YASKAWA SGMJV User Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Servo Drives
  5. SGMJV
  6. User manual

YASKAWA SGMJV User Manual

Ac ?-v series
Hide thumbs Also See for SGMJV:
1
2
3
4
5
6
7
8
9
10
11
Table Of Contents
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
Table of Contents

Advertisement

Quick Links

AC Servo Drives
Σ - V Series
USER'S MANUAL
Design and Maintenance
Rotational Motor
Analog Voltage and Pulse Train Reference
SGMJV/SGMAV/SGMPS/SGMGV/SGMCS Servomotors
SGDV SERVOPACK
MANUAL NO. SIEP S800000 45C
Outline
Panel Operator
Wiring and Connection
Trial Operation
Operation
Adjustments
Utility Functions (Fn)
Monitor Modes (Un)
Fully-closed Loop Control
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
10
11

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SGMJV and is the answer not in the manual?

Questions and answers

Related Manuals for YASKAWA SGMJV

Summary of Contents for YASKAWA SGMJV

  • Page 1 AC Servo Drives Σ - V Series USER'S MANUAL Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SGMJV/SGMAV/SGMPS/SGMGV/SGMCS Servomotors SGDV SERVOPACK Outline Panel Operator Wiring and Connection Trial Operation Operation Adjustments Utility Functions (Fn) Monitor Modes (Un)
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 3: About This Manual

    Keep this manual in a location where it can be accessed for reference whenever required. Description of Technical Terms The following table shows the meanings of terms used in this manual. Term Meaning Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or SGMCS Servomotor (Direct Drive) servomotor SERVOPACK Σ-V Series SGDV SERVOPACK A set including a servomotor and SERVOPACK (i.e., a servo ampli-...
  • Page 4 Manuals Related to the Σ-V Series Refer to the following manuals as required. Selecting Trial Maintenance Models and Ratings and System Panels and Trial Operation Name Peripheral Specifications Design Wiring Operation and Servo Inspection Devices Adjustment Σ-V Series User's Manual Setup Rotational Motor (SIEP S800000 43)
  • Page 5 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. Indicates precautions that, if not heeded, could possibly result in loss of WARNING life or serious injury.

  • Page 6: Safety Precautions

    Safety Precautions These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
  • Page 7 Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature condi- tions •...
  • Page 8 Wiring CAUTION • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion. Failure to observe this caution may result in injury or fire. • Securely connect the main circuit power supply terminal screws and servomotor connection termi- nal screws.
  • Page 9 Operation CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution so may result in fire or malfunction. • Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.
  • Page 10 When this manual is revised, the manual code is updated and the new manual is published as a next edition. The edition number appears on the front and back covers. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

  • Page 11: Applicable Standards

    Applicable Standards North American Safety Standards (UL) ∗ Standards Model (UL File No.) SERVOPACK • SGDV UL508C (E147823) • SGMJV • SGMAV Servomotor • SGMPS UL1004 (E165827) • SGMGV • SGMSV ∗ Underwriters Laboratories Inc. European Standards EMC Directive Low Voltage...

  • Page 12: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 13 Chapter 3 Wiring and Connection ....... .3-1 3.1 Main Circuit Wiring..........3-2 3.1.1 Names and Functions of Main Circuit Terminals .
  • Page 14 Chapter 5 Operation ......... .5-1 5.1 Control Selection .
  • Page 15 5.10 Other Output Signals ......... 5-76 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) .
  • Page 16 Chapter 7 Utility Functions (Fn ) ......7-1 7.1 List of Utility Functions ......... . 7-2 7.2 Alarm History Display (Fn000) .
  • Page 17 Chapter 9 Fully-closed Loop Control......9-1 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control .
  • Page 18 Outline 1.1 Σ-V Series SERVOPACKs ........1-2 1.2 Part Names .

  • Page 19: Σ-V Series Servopacks

    1 Outline Σ-V Series SERVOPACKs The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre- cision positioning. The SERVOPACK makes the most of machine performance in the shortest time possi- ble, thus contributing to improving productivity. Part Names This section describes the part names of SGDV type SERVOPACK for analog voltage and pulse train refer- ence.

  • Page 20: Servopack Ratings And Specifications

    1.3 SERVOPACK Ratings and Specifications SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs. 1.3.1 Ratings Ratings of SERVOPACKs are as shown below. (1) 100 VAC Rating SGDV (100 VAC) Continuous Output Current 0.66 0.91 [Arms] Max.

  • Page 21: Basic Specifications

    1 Outline 1.3.2 Basic Specifications 1.3.2 Basic Specifications Basic specifications of SERVOPACKs are shown below. Control Method Single or three-phase full-wave rectification IGBT-PWM (sine-wave driven) Serial encoder: Feedback 13-bit (incremental), 17-bit, 20-bit (incremental/absolute) Surrounding Air/Storage 0 to +55°C/ -20 to +85°C Temperature Ambient/Storage 90% RH or less (with no condensation)
  • Page 22 1.3 SERVOPACK Ratings and Specifications Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs Number 3 ch Channels Output The signal allocation and positive/negative logic can be modi- Sequence Signals fied. Signals Output which can Positioning completion (/COIN), speed coincidence detection be allocated Functions (/V-CMP), servomotor rotation detection (/TGON), servo...

  • Page 23: Speed/Position/Torque Control Modes

    1 Outline 1.3.3 Speed/Position/Torque Control Modes 1.3.3 Speed/Position/Torque Control Modes The following table shows the basic specifications at speed/position/torque control mode. Control Mode Specifications 0 to 10 s (Can be set individually for acceleration and Performance Soft Start Time Setting deceleration.) •...

  • Page 24: Servopack Internal Block Diagrams

    1.4 SERVOPACK Internal Block Diagrams SERVOPACK Internal Block Diagrams 1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models Single-phase +10% 100 to 115 V −15% (50/60 Hz) Noise Servomotor filter + 12 V Varistor − − Dynamic brake circuit Gate drive Temperature Current Voltage...

  • Page 25: Three-Phase 200 V, Sgdv-R70A01A, -R90A01A, -1R6A01A Models

    1 Outline 1.4.3 Three-phase 200 V, SGDV-R70A01A, -R90A01A, -1R6A01A Models 1.4.3 Three-phase 200 V, SGDV-R70A01A, -R90A01A, -1R6A01A Models Three-phase +10% 200 to 230 V −15% (50/60 Hz) Noise Servomotor filter + 12 V Varistor − − Dynamic brake circuit − Gate drive Current Voltage...

  • Page 26: Three-Phase 200 V, Sgdv-3R8A01A, -5R5A01A, -7R6A01A Models

    1.4 SERVOPACK Internal Block Diagrams 1.4.5 Three-phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models Three-phase +10% 200 to 230 V −15% (50/60 Hz) Noise Servomotor filter Varistor ± 12 V − − Dynamic brake circuit − Gate drive Current Voltage Relay Temperature Voltage Gate...

  • Page 27: Three-Phase 200 V, Sgdv-180A01A, -200A01A Models

    1 Outline 1.4.7 Three-phase 200 V, SGDV-180A01A, -200A01A Models 1.4.7 Three-phase 200 V, SGDV-180A01A, -200A01A Models Three-phase +10% 200 to 230 V −15% (50/60 Hz) Fan 1 Fan 2 Noise Servomotor filter Varistor ± 12 V ± 12 V − −...

  • Page 28: Three-Phase 200 V, Sgdv-470A01A, -550A01A Models

    1.4 SERVOPACK Internal Block Diagrams 1.4.9 Three-phase 200 V, SGDV-470A01A, -550A01A Models Three-phase +10% 200 to 230 V −15% (50/60 Hz) Fan1 Fan2 Fan3 Noise Servomotor filter Varistor ± 12 V ± 12 V ± 12 V Overheat protector Dynamic overcurrent protector brake circuit Current...

  • Page 29: Three-Phase 400 V, Sgdv-1R9D01A, -3R5D01A, -5R4D01A Models

    1 Outline 1.4.11 Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models 1.4.11 Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models Three-phase +10% 380 to 480 V −15% (50/60 Hz) Noise Servomotor filter Varistor ± 12 V − − Overheat protector, − Dynamic overcurrent protector brake circuit −...

  • Page 30: Three-Phase 400 V, Sgdv-170D01A Model

    1.4 SERVOPACK Internal Block Diagrams 1.4.13 Three-phase 400 V, SGDV-170D01A Model Three-phase +10% 380 to 480 V −15% (50/60 Hz) Noise Servomotor filter ±12 V Varistor − − Overheat protector, Dynamic overcurrent protector brake circuit − − Current Relay Voltage Gate sensor drive...

  • Page 31: Three-Phase 400 V Sgdv-280D01A, -370D01A Models

    1 Outline 1.4.15 Three-phase 400 V SGDV-280D01A, -370D01A Models 1.4.15 Three-phase 400 V SGDV-280D01A, -370D01A Models Three-phase 380 to 480 V (50/60 Hz) Fan1 Fan2 Fan3 Noise Servomotor filter +24 V +24 V +24 V Varistor Overheat protector Dynamic overcurrent protector brake circuit Thyristor Current...

  • Page 32: Examples Of Servo System Configurations

    Install a surge absorber. devices Encoder cable Motor main circuit cable SGMJV/SGMAV/SGMPS Servomotor ∗1. Use a 24 VDC power supply. (not included) ∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.6 Connecting Regenerative Resis- tors. 1-15...

  • Page 33: A01A Servopack

    Install a surge absorber. Encoder cable Motor main circuit cable SGMJV/SGMAV/SGMPS/ SGMGV/SGMSV Servomotor ∗1. Use a 24 VDC power supply. (not included) ∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.6 Connecting Regenerative Resis- tors.

  • Page 34: D01A Servopack

    1.5 Examples of Servo System Configurations 1.5.3 Connecting to SGDV- D01A SERVOPACK Power supply Three-phase 400 VAC R S T Molded-case circuit breaker (MCCB) Protects the power supply line by shutting the circuit OFF when overcurrent is detected. Noise filter Digital operator Used to eliminate...

  • Page 35: Servopack Model Designation

    1 Outline SERVOPACK Model Designation Select the SERVOPACK according to the applied servomotor. 8th to13th digits 1st + 2nd + 5th + 6th digit digit 3rd digits digits SGDV – 2R8 A 01 A Series 7th digit: Design Revision Order Σ-V Series SGDV 8th to 13th digits: Option...

  • Page 36: Inspection And Maintenance

    Refer to the standard replacement period in the following table, contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not.
  • Page 37 Panel Operator 2.1 Panel Operator ..........2-2 2.2 Display Mode Selection .

  • Page 38: Chapter 2 Panel Operator

    2 Panel Operator Panel Operator Panel operator consists of display part and keys. Parameter setting, status display and execution of utility function are enabled using the panel operator. The names and functions of the keys on the panel operator are as follows. Key Name Function •...

  • Page 39: Status Display Mode

    2.3 Status Display Mode Status Display Mode The display shows the following status. Bit Data Code Code Meaning Code Meaning Baseblock Reverse Run Prohibited Servo OFF (servomotor power OFF) N-OT is OFF. Hard Wire Base Block The SERVOPACK is baseblocked by the Servo ON (servomotor power ON) safety function.

  • Page 40: Utility Function Mode (Fn )

    2 Panel Operator Utility Function Mode (Fn The operation and adjustment functions of the servomotor are executed in this mode. The panel operator displays numbers beginning with Fn. Display Example for Origin Search An operation example in Utility Function Mode is shown below for Origin Search (Fn003). Display after Step Keys...

  • Page 41: How To Read A Parameter Explanation

    2.5 How to Read a Parameter Explanation How to Read a Parameter Explanation In this manual, each parameter is explained using the following example. 2.5.1 Explanation Method for Parameter Setting Type Control mode for which the parameter is available Speed : Speed control and internally set speed control Position...

  • Page 42: Explanation Method For Tuning Parameters

    2 Panel Operator 2.5.3 Explanation Method for Tuning Parameters 2.5.3 Explanation Method for Tuning Parameters Only setup parameters are displayed at shipment. To display tuning parameters, change the following parame- ter. Application Function Selection Switch B Parameter Meaning When Enabled Classification Displays only setup parameters.

  • Page 43: Parameter Setting Mode (Pn )

    2.6 Parameter Setting Mode (Pn Parameter Setting Mode (Pn Parameters related to the operation and adjustment of the servomotor are set in this mode. The panel operator displays numbers beginning with Pn. Display Example for Speed Loop Gain There are two types of parameters. One type requires value setting (parameter setting type) and the other requires selecting the function allocated to each digit (function selection type).
  • Page 44 2 Panel Operator 2.6.1 Parameter Setting Mode for Parameter Setting Type Parameters with Setting Ranges of Six Digits or More Panel operator displays five digits. When the parameters have more than six digits, values are displayed and set as shown below. Leftmost blinks display shows digit's position.
  • Page 45 2.6 Parameter Setting Mode (Pn Display after Step Keys Description Operation Press the MODE/SET Key to save the value to the SER- VOPACK. During saving, top two digits blink. After the saving is completed, press the DATA/SHIFT Key for approximately one second. "Fn522" is displayed again. MODE/SET DATA/ <Note>...

  • Page 46: Parameter Setting Mode For Function Selection Type

    2 Panel Operator 2.6.2 Parameter Setting Mode for Function Selection Type 2.6.2 Parameter Setting Mode for Function Selection Type The parameter setting mode of the function selection type is used to select and set the function allocated to each digit displayed on the panel operator. (1) Changing Function Selection Parameter Settings The example below shows how to change the setting of control method selection (Pn000.1) of the function selection basic switch Pn000 from speed control to position control.

  • Page 47: Monitor Mode (Un )

    2.7 Monitor Mode (Un Monitor Mode (Un The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK inter- nal status. For details, refer to 8.2 Operation in Monitor Mode The panel operator display numbers beginning with Un. Display Example for Motor Speed The example below shows how to display the contents of monitor number Un000.
  • Page 48 Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-2 3.1.1 Names and Functions of Main Circuit Terminals .

  • Page 49: Chapter 3 Wiring And Connection

    3 Wiring and Connection Main Circuit Wiring The names, specifications, and functions of the main circuit terminals are given on the following page. Also this section describes the general precautions for wiring and precautions under special environments.

  • Page 50: Names And Functions Of Main Circuit Terminals

    3.1 Main Circuit Wiring 3.1.1 Names and Functions of Main Circuit Terminals Names, functions and specifications are shown in the following table. : Main terminals Name Terminal Symbols Model SGDV- Description Single-phase 100 to 115 V, L1, L2 +10% to -15% (50/60 Hz) Main circuit input Three-phase 200 to 230 V, terminals...

