurred Use cables that satisfy Use a shielded twisted- because of incorrect Encoder...
Page 538 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check to see if vibration from the machine occurred. Reduce machine vibra- Check the Servomotor The encoder was subjected tion.
Page 539 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Correct the external Check the external power power supply (+24 V) supply (+24 V) voltage for – voltage for the input the input signals.
Page 540 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check the Encoder Cable to see if is satisfies specifications. Use a Noise interference occurred Use cables that satisfy shielded twisted-pair wire because of incorrect Encoder...
Page 541 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check to see if vibration from the machine occurred. Reduce machine vibra- Check the Servomotor The encoder was subjected tion.
Page 542: Parameter And Object Lists
Parameter and Object Lists This chapter provides information on parameters and objects. 16.1 List of Parameters ....16-2 16.1.1 Interpreting the Parameter Lists ... . 16-2 16.1.2 List of Parameters .
Page 543 16.1 List of Parameters 16.1.1 Interpreting the Parameter Lists 16.1 List of Parameters 16.1.1 Interpreting the Parameter Lists The types of motors to which the parameter applies. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. Rotary: The parameter is used for only Rotary Servomotors. Linear: The parameter is used for only Linear Servomotors.
Page 544 16.1 List of Parameters 16.1.2 List of Parameters 16.1.2 List of Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameters • Parameters not given in this manual • Parameters that are not valid for the Servomotor that you are using, as given in the parameter table Parameter Setting Setting...
Page 545 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 0001 After – – Setup – Selections 2 4213 hex restart EtherCAT (CoE) Module Torque Limit Command Usage...
Page 546 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 0002 Immedi- page – Setup Selections 6 105F hex ately Analog Monitor 1 Signal Selection...
Page 547 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 0000 Immedi- page – Setup Selections 7 105F hex ately Analog Monitor 2 Signal Selection...
Page 548 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 4000 After – Rotary Setup – Selections 8 7121 hex restart Low Battery Voltage Alarm/Warning Selection...
Page 549 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 0001 After – – Setup Selections A 0044 hex restart Motor Stopping Method for Group 2 Alarms...
Page 550 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 0000 After page – – Setup Selections C 0131 hex restart 7-21...
Page 551 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 0000 After – Setup – Selections 22 0011 hex restart Overtravel Release Method Selection...
Page 552 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 hex to 0000 After page – Setup Selections 81 1111 hex restart 6-18...
Page 553 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn10C Mode Switching Level Immedi- page 0 to 800 Tuning for Torque Reference ately 8-87 (210C hex)
Page 554 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- 0000 hex to 0100 Immedi- – Tuning – trol-Related Selections 1121 hex ately Model Following Control Selection...
Page 555 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Control-Related Selec- 0000 hex to 0021 After – Tuning – tions 0021 hex restart Model Following Control Type Selection Reference...
Page 556 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Tuning-less Function- 0000 hex to 1401 page – – Setup Related Selections 2711 hex 8-12 When...
Page 557 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Fully-closed Control 0000 hex to 0000 After page – Rotary Setup Selections 1003 hex restart 10-9...
Page 558 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000 hex to 0000 Immedi- page − Setup Selections 0002 hex ately 6-46 Vibration Detection Selection...
Page 559 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 hex to 0000 – – Setup – tion Selections 1111 hex When Notch Filter Selection 1...
Page 560 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 hex to 0000 Immedi- page – Setup tion Selections 2 1111 hex ately 8-81...
Page 561 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Release Time for Torque Pn425 Immedi- page Limit at Main Circuit 0 to 1,000 1 ms Setup ately...
Page 562 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn498 Polarity Detection Allow- Immedi- 0 to 30 1 deg Linear Tuning –...
Page 563 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 hex to 8882 After − Setup – FFFF hex restart N-OT (Reverse Drive Prohibit) Signal Allocation Reference...
Page 564 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 hex to 0000 After – Setup – tions 1 6666 hex restart /COIN (Positioning Completion Output) Signal Allocation...
Page 565 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 hex to 0000 After – Setup – tions 3 0666 hex restart /NEAR (Near Output) Signal Allocation...
