YASKAWA SGMJV User Manual
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YASKAWA SGMJV User Manual

Rotational motor mechatrolink-ii communications reference
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See also: User Manual
AC Servo Drives
V
-
Series
USER'S MANUAL
Design and Maintenance
Rotational Motor
MECHATROLINK-
SGDV SERVOPACK
SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors
MANUAL NO. SIEP S800000 46J
II
Communications Reference
Outline
Panel Display and
Operation of Digital Operator
Wiring and Connection
Operation
Adjustments
Utility Functions (Fn)
Monitor Displays (Un)
Fully-closed Loop Control
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
10

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Summary of Contents for YASKAWA SGMJV

  • Page 1 AC Servo Drives  Series USER’S MANUAL Design and Maintenance Rotational Motor MECHATROLINK- Communications Reference SGDV SERVOPACK SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors Outline Panel Display and Operation of Digital Operator Wiring and Connection Operation Adjustments Utility Functions (Fn) Monitor Displays (Un) Fully-closed Loop Control...
  • 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

    The following table shows the meanings of terms used in this manual. Term Meaning Cursor Input position indicated by Digital Operator Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or SGMCS Servomotor (Direct Drive) servomotor SERVOPACK Σ-V Series SGDV servo amplifier A set including a servomotor and SERVOPACK (i.e., a servo ampli-...
  • Page 4  Notation Used in this Manual • Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name. Notation Example BK = /BK • Notation for Parameters The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions).
  • Page 5  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 −...
  • Page 6 Indicates precautions that, if not heeded, could result in relatively serious CAUTION or minor injury, damage to the product, or faulty operation. In some situations, the precautions indicated could have serious consequences if not heeded. Indicates prohibited actions that must not be performed. For example, PROHIBITED this symbol would be used to indicate that fire is prohibited as follows: Indicates compulsory actions that must be performed.

  • Page 7: Safety Precautions

    Safety Precautions This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor- oughly. WARNING • Never touch any rotating servomotor parts during operation. Failure to observe this warning may result in injury.
  • Page 8  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 equipment. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature condi- tions •...
  • Page 9  Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
  • Page 10  Operation CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution 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 11 • The drawings presented in this manual are typical examples and may not match the product you received. • 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 12: Warranty

    6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 13 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

  • Page 14: Harmonized Standards

    Harmonized Standards  North American Safety Standards (UL) UL Standards Model (UL File No.) SERVOPACK SGDV UL508C (E147823) • SGMJV • SGMAV Servomotor • SGMPS UL1004 (E165827) • SGMGV • SGMSV  European Directives Model European Directives Harmonized Standards Machinery Directive...
  • Page 15  Safety Standards Model Safety Standards Standards EN ISO13849-1: 2008 Safety of Machinery EN 954-1 IEC 60204-1 SERVOPACK SGDV IEC 61508 series Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1  Safe Performance Items Standards Performance Level IEC 61508 SIL2 Safety Integrity Level IEC 62061 SILCL2...

  • Page 16: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 17 Chapter 3 Wiring and Connection ....... .3-1 3.1 Main Circuit Wiring..........3-2 3.1.1 Main Circuit Terminals .
  • Page 18 4.6 Limiting Torque ..........4-33 4.6.1 Internal Torque Limit.
  • Page 19 5.7 Vibration Suppression Function (Fn205) ......5-52 5.7.1 Vibration Suppression Function ..........5-52 5.7.2 Vibration Suppression Function Operating Procedure .
  • Page 20 7.4 Monitoring Output Signals ........7-6 7.4.1 Interpreting Output Signal Display Status .
  • Page 21 Outline 1.1 Σ-V Series SERVOPACKs ........1-2 1.2 Part Names .

  • Page 22: 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 SERVOPACK for MECHATROLINK-II communications ref- erence.

  • Page 23: 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) SGDV with Single-phase, 100-V Rating SGDV (Single Phase, 100 V) Continuous Output Current [Arms] 0.66 0.91 Instantaneous Max.
  • Page 24 1 Outline 1.3.1 Ratings (4) SGDV with Three-phase, 400-V Rating SGDV (Three Phase, 400 V) Continuous Output Current 11.9 16.5 20.8 25.7 28.1 37.2 [Arms] Instantaneous Max. Output Current [Arms] Built-in or external External Regenerative Resistor Main Circuit Power Supply Three-phase, 380 to 480 VAC, +10% to -15%, 50/60 Hz 24 VDC ±15% Control Power Supply...

  • Page 25: Basic Specifications

    1.3 SERVOPACK Ratings and Specifications 1.3.2 Basic Specifications Basic specifications of SERVOPACKs are shown below. Drive Method Sine-wave current drive with PWM control of IGBT Encoder: 13-bit (incremental), 17-bit, 20-bit (incremental/absolute) Feedback Note: Only 13-bit feedback is possible for incremental encoders. Ambient Operating Tem- 0°C to +55°C perature...
  • Page 26 1 Outline 1.3.2 Basic Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 4.4.5.) Number of 7 ch Channels • Homing deceleration switch (/DEC) Input • External latch (/EXT 1 to 3) Sequence Signals •...
  • Page 27 1.3 SERVOPACK Ratings and Specifications (cont’d) Input /HWBB1, /HWBB2: Baseblock signal for power module Output EDM1: Monitoring status of internal safety circuit (fixed output) Safety Function EN954 Category 3, IEC61508 SIL2 Standards Option Module Fully-closed module, safety module ∗1. Speed regulation by load regulation is defined as follows: No-load motor speed Total load motor speed ×...