  • Page 51: Servopack Main Circuit Wire Size

    3 Wiring and Connection 3.1.2 SERVOPACK Main Circuit Wire Size Name Terminal Symbols Model SGDV- Description Main circuit plus or B1 terminal Use when DC power supply input is used. Main circuit minus 2 or terminal Servomotor U, V, W Use for connecting to the servomotor.

  • Page 52: Typical Main Circuit Wiring Examples

    3.1 Main Circuit Wiring Single-phase, 100 V SERVOPACK Model SGDV- Terminal External Terminal Name Symbols Main circuit power input HIV1.25 HIV2.0 L1，L2 terminals Control power input terminals HIV1.25 L1C，L2C Servomotor connection HIV1.25 U，V，W terminals External regenerative resistor HIV1.25 ，B2 connection terminals Ground terminal HIV2.0 or higher Three-phase, 200 V...
  • Page 53 3 Wiring and Connection 3.1.3 Typical Main Circuit Wiring Examples • When turning ON the control power supply and the main circuit power supply, turn them ON at the same time or after the control power supply. When turning OFF the power supplies, first turn the power for the main circuit OFF and then turn OFF the control power supply.
  • Page 54 3.1 Main Circuit Wiring Three-phase 200 V, SGDV- • SGDV-R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A R S T SERVOPACK SGDV- 1FIL +24 V (For servo alarm display) ALM+ Servo power Servo power ALM− supply ON supply OFF 1PL: Indicator lamp 1QF: Molded-case circuit breaker...
  • Page 55 3 Wiring and Connection 3.1.3 Typical Main Circuit Wiring Examples Three-phase 400 V, SGDV- • SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D R S T SERVOPACK SGDV- 1FIL DC power supply − (For servo +24 V alarm display) ALM+ Servo power Servo power ALM−...

  • Page 56: General Precautions For Wiring

    3.1 Main Circuit Wiring 3.1.4 General Precautions for Wiring Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit. • The SERVOPACK connects directly to a commercial power supply; it is not isolated through a transformer or other device. Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents.

  • Page 57: Precautions When Using The Servopack With A Dc Power Input

    3 Wiring and Connection 3.1.5 Precautions When Using the SERVOPACK with a DC Power Input 3.1.5 Precautions When Using the SERVOPACK with a DC Power Input When using the SERVOPACK with a DC power input, set parameter Pn001.2 to 1, and pay attention to the following items.
  • Page 58 3.1 Main Circuit Wiring (2) Wiring Example with DC Power Supply Input 200 V SERVOPACK SGDV- R S T SERVOPACK SGDV- 1FIL AC/DC +24 V (For servo ALM+ alarm display) ALM− Servo power Servo power supply ON supply OFF 1QF: Molded-case circuit breaker 1PL: Indicator lamp 1FIL: Noise filter 1SA: Surge absorber...

  • Page 59: Precautions When Using The Servopack With Single-Phase, 200 V Power Input

    3 Wiring and Connection 3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input (3) Parameter Setting When using a DC power supply, make sure to set the parameter Pn001.2 to (DC power input supported) " " before inputting DC power. Parameter Meaning When Enabled Classification...
  • Page 60 3.1 Main Circuit Wiring (3) Wiring Example with Single-phase 200 V Power Supply Input Single-phase 200 V SERVOPACK SGDV-R70A, R90A, 1R6A, 2R8A, 5R5A SERVOPACK SGDV- 1FIL +24 V (For servo ALM+ alarm display) ALM− Servo power Servo power supply ON supply OFF : Molded-case circuit breaker : Indicator lamp...
  • Page 61 3 Wiring and Connection 3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input (5) Molded-case Circuit Breaker and Fuse Capacities The following table shows the molded-case circuit breaker and fuse capacities when using single-phase 200 V power supply. Maximum Current Capacity Inrush Current...

  • Page 62: Precautions When Using More Than One Servopack

    3.1 Main Circuit Wiring 3.1.7 Precautions When Using More Than One SERVOPACK This section shows an example of the wiring when more than one SERVOPACK is used and the precautions. (1) Wiring Example Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate.

  • Page 63: I/O Signal Connections

    3 Wiring and Connection 3.2.1 I/O Signal (CN1) Names and Functions I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also terminal layout and connection examples by control method are shown. 3.2.1 I/O Signal (CN1) Names and Functions The following table shows the names and functions of I/O signals (CN1).
  • Page 64 3.2 I/O Signal Connections Note 1. Pin numbers in parentheses () indicate signal grounds. 2. The functions allocated to /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the parameters. Refer to 3.3.1 Input Signal Allocations. (2) Output Signals Refer- Control...

  • Page 65: I/O Signal Connector (Cn1) Terminal Layout

    3 Wiring and Connection 3.2.2 I/O Signal Connector (CN1) Terminal Layout 3.2.2 I/O Signal Connector (CN1) Terminal Layout The following table shows the terminal layout of I/O signal connectors (CN1). Speed /V-CMP- coincidence 1 SG (/COIN-) detection TGON signal output 2 SG 27 /TGON+ output...

  • Page 66: Safety Function Signal (Cn8) Names And Functions

    3.2 I/O Signal Connections 3.2.3 Safety Function Signal (CN8) Names and Functions The following table shows the terminal layout of safety function signals (CN8). Pin No. Signal Name Function − − − − − − /HWBB1- Hard wire baseblock input 1 Hard wire baseblock input /HWBB1+ Baseblock (motor current off) when...

  • Page 67: Example Of I/O Signal Connections In Speed Control

    3 Wiring and Connection 3.2.4 Example of I/O Signal Connections in Speed Control 3.2.4 Example of I/O Signal Connections in Speed Control Connection example in speed control mode is as shown below. SERVOPACK Speed reference (Max. input V-REF voltage range: ±...

  • Page 68: Example Of I/O Signal Connections In Position Control

    3.2 I/O Signal Connections 3.2.5 Example of I/O Signal Connections in Position Control Connection example in position control mode is as shown below. SERVOPACK * 1. 150Ω PULS PULS ALO1 Phase A Alarm code output /PULS ALO2 Max. operating voltage: 150Ω...

  • Page 69: Example Of I/O Signal Connections In Torque Control

    3 Wiring and Connection 3.2.6 Example of I/O Signal Connections in Torque Control 3.2.6 Example of I/O Signal Connections in Torque Control Connection example in torque control mode is as shown below. SERVOPACK External speed limit V-REF (Max. input voltage range: A / D ±...

  • Page 70: I/O Signal Allocations

    3.3 I/O Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 3.3.1 Input Signal Allocations In most cases, I/O signals can be used at the factory settings. I/O signals can also be allocated as required. (1) Using Factory Settings Items in cells with bold lines in the following table are the factory-set signal allocations.
  • Page 71 3 Wiring and Connection 3.3.1 Input Signal Allocations Input signal allocation can be checked using the parameters Pn50A and Pn50B. Pn50A Uses input terminal with factory setting. Allocates /S-ON signal to CN1-40. Allocates /P-CON signal to CN1-41. Allocates /P-OT signal to CN1-42. Pn50B Allocates N-OT signal to CN1-43.
  • Page 72 3.3 I/O Signal Allocations Connection Not Required CN1 Pin Numbers (SERVOPACK judges Input Signal Names Validity Input the connection) and Parameters Level Signal Always Always /S-ON Servo ON Pn50A.1 S-ON /P-CON Proportional Operation Reference Pn50A.2 P-CON P-OT Forward Run Prohibited Pn50A.3 /P-OT N-OT...
  • Page 73 3 Wiring and Connection 3.3.1 Input Signal Allocations (3) Example of Input Signal Allocation The procedure to replace Servo ON (/S-ON) signal allocated on CN1-40 and Forward External Torque Limit (/P-CL) allocated on CN1-45 is shown below. Pn50A Pn50B Before After Display after Step...

  • Page 74: Output Signal Allocations

    3.3 I/O Signal Allocations Display after Step Description Keys Operation Press the DATA/SHIFT Key for approximately one second to return to the display Pn50B. /S-ON is mapped on CN1-45, and /P-CL is mapped on CN1-40. MODE/SET DATA/ Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B) <Input signal polarities>...
  • Page 75 3 Wiring and Connection 3.3.2 Output Signal Allocations Pn512 Not to invert CN1-25, -26 output signals. Not to invert CN1-27, -28 output signals. Not to invert CN1-29, -30 output signals. Reserved (Cannot be changed) 3-28...
  • Page 76 3.3 I/O Signal Allocations (2) Changing Output Signal Allocations • When two or more signals are allocated to the same output circuit, a signal is output with OR logic circuit. • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid."...
  • Page 77 3 Wiring and Connection 3.3.2 Output Signal Allocations (3) Example of Output Signal Allocation The procedure to set Rotation Detection (/TGON) signal of factory setting to Invalid and allocate Brake " " Interlock (/BK) signal is shown below. Pn50E Pn50F Before After Display after...

  • Page 78: Examples Of Connection To Host Controller

    3.4 Examples of Connection to Host Controller Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.4.1 Reference Input Circuit (1) Analog Input Circuit CN1 connector terminals, 5-6 (speed reference input) and 9-10 (torque reference input) are explained below. Analog signals are either speed or torque reference signals at the impedance below.
  • Page 79 3 Wiring and Connection 3.4.1 Reference Input Circuit (3) Safety Input Circuit As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an input signal redundant. Input Signal Connection Example 24 V power supply Switch SERVOPACK /HWBB1+ 4...

  • Page 80: Sequence Input Circuit

    3.4 Examples of Connection to Host Controller 3.4.2 Sequence Input Circuit CN1 connector terminals 40 to 47 are explained below. The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low- current relay otherwise a faulty contact will result. Relay Circuit Example Open-collector Circuit Example SERVOPACK...

  • Page 81: Sequence Output Circuit

    3 Wiring and Connection 3.4.3 Sequence Output Circuit 3.4.3 Sequence Output Circuit There are four types of SERVOPACK output circuits: (1) Open-collector Output Circuit CN1 connector terminals 37 to 39 (alarm code output) are explained below. Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Connect an open-collector output circuit through a photocoupler, relay or line receiver circuit.
  • Page 82 3.4 Examples of Connection to Host Controller (3) Line Driver Output Circuit CN1 connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are explained below. Encoder serial data converted to two-phase (phases A and B) pulse output signals (PAO, /PAO, PBO, /PBO) and origin pulse signals (PCO, /PCO) are output via line-driver output circuits.

  • Page 83: Examples Of Encoder Connection

    3 Wiring and Connection 3.5.1 Connection Example of an Encoder Examples of Encoder Connection This section describes the connection example of output signals between encoder, SERVOPACK and host controller. CN2 encoder connector terminal layout is also described. 3.5.1 Connection Example of an Encoder The following diagram shows the example of connecting encoder.

  • Page 84: Cn2 Encoder Connector Terminal Layout

    3.5 Examples of Encoder Connection (2) Absolute Encoders Host controller SERVOPACK ∗2 ∗4 Line receiver Phase A Phase /PAO Absolute encoder Phase B Phase ∗2 /PBO Light blue ∗1 Phase C Phase /PCO White/ light blue Output line-driver SN75ALS174 or the equivalent. Choke PG5V coil...

  • Page 85: Connecting Regenerative Resistors

    3 Wiring and Connection 3.6.1 Connecting Regenerative Resistors Connecting Regenerative Resistors This section describes how to connect the regenerative resistor and set the regenerative resistor capacity. As Σ for precautions on selecting a regenerative resistor and its specifications, refer to -V series Product Catalog (KAEP S800000 42).
  • Page 86 3.6 Connecting Regenerative Resistors (3) SERVOPACKs: Model SGDV-470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative resistor units are as follow: Applicable Applicable Main Circuit Resistance SERVOPACK Model Regenerative Specifications...

  • Page 87: Setting Regenerative Resistor Capacity

    3 Wiring and Connection 3.6.2 Setting Regenerative Resistor Capacity 3.6.2 Setting Regenerative Resistor Capacity When an external regenerative resistor is connected, make sure to set the regenerative resistor capacity using the parameter Pn600. WARNING • If 0 is set to the parameter Pn600 while an external regenerative resistor is connected, the generative overload alarm (A.320) may not be detected.

  • Page 88: Noise Control And Measures For Harmonic Suppression

    3.7 Noise Control and Measures for Harmonic Suppression Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.7.1 Wiring for Noise Control The SERVOPACK uses high-speed switching elements in the main circuit. It may receive "switching noise" from these high-speed switching elements if wiring or grounding around the SERVOPACK is not appropriate.
  • Page 89 3 Wiring and Connection 3.7.1 Wiring for Noise Control (1) Noise Filter The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place. The following is an example of wiring for noise control. SERVOPACK Noise filter ∗3 Servomotor...

  • Page 90: Precautions On Connecting Noise Filter

    3.7 Noise Control and Measures for Harmonic Suppression 3.7.2 Precautions on Connecting Noise Filter This section describes the precautions on installing a noise filter. (1) Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes. MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.) (2) Precautions on Using Noise Filters Always observe the following installation and wiring instructions.
  • Page 91 3 Wiring and Connection 3.7.2 Precautions on Connecting Noise Filter Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. × Noise Noise Filter Filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK Shielded ground wire...

  • Page 92: Connecting Ac/Dc Reactor For Harmonic Suppression

    3.7 Noise Control and Measures for Harmonic Suppression 3.7.3 Connecting AC/DC Reactor for Harmonic Suppression The SERVOPACK has reactor connection terminals for power supply harmonic suppression. Σ As for the precautions on selecting an AC or DC reactor and its specifications, refer to -V series Product Cat- alog (KAEP S800000 42).
  • Page 93 Trial Operation 4.1 Inspection and Checking before Trial Operation ....4-2 4.2 Trial Operation for Servomotor without Load ..... . 4-2 4.3 Trial Operation for Servomotor without Load from Host Reference .

  • Page 94: Chapter 4 Trial Operation

    4 Trial Operation Inspection and Checking before Trial Operation To ensure safe and correct trial operation, inspect and check the following items before starting trial operation. (1) Servomotors Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

  • Page 95: Trial Operation For Servomotor Without Load From Host Reference

    4.3 Trial Operation for Servomotor without Load from Host Reference Trial Operation for Servomotor without Load from Host Reference Check the following items before performing trial operation of the servomotor without load from host refer- ence. • Check that servomotor operation reference input from the host to the SERVOPACK and I/O signals are set properly.
  • Page 96 4 Trial Operation CAUTION Before performing trial operation of the servomotor alone under references from the host, be sure that the ser- vomotor has no load (i.e., the coupling and belt are removed from the servomotor) to prevent unexpected accidents. To power supply To host controller...