Page 566 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Inverse 0000 hex to 0000 After page – Setup Settings 1 1111 hex restart Output Signal Inversion for CN1-1 and CN1-2 Terminals...
Page 567 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 hex to 8888 After – Setup – FFFF hex restart FSTP (Forced Stop Input) Signal Allocation Reference...
Page 568 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Program Jogging- 0000 hex to 0000 Immedi- page − Setup Related Selections 0005 hex ately 7-13...
Page 569 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn583 Brake Reference Out- Immedi- page 0 to 10,000 1 mm/s Linear Setup put Speed Level ately...
Page 570 16.1 List of Parameters 16.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence ZONE Output Signal 0000 hex to 0000 After – Setup – Selection 2 0005 hex restart /nZONE (nZONE Signal Output) Signal Allocation...
Page 571 16.2 Object List 16.2 Object List Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping 1000 hex Device type UDINT 0x00020192 – – – – 1001 hex Error register USINT –...
Page 572 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping 2nd receive PDO mapping Number of objects in USINT – PnCA1 this PDO Mapping entry 1 UDINT 0x60400010...
Page 573 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping 2nd transmit PDO mapping Number of objects in USINT – PnCA5 this PDO Mapping entry 1 UDINT 0x60410010...
Page 574 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Sync Manager PDO assignment 3 Number of assigned USINT – PnCBB PDOs 1C13 hex Index of assigned UINT...
Page 575 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Acceleration user unit Number of entries USINT – – – – 2703 hex Numerator UDINT 1073741823...
Page 576 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping ZONE table positive side boundary position (ZONE P) Number of entries USINT –...
Page 577 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping ZONE table negative side boundary position (ZONE N) Number of entries USINT –...
Page 578 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Modes of operation 6061 hex SINT – – – PnB19 display Position demand Pos.
Page 579 16.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Homing speeds Number of entries USINT – – – – Speed during search Vel.
Page 580 16.3 SDO Abort Code List 16.3 SDO Abort Code List The following table gives the SDO abort codes for SDO communications errors. Value Meaning 0x05 03 00 00 Toggle bit did not change. 0x05 04 00 00 SDO protocol timeout 0x05 04 00 01 Client/server command specifier is not valid or is unknown.
Page 581 16.4 Parameter Recording Table 16.4 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter Default When Name Setting Enabled Pn000 0000 Basic Function Selections 0 After restart (2000 hex) Pn001 0000 Application Function Selec- After restart tions 1 (2001 hex)
Page 582 16.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn10C Mode Switching Level for Immediately Torque Reference (210C hex) Pn10D Mode Switching Level for Immediately Speed Reference (210D hex) Pn10E Mode Switching Level for Immediately Acceleration (210E hex) Pn10F...
Page 583 16.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn14A Vibration Suppression 2 Immediately Frequency (214A hex) Pn14B Vibration Suppression 2 Immediately Correction (214B hex) Pn14F 0021 Control-Related Selections After restart (214F hex) Pn160 0010 Anti-Resonance Control- Immediately Related Selections...
Page 584 16.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn306 Soft Start Deceleration Immediately Time (2306 hex) Pn308 Speed Feedback Filter Immediately Time Constant (2308 hex) Pn30A Deceleration Time for Servo Immediately OFF and Forced Stops (230A hex) Pn30C Speed Feedforward Aver-...
Page 585 16.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Second Stage Second Pn40F 5000 Torque Reference Filter Fre- Immediately (240F hex) quency Second Stage Second Pn410 Torque Reference Filter Q Immediately (2410 hex) Value First Stage Second Torque Pn412 Reference Filter Time Con- Immediately...
Page 586 16.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn485 Polarity Detection Refer- Immediately ence Speed (2485 hex) Polarity Detection Refer- Pn486 ence Acceleration/Deceler- Immediately (2486 hex) ation Time Pn487 Polarity Detection Con- Immediately (2487 hex) stant Speed Time Pn488 Polarity Detection Refer-...
Page 587 16.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn51E Position Deviation Over- Immediately flow Warning Level (251E hex) Pn520 Position Deviation Over- 5242880 Immediately flow Alarm Level (2520 hex) Pn522 Positioning Completed Immediately Width (2522 hex) Pn524 Near Signal Width...
