YASKAWA SGD7S-1R9D Product Manual page 26

4.8
4.9
5
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
xxvi
Connecting EtherCAT Communications Cables. . . . . . . . . . . . 4-39
4.8.1 EtherCAT Connectors (RJ45) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-39
4.8.2 Ethernet Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-40
Connecting the Other Connectors . . . . . . . . . . . . . . . . . . . . . . 4-41
4.9.1 Serial Communications Connector (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
4.9.2 Computer Connector (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
4.9.3 Analog Monitor Connector (CN5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
Basic Functions That Require Setting before Operation
Manipulating SERVOPACK Parameters (Pn) . . . . . . . . . . . 5-3
5.1.1 Classifications of SERVOPACK Parameters . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.1.2 Notation for SERVOPACK Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.1.3 Setting Methods for SERVOPACK Parameters. . . . . . . . . . . . . . . . . . . . . . .5-5
5.1.4 Write Prohibition Setting for SERVOPACK Parameters . . . . . . . . . . . . . . . . .5-7
5.1.5 Initializing SERVOPACK Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . .5-10
Power Supply Type Settings for the Main Circuit . . . . . . . . . . 5-12
Automatic Detection of Connected Motor . . . . . . . . . . . . . . . . 5-13
Motor Direction Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Setting the Linear Encoder Pitch . . . . . . . . . . . . . . . . . . . . . . . 5-15
Writing Linear Servomotor Parameters . . . . . . . . . . . . . . . . . . 5-16
Selecting the Phase Sequence for a Linear Servomotor . . . . . 5-20
Polarity Sensor Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
Polarity Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.9.1 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-23
5.9.2 Using the Servo ON Command (Enable Operation Command)
to Perform Polarity Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-24
5.9.3 Using a Tool Function to Perform Polarity Detection. . . . . . . . . . . . . . . . . .5-25
Overtravel and Related Settings . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.10.1 Overtravel Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-26
5.10.2 Setting to Enable/Disable Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27
5.10.3 Motor Stopping Method for Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27
5.10.4 Overtravel Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29
5.10.5 Overtravel Release Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-30
5.10.6 Overtravel Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31
5.10.7 Overtravel Operation by Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31
Holding Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5.11.1 Brake Operating Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32
5.11.2 /BK (Brake) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33
5.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped . . .5-34
5.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating . .5-35
5.11.5 Built-in Brake Relay Usage Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-36