  • Page 97: Inspecting Connection And Status Of Input Signal Circuits

    4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.1 Inspecting Connection and Status of Input Signal Circuits Check the items in step 1 before trial operation of the servomotor under speed control and position control ref- erences from the host. Check the connection and status of input signals using the following procedure.
  • Page 98 4 Trial Operation 4.3.1 Inspecting Connection and Status of Input Signal Circuits Step Operation Reference Input the /S-ON signal, then make sure that the display of the panel operator is as 10.1 Troubleshooting shown below. If an alarm display appears, correct it according to 10.1 Troubleshooting. This completes all preparations for trial operation.

  • Page 99: Trial Operation In Speed Control

    4.3 Trial Operation for Servomotor without Load from Host Reference Connect a safety device to CN8. Note: When not using the safety function, use the SERVOPACK with the safety function jumper connector (JZSP- CVH05-E provided as an accessory) inserted in CN8. If the SERVOPACK is used without the jumper connector inserted into CN8, no current will flow to the motor and no torque will be output.

  • Page 100: Trial Operation Under Position Control From The Host With The Servopack Used For Speed Control

    4 Trial Operation 4.3.3 Trial Operation under Position Control from the Host with the SERVOPACK Used for Speed Control 4.3.3 Trial Operation under Position Control from the Host with the SERVOPACK Used for Speed Control To operate the SERVOPACK in speed control under the position control from the host, check the operation of the servomotor after finishing the trial operation explained in 4.3.2 Trial Operation in Speed Control Step Operation...

  • Page 101: Trial Operation In Position Control

    4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.4 Trial Operation in Position Control Perform the following steps for trial operation in position control. The steps are specified on the condition that input signal wiring for the position control has been completed according to 4.3.1 Inspecting Connection and Sta- tus of Input Signal Circuits.

  • Page 102: Trial Operation With The Servomotor Connected To The Machine

    4 Trial Operation Trial Operation with the Servomotor Connected to the Machine Perform the following steps for trial operation when the servomotor is connected to the machine. The steps are specified on the condition that trial operation has been completed in each control. WARNING •...

  • Page 103: Trial Operation Of Servomotor With Brakes

    4.5 Trial Operation of Servomotor with Brakes Step Operation Reference Turn ON the power to the machine (host controller) and then check that the SERVO- 5.2.5 Stopping Servomo- PACK is servo OFF status. Check again that the protective function in step 1 operates tors after /S_ON Turned normally.

  • Page 104: Test Without Motor Function

    4 Trial Operation 4.6.1 Related Parameters Test Without Motor Function The test without motor function is used to check the operation of the host and peripheral devices by simulating the operation of the motor in the SERVOPACK, i.e., without actually operating the motor. This function enables checking wiring and verifying the system and parameters when errors occur while debugging the sys- tem, thus shortening the time required for setup work and preventing damage to the equipment that may result from possible malfunctions.
  • Page 105 4.6 Test Without Motor Function Can be used or not Motor Fn No. Contents Motor connect connect Fn000 Alarm traceback data display Fn002 JOG operation Fn003 Origin search Fn004 Program JOG operation Fn005 Initializes parameter settings Fn006 Clears alarm traceback data ×...

  • Page 106: Operating Procedure

    4 Trial Operation 4.6.3 Operating Procedure 4.6.3 Operating Procedure Follow the steps below to execute the test without motor using panel operator. Step Display after Operation Keys Description Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to select the Pn00C.

  • Page 107: Operator Display During Testing Without Motor

    4.6 Test Without Motor Function 4.6.4 Operator Display during Testing without Motor The status display changes as shown below to show that the test without motor is in progress. (1) Display on Panel Operator ∗ The test without motor operation is indicated with tSt. 　　...

  • Page 108: Chapter 5 Operation

    Operation 5.1 Control Selection ..........5-3 5.2 Setting Common Basic Functions .
  • Page 109 5 Operation 5.7 Combination of Control Modes ....... 5-56 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) ....5-57 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) .

  • Page 110: Control Selection

    5.1 Control Selection Control Selection The controls supported by the SGDV SERVOPACK are described below. Control can be selected with parameter Pn000. Control Selection Reference Pn.000.1 Control Description Section Controls servomotor speed by means of an analog voltage speed 5.3 Operating Speed Control reference.

  • Page 111: Setting Common Basic Functions

    5 Operation 5.2.1 Servo ON Signal Setting Common Basic Functions 5.2.1 Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1) Signal Setting Connector Type Name Setting Meaning Pin Number Servomotor power is ON.

  • Page 112: Servomotor Rotation Direction

    5.2 Setting Common Basic Functions 5.2.2 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000 without changing the polarity of the speed/position reference. This causes the travel direction of the motor change, but the encoder pulse output polarity does not change. The standard setting for “forward rotation”...

  • Page 113: Overtravel

    5 Operation 5.2.3 Overtravel 5.2.3 Overtravel The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. For rotating application such as disc table and conveyor, overtravel function is not necessary. No wiring for overtravel input signals is required.
  • Page 114 5.2 Setting Common Basic Functions (2) Overtravel Function Setting Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function. If the overtravel function is not used, no wiring for overtravel input signals will be required. Parameter Meaning When Enabled Classification Inputs the Forward Run Prohibited (P-OT) signal from...

  • Page 115: Holding Brakes

    5 Operation 5.2.4 Holding Brakes • A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops, the servomotor will enter a coast state.
  • Page 116 ∗6. Use Pn506, Pn507, and Pn508 to set the timing of when the brake will be activated and when the servomotor power will be turned OFF. Brake Operation Delay Time Model Voltage Brake Release Time (ms) Brake Applied Time (ms) SGMJV-A5 to 04 SGMJV-08 SGMAV-A5 to 04 24 VDC SGMAV-06 to 10 SGMPS-01, 08, 15 SGMPS-02, 04...
  • Page 117 5 Operation 5.2.4 Holding Brakes (1) Wiring Example Use the SERVOPACK contact output signal /BK and the brake power supply to form a brake ON/OFF circuit. The following diagram shows a standard wiring example. The timing can be easily set using the brake signal (/BK). Servomotor with holding SERVOPACK...
  • Page 118 5.2 Setting Common Basic Functions (3) Brake Signals (/BK) Allocation The brake signal (/BK) is not allocated at shipment. Use the parameter Pn50F to allocate the /BK signal. Connector Pin Number When Classifica- Parameter Meaning Enabled tion + Ter- - Ter- minal minal The /BK signal is not used.
  • Page 119 5 Operation 5.2.4 Holding Brakes (5) Brake (/BK) Signal Output Timing during Servomotor Operation If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake (/BK) signal will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake refer- ence output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).

  • Page 120: Stopping Servomotors After /S_On Turned Off Or Alarm Occurrence

    5.2 Setting Common Basic Functions 5.2.5 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence The stopping method can be selected after the /S_ON (Servo ON) signal turns OFF or an alarm occurs. • Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre- quently if the power is turned ON and OFF with a reference input applied, which may result in deterioration of the internal elements in the SERVOPACK.
  • Page 121 5 Operation 5.2.5 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence (2) Stopping Method for Servomotor When an Alarm Occurs There are two type of alarms (Gr.1 and Gr.2), depending on the stopping method when an alarm occurs. Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and Pn00B.1. The stopping method for the servomotor for a Gr.1 alarm (alarms that result in a DB stop) is set to Pn001.0.

  • Page 122: Instantaneous Power Interruption Settings

    5.2 Setting Common Basic Functions 5.2.6 Instantaneous Power Interruption Settings Determines whether to continue operation or turn the servomotor’s power OFF when the power supply voltage is interrupted. Instantaneous Power Cut Hold Time Position Torque Speed Classification Pn509 Setting Range Setting Unit Factory Setting When Enabled...

  • Page 123: Semi F47 Function (Torque Limit Function For Low Power Supply Voltage For Main Circuit)

    5 Operation 5.2.7 SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit) 5.2.7 SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit) The torque limit function detects a low voltage and limits the output current if the power supply voltage for the main circuit drops to a specified value or below.
  • Page 124 5.2 Setting Common Basic Functions (1) Execution Method This function can be executed either with the host controller or independently with the SERVOPACK. Execution with Host Controller The host controller limits the torque in response to a low-voltage warning. The limited torque is reset when the low-voltage warning is cleared. Main circuit power interruption time Main circuit input supply...
  • Page 125 5 Operation 5.2.7 SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit) (2) Related Parameters Parameter Meaning When Enabled Classification A main circuit low voltage is not detected. [Factory setting] A main circuit low voltage is detected, and the host con- Pn008 troller limits the torque.

  • Page 126: Setting Motor Overload Detection Level

    5.2 Setting Common Basic Functions 5.2.8 Setting Motor Overload Detection Level In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect a overload warning (A.910) and overload (continuous overload) alarm (A.720). The overload characteristics and the detection level of the overload (instantaneous overload) alarm (A.710) cannot be changed.
  • Page 127 5 Operation 5.2.8 Setting Motor Overload Detection Level (2) Changing Detection Timing of Overload Alarm (A.720) An overload alarm (continuous overload) can be detected earlier to protect the motor from overloading. The time required to detect an overload alarm can be shortened by using the derated motor base current obtained with the following equation.

  • Page 128: Operating Using Speed Control With Analog Voltage Reference

    CN1-6 Signal Ground Maximum input voltage: ±12 VDC <Setting Example> Pn300 = 006.00: 6.00 V input/Motor rated speed [Factory setting] Speed Rotation Direction Motor Speed SGMJV Servomotor Reference Input +6 V Forward Rated motor speed 3000 min –3 V Reverse 1/2 rated motor speed –1500 min...
  • Page 129 5 Operation 5.3.1 Basic Settings for Speed Control Connect V-REF and SG to the speed reference output terminals on the host controller when using a host con- troller, such as a programmable controller, for position control. SERVOPACK Host controller V-REF Approx.

  • Page 130: Reference Offset Adjustment

    5.3 Operating Using Speed Control with Analog Voltage Reference 5.3.2 Reference Offset Adjustment In speed control, the servomotor may rotate at a very low speed with an analog voltage reference of 0 V. This occurs because the reference voltage of the host or external circuit has a slight offset of a few millivolts. It is called "offset".
  • Page 131 5 Operation 5.3.2 Reference Offset Adjustment Display after Step Keys Description Operation Turn OFF the servo ON (/S_ON) signal, and input the 0 V reference voltage from the host controller or external cir- cuit. SERVOPACK Servomotor 0 V speed Host reference controller Slow rotation...

  • Page 132: Soft Start

    5.3 Operating Using Speed Control with Analog Voltage Reference Display after Step Keys Description Operation Turn ON the servo ON (/S-ON) signal from the host con- troller. The display shown on the left appears. Press the DATA/SHIFT Key for approximately one second. The offset amount is displayed.

  • Page 133: Speed Reference Filter

    5 Operation 5.3.4 Speed Reference Filter Actual accel/decel time can be calculated with the following equation. Target speed × Actual accel time = Soft start time (accel time Pn305) Max. speed Target speed × Actual decel time = Soft start time (decel time Pn306) Max.

  • Page 134: Zero Clamp Function

    5.3 Operating Using Speed Control with Analog Voltage Reference 5.3.5 Zero Clamp Function The zero clamp function locks the servo when the input voltage of the speed reference (V-REF) drops below the set speed in the zero clamp level parameter (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is ON.
  • Page 135 5 Operation 5.3.5 Zero Clamp Function (1) Factory-set Sequence Signal Allocations (Pn50A.0 = 0) When Pn000.1 is set to A, the control method becomes "speed control <=> speed control with zero clamp function" and the /P-CON signal is used as a zero clamp signal. Connector Type Setting...
  • Page 136 5.3 Operating Using Speed Control with Analog Voltage Reference Note: If Pn000.1 is set to 5, 6, 7, or 9, the zero clamp function will become invalid when the control is changed to any modes other than speed control. For speed control, the zero clamp function locks the servo when the speed reference drops below the set speed in the zero clamp level by setting Pn50D.0 to 7 (zero clamp function is always valid).

  • Page 137: Encoder Output Pulses

    5 Operation 5.3.6 Encoder Output Pulses 5.3.6 Encoder Output Pulses Encoder output pulse is the signal which processes the encoder output inside the SERVOPACK and then out- puts externally in the form of 2-phase pulses (phase A and B) with 90° phase differential. It is used as the feed- back of position.

  • Page 138: Encoder Output Pulse Setting

    5.3 Operating Using Speed Control with Analog Voltage Reference (3) When Using an Absolute Encoder When absolute encoder is used, add the following signals. Signal Type Connector Pin Number Name Name CN1-4 SEN Signal Input CN1-2 Signal Ground Input BAT (+) CN1-21 Battery (+) BAT (-)

  • Page 139: Speed Coincidence Signal Setting

    5 Operation 5.3.8 Speed Coincidence Signal Setting Output Example: When Pn212 = 16 (16-pulse output per one revolution), PAO and PBO are output as shown below. Preset value: 16 1 revolution 5.3.8 Speed Coincidence Signal Setting The speed coincidence (/V-CMP) output signal is output when the actual servomotor speed is the same as the specified speed.

  • Page 140: Operating Using Position Control With Pulse Train Reference

    5.4 Operating Using Position Control with Pulse Train Reference Operating Using Position Control with Pulse Train Reference This section describes the operation in position control with pulse train reference. Select the position control with Pn000. Parameter Meaning When Enabled Classification Pn000 Control mode: Position control (pulse train reference) After restart...
  • Page 141 5 Operation 5.4.1 Basic Settings for Position Control Mode ° The input pulse multiplier can be set for the 2-phase pulse train with 90 phase differential reference pulse form. Reverse rotation Forward rotation Phase A (CN1-7) Phase B (CN1-11) ×1 Servomotor movement Internal ×2...
  • Page 142 5.4 Operating Using Position Control with Pulse Train Reference (3) Connection Example Applicable line driver: SN75ALS174 manufactured by Texas Instruments Inc., or MC3487 or equivalent Line Driver Output Host controller SERVOPACK Line driver ∗ Photocoupler PULS PULS 150Ω /PULS Phase A Photocoupler SIGN SIGN...
  • Page 143 5 Operation 5.4.1 Basic Settings for Position Control Mode The built-in power supply of the SERVOPACK can be used. With an external power supply, a photocoupler isolation circuit will be used. A non-isolated circuit will be used if the built-in power supply is used. Host controller SERVOPACK +12V...
  • Page 144 5.4 Operating Using Position Control with Pulse Train Reference (5) I/O Signal Timing Example Input/Output signal timing are as shown below. Servo ON Release t1 ≤ 36 ms t2 ≤ 6 ms Baseblock (When Pn506 is set to 0.) t3 ≥ 40 ms CN1-11 Sign + pulse train CN1-7...