Page 588 16.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn584 Speed Limit Level at Servo 10000 Immediately (2584 hex) Pn585 Program Jogging Move- Immediately ment Speed (2585 hex) Pn586 Motor Running Cooling Immediately Ratio (2586 hex) Polarity Detection Execu- Pn587 0000...
Page 589: Appendices
Appendices The appendix provides information on interpreting panel displays, and tables of corresponding SERVOPACK and SigmaWin+ function names. 17.1 Interpreting Panel Displays ....17-2 17.1.1 Interpreting Status Displays ....17-2 17.1.2 Alarm and Warning Displays .
Page 590 17.1 Interpreting Panel Displays 17.1.1 Interpreting Status Displays 17.1 Interpreting Panel Displays You can check the Servo Drive status on the panel display of the SERVOPACK. Also, if an alarm or warning occurs, the alarm or warning number will be displayed. 17.1.1 Interpreting Status Displays The status is displayed as described below.
Page 591 17.1 Interpreting Panel Displays 17.1.6 EtherCAT Communications Indicators 17.1.6 EtherCAT Communications Indicators The RUN indicator shows the status of EtherCAT communications. Indicator Description Status Pattern EtherCAT (CoE) communications are Never lit. in INIT state. EtherCAT (CoE) communications are Blinking in PRE-OPERATIONAL state. 200 ms 200 ms Single EtherCAT (CoE) communications are...
Page 592 17.1 Interpreting Panel Displays 17.1.6 EtherCAT Communications Indicators Link/Activity The Link/Activity indicators show whether Communications Cables are connected to the CN6A and CN6B connectors and whether communications are active. Indicator Description Status Pattern A Communications Cable is not connected and Never lit.
Page 593 17.2 Corresponding SERVOPACK and SigmaWin+ Function Names 17.2.1 Corresponding SERVOPACK Utility Function Names 17.2 Corresponding SERVOPACK and SigmaWin+ Function Names This section gives the names and numbers of the utility functions and monitor display functions used by the SERVOPACKs and the names used by the SigmaWin+. 17.2.1 Corresponding SERVOPACK Utility Function Names SigmaWin+...
Page 594 17.2 Corresponding SERVOPACK and SigmaWin+ Function Names 17.2.2 Corresponding SERVOPACK Monitor Display Function Names 17.2.2 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Un000 Motor Speed [min Motor Speed [min Un001 Speed Reference [min Speed Reference [min...
Page 595 17.2 Corresponding SERVOPACK and SigmaWin+ Function Names 17.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Fully-closed Loop Feedback Pulse Fully-closed Loop Feedback Pulse Counter Counter [external encoder resolu- Un00E [external encoder resolution]...
Page 596 17.2 Corresponding SERVOPACK and SigmaWin+ Function Names 17.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Linear Encoder Pitch (Scale pitch = Un084 × Un084 Product Un085 [pm])
Page 597 Index Index - - - - - - - - - - - - - - - - - - - 8-71 backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - vii base block (BB) battery Symbols...
Page 598 Index - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 DINT - - - - - - -14-26 - - - - - - - - - - - - - - - - - - - - - - - - 8-65 gain switching Disable Operation Option Code (605C hex)
Page 599 Index - - - - - - - - - - - - - - - - - - - - - - - - - - -8-83 I-P control - - - - - - - - - - - - - - - - - - - - - - - 12-6 object dictionary - - - - - - - - - - - - - - - - - - - - - 14-3 object dictionary list...
Page 600 Index - - - - - - - - - - - - - -14-30 - - - - - - - - - - - - - - - - - - - - - - - - - - vii Profile Acceleration (6083 hex) SERVOPACK - - - - - - - - - - - 15-2...
Page 601 Index - - - - - - - - - - - - - - - - - 14-29 - - - - - - - - - - - - - - - - - - - - - - - - 5-37 Target Position (607A hex) zero clamping - - - - - - - - - - - - - - - - - 14-43...
Page 602 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 80B <1> Revision number Published in Japan October 2015 Date of publication Date of Rev. Section Revised Contents Publication January 2017...
Page 603 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

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