  • Page 145: Clear Signal

    5 Operation 5.4.2 Clear Signal 5.4.2 Clear Signal Clear input signal sets SERVOPACK error counter to zero. (1) Signal Setting Type Signal Name Connector Pin Number Name CN1-15 Clear Input Input /CLR CN1-14 Clear Input (2) Clear Input Signal Form Set the clear input signal form using Pn200.1.

  • Page 146: Electronic Gear

    5.4 Operating Using Position Control with Pulse Train Reference 5.4.3 Electronic Gear The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value. The minimum position data moving a load is called a reference unit. To move a workpiece 10 mm: Workpiece Encoder resolution (20 bit) 1048576...
  • Page 147 5 Operation 5.4.3 Electronic Gear Encoder Resolution Encoder resolution can be checked with servomotor model designation. SGM V Symbol Specification Encoder Resolutions 20-bit absolute 1048576 20-bit incremental 1048576 13-bit incremental 8192 SGMPS Symbol Specification Encoder Resolutions 17-bit absolute 131072 17-bit incremental 131072 ≤...
  • Page 148 5.4 Operating Using Position Control with Pulse Train Reference (3) Electronic Gear Ratio Equation Refer to the following equation to determine the electric gear ratio. Servomotor Pitch = P (mm/rev) Reference pulse Speed Position loop loop − mm/P mm/P Reference unit P/rev P/rev Encoder resolution...

  • Page 149: Smoothing

    5 Operation 5.4.4 Smoothing 5.4.4 Smoothing Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow- ing cases. • When the host controller that outputs a reference cannot perform acceleration/deceleration processing. • When the reference pulse frequency is too low. Note: This function does not affect the travel distance (i.e., the number of pulses).

  • Page 150: Positioning Completed Output Signal

    5.4 Operating Using Position Control with Pulse Train Reference 5.4.5 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed during position control. If the difference between the number of reference pulses from the host controller and the movement of the ser- vomotor (the number of position error pulses) drops below the set value in the parameter, the positioning com- pletion signal will be output.

  • Page 151: Positioning Near Signal

    5 Operation 5.4.6 Positioning Near Signal 5.4.6 Positioning Near Signal The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and performs the following operating sequence after positioning has been completed to shorten the time required for operation. This signal is generally used in combination with the positioning completed output signal.

  • Page 152: Reference Pulse Inhibit Function

    5.4 Operating Using Position Control with Pulse Train Reference 5.4.7 Reference Pulse Inhibit Function This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor remains locked (clamped) while pulse are inhibited. <Terms> Servo lock: A stopped state of the motor in which a position loop is formed with a position reference of 0. SERVOPACK Pn000.1 Pn000.1 =1...
  • Page 153 5 Operation 5.4.7 Reference Pulse Inhibit Function To use the reference pulse inhibit function, set Pn000.1 to 1, 5, 7 or 8. Input Signal Parameter Control Method When Enabled Classification Used Position control (pulse train reference) /INHIBIT Internal set speed control (contact ref- ⇔...

  • Page 154: Operating Using Torque Control With Analog Voltage Reference

    5.5 Operating Using Torque Control with Analog Voltage Reference Operating Using Torque Control with Analog Voltage Reference This section describes the operation in torque control with analog voltage reference. Input the torque reference using analog voltage reference and control the SERVOPACK operation with the torque in proportion to the input voltage.

  • Page 155: Reference Offset Adjustment

    5 Operation 5.5.2 Reference Offset Adjustment (2) Parameter Setting This sets the analog voltage level for the torque reference (T-REF) that is necessary to operate the servomotor at the rated torque. Torque Reference Input Gain Speed Position Torque Classification Pn400 Setting Range Setting Unit Factory Setting...
  • Page 156 5.5 Operating Using Torque Control with Analog Voltage Reference After completion of the automatic adjustment, the amount of offset is saved in the SERVOPACK. Adjust the reference offset automatically using the following steps. The reference offset must be automatically adjusted while the servo ON (/S_ON) signal is OFF.
  • Page 157 5 Operation 5.5.2 Reference Offset Adjustment (2) Manual Adjustment of Reference Offset (Fn00B) This mode adjusts the offset by inputting the amount of torque reference offset directly. Use the manual servo tuning of the torque reference offset (Fn00B) in the following cases: •...

  • Page 158: Torque Reference Filter

    5.5 Operating Using Torque Control with Analog Voltage Reference 5.5.3 Torque Reference Filter This smoothens the torque reference by applying a first order lag filter to the torque reference (T-REF) input. Note: A value that is too large, however, will slow down response. T-REF Filter Time Constant Speed Position...
  • Page 159 5 Operation 5.5.4 Speed Limit in Torque Control Internal Speed Limit Function If the internal speed limit function is selected in Pn002, set the limit of the maximum speed of the motor in Pn407. The limit of the speed in Pn408 can be selected from the maximum speed of the motor or the excessive speed alarm detection speed.

  • Page 160: Operating Using Speed Control With An Internal Set Speed

    5.6 Operating Using Speed Control with an Internal Set Speed Operating Using Speed Control with an Internal Set Speed This function allows speed control operation by externally selecting an input signal from among three servo- motor speed settings made in advance with parameters in the SERVOPACK. Since controlling a speed with a parameter inside the SERVOPACK, there is no need for an external speed of pulse generator.
  • Page 161 5 Operation 5.6.1 Basic Settings for Speed Control with an Internal Set Speed (3) Parameter Setting Set the internal set speed with Pn301, Pn302 and Pn303. Internal Set Speed 1 Speed Classification Pn301 Setting Range Setting Unit* Factory Setting When Enabled 0 to 10000 Immediately Setup...

  • Page 162: Example Of Operating With Internal Set Speed

    5.6 Operating Using Speed Control with an Internal Set Speed 5.6.2 Example of Operating with Internal Set Speed Operating example of speed control with internal set speed is as shown below. This example combines speed control with internal set speed with soft start function. The shock that results when the speed is changed can be reduced by using the soft start function.

  • Page 163: Combination Of Control Modes

    5 Operation Combination of Control Modes SERVOPACK can switch the combination of control modes. Select the control mode with Pn000.1. Parameter Combination of Control Modes When Enabled Classification ⇔ Internal set speed control (contact reference) Speed control (analog voltage reference) ⇔...

  • Page 164: Switching Internal Set Speed Control (Pn000.1 = 4, 5, Or 6)

    5.7 Combination of Control Modes 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) Conditions for switching in internal set speed control are as shown below. (1) Factory-set Input Signal Allocations (Pn50A.0 = 0) The control mode can be switched using /P-CL and /N-CL signals. •...
  • Page 165 5 Operation 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) (2) Changing Input Signal Allocations for Each Signal (Pn50A.0 = 1) Allocate the /C-SEL to an input terminal to change modes with the /C-SEL signal. Pn000 Setting and Control Mode Signal Connector Type...

  • Page 166: Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 Or 9)

    5.7 Combination of Control Modes 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) Use the following signals to switch control modes. The control modes switch depending on the signal status as shown below. (1) Factory-set Input Signal Allocations (Pn50A.0 = 0) Pn000.1 Setting and Control Mode Signal Connector...

  • Page 167: Limiting Torque

    5 Operation 5.8.1 Internal Torque Limit Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Reference Limiting Method Description Section Always limits torque by setting the parameter. 5.8.1 Internal torque limit Limits torque by input signal from the host controller. 5.8.2 External torque limit Torque limiting by analog...

  • Page 168: External Torque Limit

    5.8 Limiting Torque 5.8.2 External Torque Limit Use this function to limit torque by inputting a signal from the host controller at a specific times during machine operation, such as forced stop or hold operations for robot workpieces. (1) Input Signals Signal Connector Type...

  • Page 169: Torque Limiting Using An Analog Voltage Reference

    5 Operation 5.8.3 Torque Limiting Using an Analog Voltage Reference (3) Changes in Output Torque during External Torque Limiting Changes in output torque when external torque limit is set to 800% are shown with the waveform of Un mon- itor or SigmaWin+. In this example, the servomotor rotation direction is Pn000.0 = 0 (CCW = forward).

  • Page 170: Torque Limiting Using An External Torque Limit And Analog Voltage Reference

    5.8 Limiting Torque (1) Input Signals Use the following input signals to limit a torque by analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-9 Torque reference input Input CN1-10 Signal ground for torque reference input Refer to 5.5.1 Basic Settings for Torque Control Mode. (2) Related Parameter Set the following parameter for torque limit by analog voltage reference.

  • Page 171: Checking Output Torque Limiting During Operation

    5 Operation 5.8.5 Checking Output Torque Limiting during Operation Input Signals Use the following input signals to limit a torque by external torque limit and analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-9 Torque reference input Input CN1-10 Signal ground for torque reference input...

  • Page 172: Absolute Encoders

    The following table shows the encoder resolutions for each servomotor model. Servomotor Model Encoder Resolution SGMPS 17-bit SGMAV / SGMJV / SGMGV / SGMSV / SGMCS 20-bit Absolute encoder can be used as an incremental encoder by setting with Pn002. Parameter Meaning When Enabled Classification Use the absolute encoder as an absolute encoder.

  • Page 173: Standard Connection Diagram And Setting The Absolute Data Request Signal (Sen)

    5 Operation 5.9.2 Standard Connection Diagram and Setting the Absolute Data Request Signal (SEN) 5.9.2 Standard Connection Diagram and Setting the Absolute Data Request Signal (SEN) A standard connection example for a servomotor with an absolute encoder, the SERVOPACK, and host con- troller is shown below.

  • Page 174: Absolute Encoder Data Backup

    5.9 Absolute Encoders Note 1. After turning the power ON, turn ON the SEN signal after ALM signal is turned OFF and then ON. 2. When the SEN signal changes from low level to high level, the rotational data and initial incremental pulses are output.

  • Page 175: Battery Replacement

    5 Operation 5.9.4 Battery Replacement 5.9.4 Battery Replacement If the battery voltage drops to approximately 2.7 V, an encoder battery alarm (A.830) or encoder battery warn- ing (A.930) will be displayed. If an alarm or warning is displayed, replace the batteries using the following procedure. Use Pn008 to set either an alarm (A.830) or a warning (A.930).
  • Page 176 5.9 Absolute Encoders 3. Remove the old battery and mount the battery (JZSP-BA01) as shown below. To the SERVOPACK Encoder Cable Mount the battery. 4. Close the battery case cover. Close the cover. 5. After replacing the battery, turn OFF the SERVOPACK power to cancel the absolute encoder battery alarm (A.830).

  • Page 177: Absolute Encoder Setup

    5 Operation 5.9.5 Absolute Encoder Setup 5.9.5 Absolute Encoder Setup CAUTION • If the absolute value encoder is initialized, rotational data will be set to 0 and the reference position of the machine system will change. If the machine is operated in this state, the machine may move unexpectedly and injury, death, or machine damage may result.

  • Page 178: Absolute Encoder Reception Sequence

    5.9 Absolute Encoders 5.9.6 Absolute Encoder Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below. (1) Outline of Absolute Signals The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.
  • Page 179 5 Operation 5.9.6 Absolute Encoder Reception Sequence Initial incremental pulses: Outputs pulses at the same pulse rate as when the motor shaft rotates from the origin to the current position at about 1.215 min (for 20 bits when the encoder output pulse (Pn212) is at the factory setting) When the encoder output pulse (Pn212) is not same as the factory setting, use the following formula.
  • Page 180 5.9 Absolute Encoders (3) Rotational Data Specifications The number of revolutions is output from PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character coder ASCII 7-bit coder Data format 8 characters, as shown below.

  • Page 181: Multiturn Limit Setting

    5 Operation 5.9.7 Multiturn Limit Setting 5.9.7 Multiturn Limit Setting The multiturn limit setting is used in position control applications for a turntable or other rotating device. For example, consider a machine that moves the turntable in the following diagram in only one direction. Turntable Gear Motor...

  • Page 182: Multiturn Limit Disagreement Alarm (A.cc0)

    5.9 Absolute Encoders Set the value, the desired rotational amount -1, to Pn205. Factory Setting (= 65535) Without Factory Setting (≠65535) Reverse Pn205 setting value Reverse +32767 direction Forward direction Forward direction direction Rotational Rotational data data No. of rotations -32768 No.

  • Page 183: Other Output Signals

    5 Operation 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) 5.10 Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) This section describes signals that are output when the SERVOPACK detects errors and resetting methods.

  • Page 184: Warning Output Signal (/Warn)

    5.10 Other Output Signals (3) Alarm Reset Method If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the cause of the alarm. Be sure to eliminate the cause before resetting the alarm. Resetting Alarms by Turning ON the /ALM-RST Signal (High Level to Low Level) Connector Pin Type...

  • Page 185: Rotation Detection Output Signal (/Tgon)

    5 Operation 5.10.3 Rotation Detection Output Signal (/TGON) 5.10.3 Rotation Detection Output Signal (/TGON) This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed. Do not allocate the motor rotation detection signal (/TGON) and the brake signal (/BK) to the same terminal.

  • Page 186: Safety Function

    5.11 Safety Function 5.11 Safety Function The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by pro- tecting workers from injury and by securing safe machine operation. Especially when working in hazardous areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement. 5.11.1 Hard Wire Base Block (HWBB) Function The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed to baseblock the motor (shut off the motor current) by using the hardwired circuits: Each circuit for two chan-...
  • Page 187 5 Operation 5.11.1 Hard Wire Base Block (HWBB) Function (2) Hard Wire Base Block (HWBB) State The SERVOPACK will be in the following state if the HWBB function operates. If the /HWBB1 or /HWBB2 signal is OFF, the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock (HWBB) state.
  • Page 188 5.11 Safety Function (5) Connection Example and Specifications of Input Signals (HWBB Signals) The input signals must be redundant. A connection example and specifications of input signals (HWBB sig- nals) are shown below. For safety function signal connections, the input signal is the 0V common and the output signal is the source output.
  • Page 189 5 Operation 5.11.1 Hard Wire Base Block (HWBB) Function (6) Operation with Utility Functions The HWBB function works while the SERVOPACK operates in utility function mode. If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF, the SERVOPACK cannot be operated by turning ON the /HWBB1 and /HWBB2 signals.

  • Page 190: External Device Monitor (Edm1)

    5.11 Safety Function CAUTION If the application frequently uses the HWBB function, do not use the dynamic brake to stop the motor, or otherwise element deterioration in the SERVOPACK may result. Use a sequence in which the HWBB state occurs after the ser- vomotor has come to a stop.
  • Page 191 5 Operation 5.11.2 External Device Monitor (EDM1) (1) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. For safety function signal connections, the input signal is the 0V common and the output signal is the source output.

  • Page 192: Application Example Of Safety Functions

    5.11 Safety Function 5.11.3 Application Example of Safety Functions An example of using safety functions is shown below. (1) Connection Example In the following example, a safety unit is used and the HWBB function operates when the guard opens. Close Limit switch Guard 24 V...

  • Page 193: Confirming Safety Functions

    5 Operation 5.11.4 Confirming Safety Functions (3) Usage Example Request to open the guard. When the motor is operating, output the stop command from the host controller and turn OFF the servo. The guard opens. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.

  • Page 194: Precautions For Safety Functions

    5.11 Safety Function 5.11.5 Precautions for Safety Functions WARNING • To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk assessment of the system. Incorrect use of the machine may cause injury. •...

  • Page 195: Chapter 6 Adjustments

    Adjustments 6.1 Adjustments and Basic Adjustment Procedure ..... 6-3 6.1.1 Adjustments ............6-3 6.1.2 Basic Adjustment Procedure .
  • Page 196 6 Adjustments 6.8 Additional Adjustment Function ....... 6-56 6.8.1 Switching Gain Settings ..........6-56 6.8.2 Friction Compensation .

  • Page 197: Adjustments And Basic Adjustment Procedure

    6.1 Adjustments and Basic Adjustment Procedure Adjustments and Basic Adjustment Procedure This section describes adjustments and the basic adjustment procedure. 6.1.1 Adjustments Tuning is performed to optimize the responsiveness of the SERVOPACK. The responsiveness is determined by the servo gain that is set in the SERVOPACK. The servo gain is set using a combination of parameters.
  • Page 198 6 Adjustments 6.1.1 Adjustments Tool* Applicable Utility Function for Outline Control Digital Panel Adjustment SigmaWin+ Mode Operator Operator Vibration This function effectively suppresses residual vibra- Suppression Position × tion if it occurs when positioning. Function (Fn205) ∗ : Available Δ: Can be used but functions are limited. ×: Not available...

  • Page 199: Basic Adjustment Procedure

    6.1 Adjustments and Basic Adjustment Procedure 6.1.2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine. Start adjusting servo gain. (1) Adjust using Tuning-less Function. Runs the servomotor without any adjustments.

  • Page 200: Monitoring Analog Signals

    6 Adjustments 6.1.3 Monitoring Analog Signals 6.1.3 Monitoring Analog Signals Check the operating status and signal waveform when adjusting the servo gain. Connect a measuring instru- ment, such as a memory recorder, to connector CN5 on the SERVOPACK to monitor analog signal waveform. The settings and parameters for monitoring analog signals are described in the following sections.
  • Page 201 6.1 Adjustments and Basic Adjustment Procedure Description Parameter Monitor Signal Measurement Gain Remarks Pn006 External encoder speed Value at motor shaft 1 V/1000 min Pn007 ∗ When using an SGMCS direct-drive servomotor, the motor speed will be automatically set to 1 V/100 min (2) Setting Monitor Factor The output voltages on analog monitor 1 and 2 are calculated by the following equations.

  • Page 202: Safety Precautions On Adjustment Of Servo Gains

    • Make sure that a trial run has been performed without any trouble. • Install a safety brake on the machine. Yaskawa recommends that the following protective functions of the SERVOPACK are set to the correct set- tings before starting to adjust the servo gains.
  • Page 203 6.1 Adjustments and Basic Adjustment Procedure Position Loop Gain Speed Position Classification Pn102 Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 0.1 /s Immediately Tuning Set the level to a value that satisfies these equations, and no alarm will be generated during normal operation. The servomotor will be stopped, however, if the servomotor runs unpredictably after a reference is input or if a position error in accordance with the value set in Pn520 occurs.
  • Page 204 6 Adjustments 6.1.4 Safety Precautions on Adjustment of Servo Gains (5) Excessive Position Error Alarm Level at Servo ON If Pn200.2 (Clear Operation) is set to a value other than zero, pulses used to determine position errors may remain. If the servo is then turned ON, the servomotor will move to return to the home position and change the number of pulses to zero.

  • Page 205: Tuning-Less Function

    6.2 Tuning-less Function Tuning-less Function The tuning-less function is enabled in the factory settings. Do not disable this function for normal applica- tions. If resonance is generated or excessive vibration occurs during position control, refer to 6.2.2 Tuning-less Levels Setting (Fn200) Procedure and reduce the set value of Pn170.2 for the tuning-less adjustment level and the set value in Pn170.3 for the tuning-less load level.
  • Page 206 6 Adjustments 6.2.1 Tuning-less Function Control Function Availability Remarks While this function is being used, the tuning- Mechanical analysis * Available less function cannot be used temporarily. ∗ Operate using SigmaWin+. (3) Automatically Setting the Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set.
  • Page 207 6.2 Tuning-less Function Tuning-less Load Level The servo gain can be adjusted by using the utility function and parameter settings to change the load level in accordance with the size of the load. a) By using by the utility function To change the setting, refer to 6.2.2 Tuning-less Levels Setting (Fn200) Procedure.

  • Page 208: Tuning-Less Levels Setting (Fn200) Procedure

    6 Adjustments 6.2.2 Tuning-less Levels Setting (Fn200) Procedure 6.2.2 Tuning-less Levels Setting (Fn200) Procedure CAUTION To ensure safety, always implement the tuning-less function in a state where an emergency stop is possible. The procedure to use the tuning-less function is given below. Operate the tuning-less function from the panel operator, digital operator (optional), or SigmaWin+.
  • Page 209 6.2 Tuning-less Function Step Display after Operation Keys Operation Press the Key to complete the tuning-less opera- tion. The screen in step 1 will appear again. Note: If the gain level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the notch filter will be set again.
  • Page 210 6 Adjustments 6.2.2 Tuning-less Levels Setting (Fn200) Procedure Excessive Vibration during Position Control Take one of the following actions to correct the problem. • Increase the setting of the tuning load level or reduce the setting of the tuning adjustment level. •...

  • Page 211: Advanced Autotuning (Fn201)

    6.3 Advanced Autotuning (Fn201) Advanced Autotuning (Fn201) This section describes the adjustment using advanced autotuning. • Advanced autotuning starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
  • Page 212 6 Adjustments 6.3.1 Advanced Autotuning • Anti-resonance control • Vibration suppression (Mode = 2 or 3) Refer to 6.3.3 Related Parameters for parameters used for adjustments. CAUTION • Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over- shooting may occur.
  • Page 213 6.3 Advanced Autotuning (Fn201) • The mode switch is used. Note:If a setting is made for calculating the moment of inertia, the mode switch function will be disabled while the moment of inertia is being calculated. At that time, PI control will be used. The mode switch function will be enabled after calculating the moment of inertia.

  • Page 214: Advanced Autotuning Procedure

    6 Adjustments 6.3.2 Advanced Autotuning Procedure Application Restrictions When Using a 13-bit Encoder Applicable servomotor : SGMJV- • Application Restrictions for Mode Selection SERVOPACK software SERVOPACK software SGDV SERVOPACK's Software Version * 0007 or earlier 0008 or later Fixed to Mode 1.
  • Page 215 6.3 Advanced Autotuning (Fn201) Step Display after Operation Keys Operation Type Selection Select the type according to the machine element to be driven. If there is noise or the gain does not increase, better results may be obtained by changing the rigid type. Type = 1: For belt drive mechanisms.
  • Page 216 6 Adjustments 6.3.2 Advanced Autotuning Procedure Step Display after Operation Keys Operation Gain Adjustment When the Key is pressed according to the sign (+ or -) of the value set for STROKE (travel distance), the calculated value of the moment of iner- tia ratio will be written to the SERVOPACK and the auto run operation will restart.
  • Page 217 6.3 Advanced Autotuning (Fn201) If "Errors" is shown Error Probable Cause Corrective Actions • Increase the set value for Pn522. • Change the mode from 2 to 3. The gain adjustment was Machine vibration is occurring or the posi- • If machine vibration occurs, suppress the not successfully tioning completed signal (/COIN) is turning vibration with the anti-resonance control...
  • Page 218 6 Adjustments 6.3.2 Advanced Autotuning Procedure Related Functions on Advanced Autotuning Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set. Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning.
  • Page 219 6.3 Advanced Autotuning (Fn201) Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the load resistance resulting from fluctuations in the machine assembly •...

  • Page 220: Related Parameters

    6 Adjustments 6.3.3 Related Parameters 6.3.3 Related Parameters The following parameters are set automatically by using advanced autotuning function. Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123 Friction Compensation Coefficient Pn124 Friction Compensation Frequency Correction...

  • Page 221: Advanced Autotuning By Reference (Fn202)

    6.4 Advanced Autotuning by Reference (Fn202) Advanced Autotuning by Reference (Fn202) Adjustments with advanced autotuning by reference are described below. • Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
  • Page 222 6 Adjustments 6.4.1 Advanced Autotuning by Reference (1) Before Performing Advanced Autotuning by Reference Check the following settings before performing advanced autotuning by reference. a) A message (NO-OP) indicating that no operations are possible will be displayed, if all of the following conditions are not met.
  • Page 223 Pn14F After restart Tuning Model following control type 2 [Factory setting] Application Restrictions When Using a 13-bit Encoder Applicable servomotor : SGMJV- • Application Restrictions for Mode Selection SERVOPACK software SERVOPACK software SGDV SERVOPACK's Software Version * 0007 or earlier 0008 or later Fixed to Mode 1.

  • Page 224: Advanced Autotuning By Reference Procedure

    6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure 6.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference. Advanced autotuning by reference is performed from the Digital Operator (option) or SigmaWin+. The func- tion cannot be performed from the Panel Operator. Here, the operating procedure from the Digital Operator is described.
  • Page 225 6.4 Advanced Autotuning by Reference (Fn202) Step Display after Operation Keys Operation Press the Key. The adjusted values will be writ- ten to the SERVOPACK, "DONE" will blink for two seconds, and "ADJ" will be displayed. Note: Not to save the values set in step 6, press the Key.
  • Page 226 6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure (3) Related Functions on Advanced Autotuning by Reference Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set. Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning by reference.
  • Page 227 6.4 Advanced Autotuning by Reference (Fn202) Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the load resistance resulting from fluctuations in the machine assembly •...

  • Page 228: Related Parameters

    6 Adjustments 6.4.3 Related Parameters 6.4.3 Related Parameters The following parameters are set automatically by using advanced autotuning by reference. Manual adjust- ments are not required. Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123...

  • Page 229: One-Parameter Tuning (Fn203)

    6.5 One-parameter Tuning (Fn203) One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 6.5.1 One-parameter Tuning One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref- erence or speed reference input from the host controller. One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two autotuning levels.
  • Page 230 Pn14F After restart Tuning Model following control type 2 [Factory setting] Application Restrictions When Using a 13-bit Encoder Applicable servomotor : SGMJV- • Application Restrictions for Tuning Mode SERVOPACK software SERVOPACK software SGDV SERVOPACK's Software Version * 0007 or earlier...

  • Page 231: One-Parameter Tuning Procedure

    6.5 One-parameter Tuning (Fn203) 6.5.2 One-parameter Tuning Procedure The following procedure is used for one-parameter tuning. Operation procedures will vary in accordance with the tuning mode being used. • When the tuning mode is set to 0 with priority given to stability or when the tuning mode is set to 1 with pri- ority given to responsiveness, refer to (1) Setting the Tuning Mode to 0 or 1.
  • Page 232 6 Adjustments 6.5.2 One-parameter Tuning Procedure Step Display after Operation Keys Operation Press the Key to display the set value. Adjusts the responsiveness by changing the level. After pressing the Key, select the digit with the Key, adjust the level with Key.
  • Page 233 6.5 One-parameter Tuning (Fn203) (2) Setting the Tuning Mode to 2 or 3 Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function mode. Use the Key to move through the list, select Fn203.
  • Page 234 6 Adjustments 6.5.2 One-parameter Tuning Procedure Step Display after Operation Keys Operation Adjusts the responsiveness by changing the FF and FB levels. After pressing the Key, select the digit with the Keys, adjust the level with Keys. After the setting is changed, press the Key.
  • Page 235 6.5 One-parameter Tuning (Fn203) (3) Related Functions This section describes functions related to one-parameter tuning. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set. Set this function to Not Auto Setting only if you do not change the notch filter setting before executing one- parameter tuning.
  • Page 236 6 Adjustments 6.5.2 One-parameter Tuning Procedure Feedforward • Model following control is used to make optimum feedforward settings in the servo. Therefore, model following control is not used together with either the speed feedfor- ward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedfor- ward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.

  • Page 237: One-Parameter Tuning Example

    6.5 One-parameter Tuning (Fn203) 6.5.3 One-parameter Tuning Example The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2, or 3. This mode is used to reduce positioning time. Step Measuring Instrument Display Example Operation Position error pulse Measure the positioning time after setting the moment of iner-...

  • Page 238: Related Parameters

    6 Adjustments 6.5.4 Related Parameters 6.5.4 Related Parameters The following parameters are set automatically by using one-parameter tuning. Manual adjustments are not required. Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123 Friction Compensation Coefficient...

  • Page 239: Anti-Resonance Control Adjustment Function (Fn204)

    6.6 Anti-Resonance Control Adjustment Function (Fn204) Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 6.6.1 Anti-Resonance Control Adjustment Function The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. An increase in the control gain of the SERVOPACK is effective for high-speed, high-precision driving of a machine.

  • Page 240: Anti-Resonance Control Adjustment Function Operating Procedure

    6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With this function, a control reference is sent, and the function is executed while vibration is occuring. Anti-resonance control adjustment function is performed from the Digital Operator (option) or SigmaWin+. The function cannot be performed from the Panel Operator.
  • Page 241 6.6 Anti-Resonance Control Adjustment Function (Fn204) Step Display after Operation Keys Operation Press the Key. The cursor will move to "damp," and the blinking of "freq" will stop. Select the digit with the Keys, and press Keys to set the damping gain. Error Error Error...
  • Page 242 6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (2) With Determined Vibration Frequency Before Adjusting Anti-Resonance Control Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function mode. Use the Key to move through the list, select Fn204.
  • Page 243 6.6 Anti-Resonance Control Adjustment Function (Fn204) Step Display after Operation Keys Operation If fine tuning of the frequency is necessary, press the Key. The cursor will move from "damp" to "freq". If fine-tuning is not necessary, skip step 9 and go to step 10.

  • Page 244: Related Parameters

    6 Adjustments 6.6.3 Related Parameters (3) For Fine-tuning After Adjusting the Anti-Resonance Control Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function mode. Use the Key to move through the list, select Fn204.

  • Page 245: Vibration Suppression Function (Fn205)

    6.7 Vibration Suppression Function (Fn205) Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 6.7.1 Vibration Suppression Function The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.

  • Page 246: Vibration Suppression Function Operating Procedure

    6 Adjustments 6.7.2 Vibration Suppression Function Operating Procedure Remained Vibration Detection Width Position Classification Pn560 Setting Range Setting Unit Factory Setting When Enabled 1 to 3000 0.1% Immediately Setup Note: Use a set value of 10% as a guideline. The smaller the set value is, the higher the detection sensitivity will be. If the value is too small, however, the vibration may not be detected accurately.
  • Page 247 6.7 Vibration Suppression Function (Fn205) (2) Operating Procedure Step Display after Operation Keys Operation Input a control reference and take the following steps while repeating positioning. Press the Key to view the main menu for the utility function mode. Use the Key to move through the list, select Fn205.
  • Page 248 6 Adjustments 6.7.2 Vibration Suppression Function Operating Procedure Step Display after Operation Keys Operation Press the Key. The "Setting f" will change to usual display and the frequency currently displayed will be set for the vibration suppression function Error Torque reference Press the Key to save the settings.

  • Page 249: Related Parameters

    6.7 Vibration Suppression Function (Fn205) 6.7.3 Related Parameters The following parameters are set automatically. Manual adjustments are not required. Parameter Name Pn140 Model Following Control Selection Pn141 Model Following Control Gain Pn145 Vibration Suppression 1 Frequency A Pn146 Vibration Suppression 1 Frequency B 6-55...

  • Page 250: Additional Adjustment Function

    6 Adjustments 6.8.1 Switching Gain Settings Additional Adjustment Function This section describes the functions that can be used for additional fine tuning after making adjustments with advanced autotuning, advanced autotuning by references, or one-parameter tuning. • Switching gain settings • Friction compensation •...
  • Page 251 6.8 Additional Adjustment Function (3) Automatic Gain Switching Automatic gain switching is performed under the following settings and conditions. Switching Wait Parameter Setting Switching Setting Setting Switching Time Time Condition A estab- Gain Setting 1 to Gain Switching Gain Switching lished.
  • Page 252 6 Adjustments 6.8.1 Switching Gain Settings Relationship between the Gain Switching Waiting Time and the Switching Time Constant In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic gain switching. The position loop gain is switched from the value in Pn102 (Position Loop Gain) to the value in Pn106 (2nd Position Loop Gain).
  • Page 253 6.8 Additional Adjustment Function (4) Related Parameters Speed Loop Gain Speed Position Classification Pn100 Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 0.1 Hz Immediately Tuning Speed Loop Integral Time Constant Speed Position Classification Pn101 Setting Range Setting Unit Factory Setting When Enabled...
  • Page 254 6 Adjustments 6.8.1 Switching Gain Settings (5) Parameters for Automatic Gain Switching Gain Switching Time 1 Position Speed Classification Pn131 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms Immediately Tuning Gain Switching Time 2 Position Speed Classification Pn132...

  • Page 255: Friction Compensation

    6.8 Additional Adjustment Function 6.8.2 Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The factors causing load changes include grease viscosity resistance changes resulting from temperature changes in addition to viscous friction and regular load changes resulting from equipment variations and secu- lar changes.

  • Page 256: Friction Compensation

    6 Adjustments 6.8.2 Friction Compensation (2) Operating Procedure for Friction Compensation The following procedure is used for friction compensation. CAUTION Before using friction compensation, set the moment of inertia ratio (Pn103) as correctly as possible. If the wrong moment of inertia ratio is set, vibration may result. Step Operation Set the following parameters for friction compensation to the factory setting as follows.

  • Page 257: Current Control Mode Selection

    6.8 Additional Adjustment Function 6.8.3 Current Control Mode Selection This function reduces high-frequency noises while the motor is being stopped. This function is enabled by default and set to be effective under different application conditions. Input Voltage SERVOPACK Model SGDV- 120A A, 180A A, 200A...

  • Page 258: Compatible Adjustment Function

    6 Adjustments 6.9.1 Feedforward Reference Compatible Adjustment Function The Σ-V series SERVOPACKs have adjustment functions as explained in sections 6.1 to 6.8 to make machine adjustments. This section explains compatible functions provided by earlier models, such as the Σ-III SERVO- PACK.

  • Page 259: Torque Feedforward

    6.9 Compatible Adjustment Function 6.9.2 Torque Feedforward The torque feedforward function shortens positioning time. The torque feedforward function is valid only in speed control and position control. The host controller differentiates a speed reference to generate a torque feedforward reference, and inputs the torque feedforward reference together with the speed or position reference to the SERVOPACK.

  • Page 260: Speed Feedforward

    6 Adjustments 6.9.3 Speed Feedforward Model following control is used to set the optimum feedforward value in the servo. There- fore, the speed feedforward (V-REF) and the torque feedforward (T-REF) cannot be used together. If the optimum values for the speed feedforward (V-REF) and torque feedforward (T-REF) are not set, overshooting may occur.

  • Page 261: Proportional Control Operation (Proportional Operation Reference)

    6.9 Compatible Adjustment Function • The following settings are required if model following control is used together with the speed feedforward (V-REF) input and torque feedforward (T-REF) input. Parameter Function When Enabled Classification Model following control is not used together with speed/torque feedforward input.

  • Page 262: Using The Mode Switch (P/Pi Switching)

    6 Adjustments 6.9.5 Using the Mode Switch (P/PI Switching) (2) Related Parameters Proportional control operation is enabled when the control mode is set to speed or position control. Proportional Control /P-CON Signal Parameter Contents When Enabled Classification Enabled/ Allocation Disabled Speed control (analog reference) Enabled Not required...
  • Page 263 6.9 Compatible Adjustment Function Notes: • Monitoring the speed response waveform and position error waveform is required for adjustment. • If I-P control is selected for speed loop control, the mode switching function will be disabled. (1) Related Parameters Select the conditions to switch modes (P or PI control switching) by using the following parameters. Parameter Mode Switch Containing...
  • Page 264 6 Adjustments 6.9.5 Using the Mode Switch (P/PI Switching) <Example> If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
  • Page 265 6.9 Compatible Adjustment Function Using the Acceleration Level to Switch Modes With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration rate set in Pn10E. Reference speed Motor rotational speed Speed Time Motor acceleration +Pn10E Acceleration...
  • Page 266 6 Adjustments 6.9.5 Using the Mode Switch (P/PI Switching) Using the Position Error Pulse Level to Switch Modes With this setting, the speed loop is switched to P control when the position error pulse exceeds the value set in Pn10F. This setting is effective with position control only.

  • Page 267: Torque Reference Filter

    6.9 Compatible Adjustment Function 6.9.6 Torque Reference Filter As shown in the following diagram, the torque reference filter contains first order lag filter and notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the Pn408.

  • Page 268: Position Integral Time Constant

    6 Adjustments 6.9.7 Position Integral Time Constant Parameter Meaning When Enabled Classification Disables 1st notch filter. (Factory setting) Uses 1st notch filter. Pn408 Immediately Setup n. 0 Disables 2nd notch filter. (Factory setting) n. 1 Uses 2nd notch filter. 1st Notch Filter Frequency Speed Position Torque...

  • Page 269: Chapter 7 Utility Functions (Fn )

    Utility Functions (Fn 7.1 List of Utility Functions ........7-2 7.2 Alarm History Display (Fn000) .

  • Page 270: List Of Utility Functions

    7 Utility Functions (Fn List of Utility Functions Utility functions are used to execute the functions related to servomotor operation and adjustment. Each utility function has a number starting with Fn. The following table lists the utility functions and reference section. Operation Operation from Function...

  • Page 271: Alarm History Display (Fn000)

    7.2 Alarm History Display (Fn000) Alarm History Display (Fn000) This function displays the alarm history to check the ten latest alarms. The latest ten alarm numbers and time stamps* can be checked. ∗ Time Stamps A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the operating time when an alarm occurs.

  • Page 272: Jog Operation (Fn002)

    7 Utility Functions (Fn JOG Operation (Fn002) JOG operation is used to check the operation of the servomotor under speed control without connecting the SERVOPACK to the host. CAUTION While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operating range of the machine when performing JOG operation for the SERVOPACK.

  • Page 273: Origin Search (Fn003)

    7.4 Origin Search (Fn003) Origin Search (Fn003) The origin search is designed to position the origin pulse position of the incremental encoder (phase-C) and to clamp at the position. CAUTION • Perform origin searches without connecting the coupling. The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.
  • Page 274 7 Utility Functions (Fn Display after Step Keys Description Operation When the servomotor origin search is completed, the dis- play blinks. At this moment, the motor is servo-locked at the origin Display blinks. pulse position. Press the DATA/SHIFT Key for approximately one second. "Fn003"...

  • Page 275: Program Jog Operation (Fn004)

    7.5 Program JOG Operation (Fn004) Program JOG Operation (Fn004) The Program JOG Operation is a utility function, that allows continuous automatic operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number of times of movement. This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode.
  • Page 276 7 Utility Functions (Fn Factory Parameter Contents Setting → × (Waiting time Pn535 Forward movement Pn531) Number of times of movement Pn536 → × (Waiting time Pn535 Reverse movement Pn531) Number of times of movement Pn536 → × (Waiting time Pn535 Forward movement Pn531) Number of times of movement Pn536...
  • Page 277 7.5 Program JOG Operation (Fn004) Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) No. of times of movement Pn536 Number of times of movement Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed speed Movement Movement Movement distance distance distance...
  • Page 278 7 Utility Functions (Fn Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × No. of times of movement Pn536 Number of times of movement Pn536 Movement Pn531 speed Movement Speed Pn533 distance Diagram...
  • Page 279 7.5 Program JOG Operation (Fn004) (6) Operating Procedure Follow the steps below to perform the program JOG operation after setting a program for JOG operation. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to select Fn004.

  • Page 280: Initializing Parameter Settings (Fn005)

    7 Utility Functions (Fn Initializing Parameter Settings (Fn005) This function is used when returning to the factory settings after changing parameter settings. • Be sure to initialize the parameter settings while the servo ON (/S_ON) signal is OFF • After initialization, turn OFF the power supply and then turn ON again to validate the settings.

  • Page 281: Clearing Alarm History (Fn006)

    7.7 Clearing Alarm History (Fn006) Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK. Note: The alarm history can be deleted only with this function. The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVOPACK is turned OFF.

  • Page 282: Offset Adjustment Of Analog Monitor Output (Fn00C)

    7 Utility Functions (Fn Offset Adjustment of Analog Monitor Output (Fn00C) This function is used to manually adjust the offsets for the analog monitor outputs (torque reference monitor output and motor speed monitor output). The offsets for the torque reference monitor output and motor speed monitor output can be adjusted individually.
  • Page 283 7.8 Offset Adjustment of Analog Monitor Output (Fn00C) Display after Step Keys Operation Operation Press the MODE/SET Key to select channel 1 (analog mon- itor 1) or channel 2 (analog monitor 2) monitor output. MODE/SET DATA/ Press the DATA/SHIFT Key for less than one second. Zero adjustment data will be displayed as shown on the left.

  • Page 284: Gain Adjustment Of Analog Monitor Output (Fn00D)

    7 Utility Functions (Fn Gain Adjustment of Analog Monitor Output (Fn00D) This function is used to manually adjust the gains for the analog monitor outputs (torque reference monitor output and motor speed monitor output). The gains for the torque reference monitor output and motor speed monitor output can be adjusted individually.
  • Page 285 7.9 Gain Adjustment of Analog Monitor Output (Fn00D) (2) Operating Procedure Follow the steps below to perform the gain adjustment of analog monitor output. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to select Fn00D.

  • Page 286: Automatic Offset-Signal Adjustment Of The Motor Current Detection

    7 Utility Functions (Fn 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. Basically, the user need not perform this adjustment. •...

  • Page 287: Manual Offset-Signal Adjustment Of The Motor Current

    7.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) Use this function only if the torque ripple is still high after the automatic offset adjustment of the motor cur- rent detection signal (Fn00E).

  • Page 288: Fn00E

    7 Utility Functions (Fn 7.12 Write Prohibited Setting (Fn010) Prohibiting writing prevents writing parameters by mistake. This function can write-protect all Pn parameters and the utility functions (Fn ) shown in (1) Utility Functions That Can Be Write-protected. (1) Utility Functions That Can Be Write-protected Write Parameter Reference...
  • Page 289 7.12 Write Prohibited Setting (Fn010) (2) Operating Procedure Follow the steps below to set write prohibited write permitted. " " " " Setting values are as follows: • P.0000 : Write permitted (Releases write prohibited mode.) [Factory setting] " " •...

  • Page 290: Servomotor Model Display (Fn011)

    Servomotor Model Type Model Data Data SGMAV 400 VAC MODE/SET DATA/ SGMSV 200 VAC SGMGV SGMJV SGMPS SGMCS- SGMCS- SGMCS- SGMCS- SGMCS- SGMCS- Press the MODE/SET Key to display the servomotor capac- ity. MODE/SET DATA/ Servomotor capacity in units of 10 W...

  • Page 291: Software Version Display (Fn012)

    7.14 Software Version Display (Fn012) Display after Step Keys Operation Operation Press the DATA/SHIFT Key for approximately one second. "Fn011" is displayed again. MODE/SET DATA/ 7.14 Software Version Display (Fn012) Select Fn012 to check the SERVOPACK and encoder software version numbers. Follow the steps below.

  • Page 292: Resetting Configuration Error Of Option Module (Fn014)

    7 Utility Functions (Fn 7.15 Resetting Configuration Error of Option Module (Fn014) The SERVOPACK with option module recognizes installation status and types of option module which is con- nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function resets these alarms.

  • Page 293: Vibration Detection Level Initialization (Fn01B)

    7.16 Vibration Detection Level Initialization (Fn01B) 7.16 Vibration Detection Level Initialization (Fn01B) This function detects vibration when servomotor is connected to a machine and automatically adjust the vibra- tion detection level (Pn312) to output more exactly the vibration alarm (A.520) and warning (A.911). The vibration detection function detects vibration elements according to the motor speed.
  • Page 294 7 Utility Functions (Fn Display after Step Keys Operation Operation Press the MODE/SET Key for approximately one second again. The display shown on the left will flash and the vibration level will be detected and refreshed. This will con- tinue until the MODE/SET Key is pressed again. Notes: •...

  • Page 295: Display Of Servopack And Servomotor Id (Fn01E)

    7.17 Display of SERVOPACK and Servomotor ID (Fn01E) 7.17 Display of SERVOPACK and Servomotor ID (Fn01E) This function displays ID information for SERVOPACK, servomotor, encoder and option module connected to the SERVOPACK. Note that the ID information of some option modules is not stored in the SERVOPACK. "Not available" will be displayed for these option modules.

  • Page 296: Display Of Servomotor Id In Feedback Option Module (Fn01F)

    7 Utility Functions (Fn 7.18 Display of Servomotor ID in Feedback Option Module (Fn01F) This function displays ID information for servomotor and encoder in feedback option module connected to the SERVOPACK. To use this function, the digital operator (JUSP-OP05A-1-E, option) or SigmaWin+ (option) is needed. This function cannot be executed from the panel operator on the SERVOPACK.

  • Page 297: Origin Setting (Fn020)

    7.19 Origin Setting (Fn020) 7.19 Origin Setting (Fn020) When using an external encoder for fully-closed loop control, this function is used to set the current position of external encoder as the origin (zero point position). Use the following product as an absolute external scale. Absolute separate linear scale (made by Mitutoyo Corporation) ABS ST780A series Model ABS ST78 A...

  • Page 298: Software Reset (Fn030)

    7 Utility Functions (Fn 7.20 Software Reset (Fn030) This function enables resetting the SERVOPACK internally from software. The operation of tuning OFF the power and then turning ON again to validate the setting can be omitted by executing this function. •...

  • Page 299: Easyfft (Fn206)

    7.21 EasyFFT (Fn206) 7.21 EasyFFT (Fn206) EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and rotates the ser- vomotor at minimal speed a number of times over a certain period, thus causing machine vibration. The SER- VOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the resonance frequency detection.
  • Page 300 7 Utility Functions (Fn When using mainly for servo gain adjustment, etc. Start Vibration with high-frequency noise during operation Turn OFF the servo, and execute EasyFFT (Fn206) Adjsut servo gain Vibration With the servo ON, execute Online Vibration Monitor (Fn207) •...
  • Page 301 7.21 EasyFFT (Fn206) Display after Step Keys Operation Operation Press the UP or DOWN Key to set a reference amplitude. Reference amplitude setting: 1 to 800 Notes: • At the initial execution of Fn206, do not change the refer- ence amplitude setting, but starts from the initial value 15.
  • Page 302 7 Utility Functions (Fn Display after Step Keys Operation Operation After the detection completes normally, press the MODE/ SET Key. The optimum notch filter for the detected fre- quency is automatically set. When the notch filter is set correctly, the display "donE" blinks. When the 1st notch filter frequency is already set Display blinks (Pn408=n...

  • Page 303: Online Vibration Monitor (Fn207)

    7.22 Online Vibration Monitor (Fn207) 7.22 Online Vibration Monitor (Fn207) The machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies. When online, vibration frequencies caused by machine resonance will be detected and the frequency that has the highest peak will be displayed on the Panel Operator.
  • Page 304 7 Utility Functions (Fn (1) Operating Procedure Follow the steps below. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to select the Fn207. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second.
  • Page 305 Monitor Modes (Un 8.1 List of Monitor Modes ......... 8-2 8.2 Operation in Monitor Mode .

  • Page 306: Chapter 8 Monitor Modes (Un )

    8 Monitor Modes (Un List of Monitor Modes The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK inter- nal status. Refer to the following table. Parameter Content of Display Unit Un000 Motor rotating speed Un001 Speed reference Un002...

  • Page 307: Operation In Monitor Mode

    8.2 Operation in Monitor Mode Operation in Monitor Mode The example below shows how to display the contents of monitor number Un000 (when the servomotor rotates at 1500 min Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor mode. MODE/SET DATA/ If Un000 is not displayed, press the UP or DOWN Key to...

  • Page 308: Reading 32-Bit Decimal Displays

    8 Monitor Modes (Un Reading 32-bit Decimal Displays This section describes how to read parameters displayed in 32-bit decimal on the Panel Operator. Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor mode. MODE/SET DATA/ Press the UP or DOWN Key to display the parameter to be displayed in 32-bit decimal.

  • Page 309: Monitoring Input Signals

    8.4 Monitoring Input Signals Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for display- ing the status, the method of reading the monitor, and a display example are shown below. 8.4.1 Displaying Input Signal Status Use the following steps to display the input signal status.

  • Page 310: Input Signal Display Example

    8 Monitor Modes (Un 8.4.3 Input Signal Display Example 8.4.3 Input Signal Display Example Input signals are displayed as shown below. • When /S-ON signal is ON (Servo ON at L level) The bottom segment of number 1 is lit. 7 6 5 4 3 2 1 •...

  • Page 311: Monitoring Safety Input Signals

    8.5 Monitoring Safety Input Signals Monitoring Safety Input Signals The status of safety input signals can be checked with the safety I/O signal monitor (Un015). How to read the displayed safety input signal status and a display example are shown below. 8.5.1 Interpreting Safety Input Signal Display Status The status of allocated signals is displayed on the 7-segment display on the Panel Operator.

  • Page 312: Monitoring Output Signals

    8 Monitor Modes (Un 8.6.1 Displaying Output Signal Status Monitoring Output Signals The status of output signals can be checked with the input signal monitor (Un006). The procedure for display- ing the status, the method of reading the monitor, and a display example are shown below. 8.6.1 Displaying Output Signal Status Use the following steps to display the output signal status.

  • Page 313: Monitor Display At Power On

    8.7 Monitor Display at Power ON Monitor Display at Power ON When Un number is set using Pn52F, the data of Un that was specified in the panel operator is displayed when the power is turned ON. When the 0FFF is set (factory setting), the SERVOPACK becomes the status display mode (bb, run) at power Monitor Display at Power ON Speed Position...

  • Page 314: Chapter 9 Fully-Closed Loop Control

    Fully-closed Loop Control 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control ..... 9-2 9.1.1 System Configuration ..........9-2 9.1.2 Internal Configuration of Fully-closed Loop Control .

  • Page 315: System Configuration And Connection Example For Servopack With Fully-Closed Loop Control

    9 Fully-closed Loop Control 9.1.1 System Configuration System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control This section describes the system configuration and connection example for the SERVOPACK with fully- closed loop control. 9.1.1 System Configuration The following figure shows the system configuration for fully-closed loop control. SERVOPACK with option module for fully-closed loop control Model:...

  • Page 316: Internal Configuration Of Fully-Closed Loop Control

    9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.2 Internal Configuration of Fully-closed Loop Control Internal configuration of fully-closed loop control is shown below. With Position Control SERVOPACK Reference × 1 Elec- Position pulse Error Speed ×...

  • Page 317: Serial Converter Unit

    9 Fully-closed Loop Control 9.1.3 Serial Converter Unit 9.1.3 Serial Converter Unit (1) Model: JZDP-D00 -000E (2) Characteristics and Specifications Items Specifications Power Supply Voltage +5.0V±5%, ripple content 5% max. ∗1 120 mA Typ. 350 mA Max. Current Consumption Signal Resolution Input 2-phase sine wave: 1/256 pitch Max.
  • Page 318 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control (3) Analog Signal Input Timing The following figure shows the input timing of the analog signals. When the cos and sin signals are shifted 180 degrees, the differential signals are the /cos and /sin signals. The specifications of the cos, /cos, sin, and /sin signals are identical except for the phase.

  • Page 319: Connection Example Of External Encoder By Heidenhain

    9 Fully-closed Loop Control 9.1.4 Connection Example of External Encoder by Heidenhain 9.1.4 Connection Example of External Encoder by Heidenhain (1) Connection Example SERVOPACK with option module for fully-closed loop control Serial converter unit External encoder by Heidenhain Corp. JZDP-D003- CN31 JZSP-CLP70- Connection cable...

  • Page 320: Connection Example Of External Encoder By Mitutoyo

    9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.5 Connection Example of External Encoder by Mitutoyo The serial converter unit is not needed when using the external encoder made by Mitutoyo Corporation. SERVOPACK with option module for fully-closed loop control External encoder...

  • Page 321: Connection Example Of External Encoder By Renishaw

    9 Fully-closed Loop Control 9.1.6 Connection Example of External Encoder by Renishaw 9.1.6 Connection Example of External Encoder by Renishaw (1) Connection Example SERVOPACK with option module for fully-closed loop control Serial converter unit External encoder JZDP-D005- by Renishaw Inc. CN12 D-sub 15-pin connector JZSP-CLP70-...

  • Page 322: Encoder Output Pulse Signals From Servopack With A External Encoder By Renishaw

    9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.7 Encoder Output Pulse Signals from SERVOPACK with a External Encoder by Renishaw The output position of the zero point signal (Ref) may vary in some models of the external encoder made by Renishaw.

  • Page 323: Settings For Fully-Closed Loop Control

    9 Fully-closed Loop Control 9.2.1 Setting Order Settings for Fully-closed Loop Control This section describes the setting for fully-closed loop control. 9.2.1 Setting Order The basic setting order is shown below. If the SERVOPACK is in speed control or torque control, perform steps 1 through 4. If the SERVOPACK is in position control, perform steps 1 through 8.

  • Page 324: Motor Rotation Direction

    9.2 Settings for Fully-closed Loop Control 9.2.2 Motor Rotation Direction The motor rotation direction can be set. To perform fully closed control, it is necessary to set the motor rota- tion direction with both Pn000.0 (motor rotating direction) and Pn002.3 (external encoder usage method). (1) Parameter Pn000.0 ∗...
  • Page 325 9 Fully-closed Loop Control 9.2.2 Motor Rotation Direction (2) Parameter Pn002.3 When Parameter Name Meaning Classification Enabled ∗1 Do not use. [Factory setting] Use external encoder in forward rotation direc- ∗2 tion. External Encoder Pn002 After restart Setup Reserved (Do not set). Usage Use external encoder in reversed rotation direc- ∗3...

  • Page 326: Sine Wave Pitch (Frequency) For An External Encoder

    9.2 Settings for Fully-closed Loop Control 9.2.3 Sine Wave Pitch (Frequency) for an External Encoder Set Pn20A to the number of external encoder pitches per motor rotation. (1) Setting Example Specifications External encoder lead: 20 μm Ball screw lead: 30 mm If the external encoder is connected directly to the motor, the set value will be 1500 (30 mm/0.02 mm = 1500).

  • Page 327: Absolute External Encoder Reception Sequence

    9 Fully-closed Loop Control 9.2.5 Absolute External Encoder Reception Sequence (2) Related Parameter Encoder Output Pulses Position Classifica- tion Pn281 Setting Range Setting Unit Factory Setting When Enabled 1 to 4096 1 P/pitch After restart Setup (3) Phase-C Pulse Output Specifications The pulse width of phase-C (origin pulse) varies according to the encoder output resolution (Pn281), and will become the same as the pulse width of phase-A.
  • Page 328 9.2 Settings for Fully-closed Loop Control (2) Absolute Encoder Transmission Sequence and Contents Absolute Encoder Transmission Sequence 1. Set the SEN signal at ON (high level). 2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down counter to zero.
  • Page 329 9 Fully-closed Loop Control 9.2.5 Absolute External Encoder Reception Sequence (3) Serial Data Specifications The serial data is output from the PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character coder...

  • Page 330: Electronic Gear

    9.2 Settings for Fully-closed Loop Control 9.2.6 Electronic Gear For the electronic gear setting, refer to 5.4.3 Electronic Gear. Note: When using a serial converter unit, set the encoder resolution as follows. • For the encoder manufactured by Heidenhain Corp.: Pn20A set value × 256 •...

  • Page 331: Analog Monitor Signal

    9 Fully-closed Loop Control 9.2.8 Analog Monitor Signal Setting Example Increase the value if the belt slips or is twisted excessively. If the set value is 0, the encoder value will be read as it is. The factory setting is 20. In this case, the second rotation will start with the deviation per motor rotation mul- tiplied by 0.8.

  • Page 332: Speed Feedback Method During Fully-Closed Loop Control

    9.2 Settings for Fully-closed Loop Control 9.2.9 Speed Feedback Method during Fully-closed Loop Control SERVOPACK Speed or torque reference Speed Motor Machine loop Pn22A Speed Speed feedback Encoder conversion External encoder Unit conversion Pn20A Speed conversion Encoder output pulse Serial Divider conversion Use Pn22A.3 to select the speed feedback method during fully-closed loop control: Normally, set Pn22A.3 to...

  • Page 333: Troubleshooting

    Troubleshooting 10.1 Troubleshooting ......... . . 10-2 10.1.1 List of Alarms .

  • Page 334: List Of Alarms

    10 Troubleshooting 10.1.1 List of Alarms 10.1 Troubleshooting The following sections describe troubleshooting in response to alarm displays. The alarm name, alarm meaning, alarm stopping method, alarm reset capability and alarm code output are listed in order of the alarm numbers in 10.1.1 List of Alarms. The causes of alarms and troubleshooting methods are provided in 10.1.2 Troubleshooting of Alarms.
  • Page 335 10.1 Troubleshooting (cont’d) Servo- Alarm Code Output Alarm motor Alarm Alarm Name Meaning Display Stop Reset ALO1 ALO2 ALO3 Method Regenerative circuit or regenerative resistor A.300 Regeneration Error Gr.1 Available is faulty. Regenerative energy exceeds regenerative A.320 Regenerative Overload Gr.2 Available resistor capacity.
  • Page 336 10 Troubleshooting 10.1.1 List of Alarms (cont’d) Servo- Alarm Code Output Alarm motor Alarm Alarm Name Meaning Display Stop Reset ALO1 ALO2 ALO3 Method External Encoder The overspeed from the external encoder A.8A5 Gr.1 Available Overspeed occurred. External Encoder The overheat from the external encoder A.8A6 Gr.1 Available...
  • Page 337 10.1 Troubleshooting (cont’d) Servo- Alarm Code Output Alarm motor Alarm Alarm Name Meaning Display Stop Reset ALO1 ALO2 ALO3 Method Position Error Pulse Position error pulses exceeded parameter A.d00 Gr.1 Available Overflow (Pn520). Position Error Pulse Position error pulses accumulated too A.d01 Overflow Alarm at Servo Gr.1...

  • Page 338: Troubleshooting Of Alarms

    CPF on the panel operator. Refer to the following table to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Alarm: Cause...
  • Page 339 10.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name The SERVOPACK and servomo- Select the proper combination of Check the combination of SERVO- tor capacities do not match each SERVOPACK and servomotor PACK and servomotor capacities. other. capacities. A.040: The SERVOPACK may be faulty.
  • Page 340 10 Troubleshooting 10.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Incorrect wiring or contact fault Check the wiring. Refer to 3.1 of main circuit cable or motor Correct the wiring. Main Circuit Wiring. main circuit cable. Check for short-circuits across the Short-circuit or ground fault of servomotor terminal phase-U, -V,...
  • Page 341 10.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name Regenerative resistor capacity (Pn600) is set to a value other Check the external regenerative Connect the external regenerative than 0 for a SGDV-R70, resistor connection and the value of resistor, or set Pn600 to 0 if no -R90, -1R6, or -2R8 SERVO- the Pn600.
  • Page 342 10 Troubleshooting 10.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name • For 100 VAC SERVOPACKs: The AC power supply voltage exceeded 145 V. • For 200 VAC SERVOPACKs: The AC power supply voltage exceeded 290 V. •...
  • Page 343 10.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name • For 100 VAC SERVOPACKs: The power supply voltage is 49 V or less. • For 200 VAC SERVOPACKs: Set the power supply voltage within The power supply voltage is Measure the power supply voltage.
  • Page 344 10 Troubleshooting 10.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Incorrect wiring or contact fault Confirm that the servomotor and Check the wiring. of servomotor and encoder. encoder are correctly wired. Check the servomotor overload Reconsider the load conditions and Operation beyond the overload characteristics and executed run operation conditions.
  • Page 345 10.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name Alarm occurred when the power Check to see if the power was to the absolute encoder was ini- Set up the encoder (Fn008). turned ON initially. tially turned ON. The encoder cable disconnected, Check to see if the power was Confirm the connection and set up and connected again.
  • Page 346 10 Troubleshooting 10.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Before setting the zero point posi- Setting of the zero point position tion, use the fully-closed feedback The servomotor must be stopped of absolute external scale failed counter monitor (Un00E) to con- while setting the zero point posi- A.8A0...
  • Page 347 10.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply OFF and The detection circuit for the cur- then ON again. If the alarm still A.b33: − rent is faulty. occurs, the SERVOPACK may be Current Detection faulty.
  • Page 348 10 Troubleshooting 10.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Re-insert the encoder connector and Contact fault of encoder connec- Check the encoder connector con- confirm that the encoder is correctly tor or incorrect encoder wiring. tact status.
  • Page 349 10.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name The encoder wiring and contact Check the encoder wiring. Correct the encoder wiring. are incorrect. Use tinned annealed copper twisted- Noise interference occurred due pair or shielded twisted-pair cable − to incorrect encoder cable specifi- cations.
  • Page 350 10 Troubleshooting 10.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Confirm that there is no contact The contact in the servomotor U, Check the motor main circuit cable fault in the motor wiring of encoder V, and W wirings is faulty. connection.
  • Page 351 10.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name The contact between the digital Insert securely the connector or operator and the SERVOPACK is Check the connector contact. CPF00: replace the cable. faulty. Digital Operator Transmission Error 1 Malfunction caused by noise Keep the digital operator or the −...

  • Page 352: Warning Displays

    10 Troubleshooting 10.2.1 List of Warnings 10.2 Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name, warning meaning, and warning code output are listed in order of the warning numbers in 10.2.1 List of Warnings. The causes of alarms and troubleshooting methods are provided in 10.2.2 Troubleshooting of Warnings.

  • Page 353: Troubleshooting Of Warnings

    10.2.2 Troubleshooting of Warnings Refer to the following table to identity the cause of a warning and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Warning Situation at Warning...
  • Page 354 10 Troubleshooting 10.2.2 Troubleshooting of Warnings Warning Situation at Warning Warning Name Cause Corrective Actions Display Occurrence Check whether unusual sound is gen- Lower the motor rotation speed or Unusual vibration was erated from the motor, and check the lower the servo gain by using the detected while the speed, and torque waveform of the function such as one-parameter tun-...
  • Page 355 10.2 Warning Displays Warning Situation at Warning Warning Name Cause Corrective Actions Display Occurrence • For 100 VAC SER- VOPACKs: The AC power supply voltage is 60 V or below. • For 200 VAC SER- VOPACKs: Use a power supply voltage within the The AC power supply Measure the power supply voltage.

  • Page 356: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor

    10 Troubleshooting 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section. Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table. Problem Probable Cause Investigative Actions...
  • Page 357 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Problem Probable Cause Investigative Actions Corrective Actions Check connections of main circuit Servomotor Wiring connection to servomotor is Tighten any loose terminals or con- cable (phases-U, -V, and -W) and Speed Unstable defective.
  • Page 358 10 Troubleshooting Problem Probable Cause Investigative Actions Corrective Actions FG potential varies because of Ground machines correctly, and Check if the machines are correctly influence of machines such as weld- prevent diversion to the FG at the grounded. ers at the servomotor. PG side.
  • Page 359 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper twisted-pair or Noise interference due to improper Use encoder cable with the speci- shielded twisted-pair cables with a encoder cable specifications fied specifications.
  • Page 360 10 Troubleshooting Problem Probable Cause Investigative Actions Corrective Actions Improper limit switch position and Install the limit switch at the − Improper Position dog length appropriate position. to Stop by The overtravel limit switch position Overtravel (OT) Install the overtravel limit switch at is too short for the coasting −...

  • Page 361: Chapter 11 Appendix

    Appendix 11.1 Connection to Host Controller ....... . 11-2 11.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 ... 11-2 11.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01 .

  • Page 362: Connection To Host Controller

    Note 1. Connection cables (model: JEPMC-W2040- ) to connect the SERVOPACK to the MP2200/MP2300 are pre- pared by Yaskawa. For details, refer to Machine Controller MP2200/2300 Motion Module User’s Manual (SIEPC88070016). 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.

  • Page 363: Example Of Connection To Mp920 4-Axes Analog Module Sva-01

    Note 1. Connection cables (model: JEPMC-W6050- -E) to connect the SERVOPACK to the MP920 are prepared by Yaskawa. For details, refer to Machine Controller MP920 User’s Manual design and maintenance (SIEZ-C887- 2.1). 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.

  • Page 364: Example Of Connection To Omron's Motion Control Unit

    ∗2. represents twisted-pair wires. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and OMRON’s MC unit are shown in the diagram. 2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.

  • Page 365: Example Of Connection To Omron's Position Control Unit

    ∗4. represents twisted-pair wires. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and OMRON’s MC unit (positioning unit) are shown in the diagram. 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.

  • Page 366: Connection To Mitsubishi's Ad72 Positioning Unit (Servopack In Speed Control Mode)

    ∗4. represents twisted-pair wires. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and Mitsubishi’s AD72 Positioning Unit are shown in the diagram. 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.

  • Page 367: Connection To Mitsubishi's Ad75 Positioning Unit (Servopack In Position Control Mode)

    ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main cir- cuit power supply to the SERVOPACK. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and Mitsubishi’s AD75 Positioning Unit are shown in the diagram.
  • Page 368 11 Appendix 11.2.1 Utility Functions 11.2 List of Parameters 11.2.1 Utility Functions The following list shows the available utility functions. Operation Operation from Parameter from the the Digital Reference Function Panel Operator or Section Operator SigmaWin+ Fn000 Alarm traceback data display Fn002 JOG mode operation Fn003...

  • Page 369: List Of Parameters

    11.2 List of Parameters 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Basic Function Select Switch 0 0000 to 00B3 0000 After restart Setup digit digit digit digit (Refer to 5.2.2) Direction Selection (Refer to 5.2.2.) Forward reference for forward rotation.

  • Page 370: Parameters

    11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Application Function Select Switch 1 0000 to 1122 0000 After restart Setup digit digit digit digit (Refer to 5.2.5) Servomotor power OFF or Alarm Gr.1 Stop Mode (Refer to 5.2.5.) Stops the motor by applying DB (dynamic brake).

  • Page 371: List Of Parameters

    11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Application Function Select Switch 6 0000 to 005F − 0002 Immediately Setup − digit digit digit digit (Refer to 6.1.3) Analog Monitor 1 Signal Selection (Refer to 6.1.3.) Motor speed (1 V/1000 min Speed reference (1 V/1000 min...

  • Page 372: Parameters

    11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Application Function Select Switch 8 0000 to 7121 0000 After restart Setup digit digit digit digit (Refer to 5.9.4) Lowered Battery Voltage Alarm/Warning Selection (Refer to 5.9.4.) Outputs alarm (A.830) for lowered battery voltage.
  • Page 373 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Application Function Select Switch B 0000 to 1111 − 0000 After restart Setup − digit digit digit digit (Refer to 2.5) Parameter Display Selection Setup parameters All parameters Pn00B...
  • Page 374 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Application Function for Gain Select − − − 0000 to 5334 0000 Setup Switch digit digit digit digit When (Refer to 6.9.5) Mode Switch Selection (Refer to 6.8.5.) Enabled Uses internal torque reference as the condition (Level setting: Pn10C)
  • Page 375 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Automatic Gain Changeover Related − − 0000 to 0052 0000 Immediately Tuning Switch 1 digit digit digit digit (Refer to 6.8.1) Gain Switching Selection Switch (Refer to 6.8.6.) Manual gain switching Changes gain manually using external input signals (G-SEL)
  • Page 376 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Model Following Control Bias − Pn143 0 to 10000 0.1% 1000 Immediately Tuning (Forward Direction) Model Following Control Bias − Pn144 0 to 10000 0.1% 1000 Immediately...
  • Page 377 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Anti-Resonance Filter Time Constant − Pn164 -1000 to 1000 0.01 ms Immediately Tuning 1 Compensation Anti-Resonance Filter Time Constant − Pn165 -1000 to 1000 0.01 ms Immediately Tuning...
  • Page 378 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Pn205 Multiturn Limit Setting 0 to 65535 1 rev 65535 After restart Setup 5.9.7 − − Position Control Function Switch 0000 to 2210 0000 After restart Setup digit...
  • Page 379 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section 5.3.1 0.01V Pn300 Speed Reference Input Gain 150 to 3000 / rated Immediately Setup 5.5.4 speed 6.9.3 Pn301 Internal Set Speed 1 0 to 10000 Immediately Setup 1 min...
  • Page 380 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − − Torque Related Function Switch 0000 to 1111 0000 Setup digit digit digit digit When (Refer to 6.9.6) 1st Step Notch Filter Selection (Refer to 6.8.7.) Enabled Immediately...
  • Page 381 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section 6.2.1 − Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately Tuning 6.3.1 6.5.1 digit digit digit digit Notch Filter Adjustment Selection 1 1st step notch filter is not adjusted automatically with utility function. Pn460 1st step notch filter is adjusted automatically with utility function.
  • Page 382 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Input Signal Selection 1 0000 to FFF1 2100 After restart Setup digit digit digit digit (Refer to 3.3.1) Input Signal Allocation Mode (Refer to 3.3.1.) Uses the sequence input signal terminals with standard allocation.
  • Page 383 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − Input Signal Selection 2 0000 to FFFF 6543 After restart Setup digit digit digit digit (Refer to 5.2.3) N-OT Signal Mapping (Overtravel when OFF (H-level)) (Refer to 5.2.3.) Reverse run allowed when CN1-40 input signal is ON (L-level).
  • Page 384 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Input Signal Selection 3 0000 to FFFF 8888 After restart Setup digit digit digit digit (Refer to 5.6.1) /SPD-D Signal Mapping (See the internal set speed control function.) Active on the falling edge of CN1-40 input signal.
  • Page 385 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Input Signal Selection 4 0000 to FFFF − 8888 After restart Setup − digit digit digit digit (Refer to 5.3.5) /ZCLAMP Signal Mapping (Zero clamp when ON (L-level)) (Refer to 5.3.5.) ON when CN1-40 input signal is ON (L-level).
  • Page 386 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Output Signal Selection 2 0000 to 3333 0000 After restart Setup digit digit digit digit (Refer to 5.8.5) Torque Limit Detection Signal Mapping (/CLT) (Refer to 5.8.5.) Disabled (the above signal is not used.) Outputs the signal from CN1-25, -26 output terminal.
  • Page 387 11.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup 3.3.2 digit digit digit digit Output Signal Inversion for CN1-25 or -26 Terminals Does not inverse outputs.
  • Page 388 11 Appendix 11.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Pn52B Overload Warning Level 1 to 100 Immediately Setup 5.2.8 Derating of Base Current at Detecting Pn52C 10 to 100 After restart Setup 5.2.8 Overload of Motor Pn52F Monitor Display at Power ON...

  • Page 389: Monitor Modes

    11.3 Monitor Modes 11.3 Monitor Modes The following list shows monitor modes available. Un Number Content of Display Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference ( in percentage to the rated torque) Rotation angle 1 (32-bit decimal code) encoder pulse Un003 Un004...

  • Page 390: Parameter Recording Table

    11 Appendix 11.4 Parameter Recording Table Use the following table for recording parameters. Note: Pn10B, Pn170 and Pn408 have two kinds of digits: the digit which does not need the restart after changing the set- tings and the digit which needs the restart. The underlined digits of the factory setting in the following table show the digit which needs the restart.
  • Page 391 11.4 Parameter Recording Table Parame- Factory When Name Setting Enabled Pn13D 2000% Current Gain Level Immediately Model Following Control Related Pn140 0100 Immediately Switch Pn141 50.0/s Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 100.0% Immediately pensation Model Following Control Bias Pn143 100.0%...
  • Page 392 11 Appendix Parame- Factory When Name Setting Enabled Pn301 Internal Set Speed 1 Immediately 100 min Pn302 Internal Set Speed 2 Immediately 200 min Pn303 Internal Set Speed 3 Immediately 300 min Pn304 JOG Speed Immediately 500 min Pn305 0 ms Soft Start Acceleration Time Immediately Pn306...
  • Page 393 11.4 Parameter Recording Table Parame- Factory When Name Setting Enabled Brake Reference - Servo OFF Delay Pn506 0 ms Immediately Time Pn507 Brake Reference Output Speed Level Immediately 100 min Waiting Time for Brake Signal When Pn508 500 ms Immediately Motor Running Pn509 20 ms...
  • Page 394 11 Appendix Parame- Factory When Name Setting Enabled Number of Times of Program JOG Pn536 once Immediately Movement Pn550 0.0 V Analog Monitor 1 Offset Voltage Immediately Pn551 0.0 V Analog Monitor 2 Offset Voltage Immediately ×1 Pn552 Analog Monitor Magnification (×1) Immediately ×1 Pn553...

  • Page 395: Index

    Index Index alarm code output signals - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76 alarm history display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 alarm reset method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77 ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76 ALO1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76...
  • Page 396 Index wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 infinite time operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8 decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 initial incremental pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72 display of servomotor ID in feedback option module (Fn01F) - - 7-28...
  • Page 397 Index output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17 examples of servo system configuration (SGDV- A01A) - - - - - - - - - - - - - - - - - - - - - - - - - - 1-16 overtravel (OT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6...
  • Page 398 Index trial operation for servomotor without load - - - - - - - - - - - - - 4-2 trial operation for servomotor without load from host reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 trial operation in position control - - - - - - - - - - - - - - - - - - - - 4-9 trial operation in speed control - - - - - - - - - - - - - - - - - - - - - 4-7 trial operation of servomotor with brakes - - - - - - - - - - - - - 4-11...

  • Page 399: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 45B Published in Japan December 2007 07-06 Revision number Date of Date of original publication publication Rev.
  • Page 400 No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299 YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China...

This manual is also suitable for:

SgdvSgmavSgmpsSgmgvSgmcs

Table of Contents

Save PDF