  • Page 28: Mechatrolink-Ii Function Specifications

    1 Outline 1.3.3 MECHATROLINK-II Function Specifications 1.3.3 MECHATROLINK-II Function Specifications The following table shows the specifications of MECHATROLINK-II. Function Specifications Communication Pro- MECHATROLINK-II tocol 41H to 5FH (Max. number of stations: 30) Station Address Can be selected by the combination of the rotary switch (SW1) and the DIP switch (SW2).

  • Page 29: Servopack Internal Block Diagrams

    1.4 SERVOPACK Internal Block Diagrams SERVOPACK Internal Block Diagrams 1.4.1 Single-phase 100 V, SGDV-R70F11A, -R90F11A, -2R1F11A Models Servomotor + 12 V Varistor Main circuit – power supply – Dynamic brake circuit Gate drive Temperature Current Voltage Relay Voltage Gate overcurrent sensor drive drive...

  • Page 30: Single-Phase 200 V, Sgdv-120A11A008000 Model

    1 Outline 1.4.3 Single-phase 200 V, SGDV-120A11A008000 Model 1.4.3 Single-phase 200 V, SGDV-120A11A008000 Model Fan 1 Fan 2 Servomotor Varistor ± 12 V ± 12 V Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Current Voltage Relay Voltage Gate drive...

  • Page 31: Three-Phase 200 V, Sgdv-2R8A11 Model

    1.4 SERVOPACK Internal Block Diagrams 1.4.5 Three-phase 200 V, SGDV-2R8A11 Model ∗ Servomotor + 12 V Varistor Main circuit – power supply Dynamic brake circuit Gate drive Current Voltage Gate Relay Voltage Temperature overcurrent sensor sensor sensor drive drive sensor protector Varistor +17 V...

  • Page 32: Three-Phase 200 V, Sgdv-120A11A Model

    1 Outline 1.4.7 Three-phase 200 V, SGDV-120A11A Model 1.4.7 Three-phase 200 V, SGDV-120A11A Model Servomotor Varistor ± 12 V Main circuit – power supply Overheat protector, Dynamic overcurrent protector brake circuit Current Voltage Relay Voltage Gate drive sensor sensor drive sensor Varistor +15 V ×...

  • Page 33: Three-Phase 200 V, Sgdv-330A11A Model

    1.4 SERVOPACK Internal Block Diagrams 1.4.9 Three-phase 200 V, SGDV-330A11A Model Fan 1 Fan 2 Servomotor Varistor ± 12 V ± 12 V Main circuit – power supply Overheat protector, Dynamic overcurrent protector brake circuit Temperature Current Voltage Thyristor Voltage Gate drive sensor sensor...

  • Page 34: Three-Phase 200 V Sgdv-590A11A, -780A11A Models

    1 Outline 1.4.11 Three-phase 200 V SGDV-590A11A, -780A11A Models 1.4.11 Three-phase 200 V SGDV-590A11A, -780A11A Models Fan 1 Fan 2 Fan 3 Servomotor Varistor ± 12 V ± 12 V ± 12 V Main circuit – power supply Overheat protector, Dynamic overcurrent protector brake circuit...

  • Page 35: Three-Phase 400 V, Sgdv-8R4D11A, -120D11A Models

    1.4 SERVOPACK Internal Block Diagrams 1.4.13 Three-phase 400 V, SGDV-8R4D11A, -120D11A Models Fan 1 Fan 2 Servomotor Varistor ± 12 V ± 12 V – Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Relay Current Voltage Gate drive sensor...

  • Page 36: Three-Phase 400 V, Sgdv-210D11A, -260D11A Models

    1 Outline 1.4.15 Three-phase 400 V, SGDV-210D11A, -260D11A Models 1.4.15 Three-phase 400 V, SGDV-210D11A, -260D11A Models Fan 1 Fan 2 Fan 3 Servomotor +24 V +24 V +24 V Varistor – Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Current Voltage...

  • Page 37: Examples Of Servo System Configurations

    ON and OFF. Install a surge absorber. Encoder cable Servomotor main circuit cable SGMJV/SGMAV/SGMPS/SGMCS Servomotor ∗1. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resis- tors. ∗2. Use a 24-VDC power supply. (Not included.)

  • Page 38: Connecting To Sgdv-A11 Servopack

    ON and OFF. Install a surge absorber. Encoder cable Servomotor main circuit cable SGMJV/SGMAV/SGMPS/ SGMGV/SGMSV/SGMCS Servomotor ∗1. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resis- tors. ∗2. Use a 24-VDC power supply. (Not included.) If using a 90-VDC power supply for a brake, however, use one of the following power supplies.
  • Page 39 ON and OFF. Install a surge absorber. Encoder cable Servomotor main circuit cable SGMJV/SGMAV/SGMPS/SGMCS Servomotor ∗1. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resis- tors. ∗2. Use a 24-VDC power supply. (Not included.)

  • Page 40: Connecting To Sgdv-D11A Servopack

    1 Outline 1.5.3 Connecting to SGDV-D11A SERVOPACK 1.5.3 Connecting to SGDV-D11A SERVOPACK Power supply Three-phase 400 VAC R S T Molded-case circuit breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Digital Noise filter SGDV- D11A operator...

  • Page 41: Servopack Model Designation

    1.6 SERVOPACK Model Designation SERVOPACK Model Designation This section shows SERVOPACK model designation. 13th 11th + 12th 8th + 9th + 1st + 2nd + 5th + 6th digit digits 10th digits digit digit 3rd digits digits SGDV – 2R8 A 11 A Series 7th digit: Design...

  • Page 42: Servo Drive Maintenance And Inspection

    Refer to the standard replacement period in the following table and contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not.

  • Page 43: Servomotor Inspection

    Inspection dirt. air. Disconnect the servomotor from • If the resistance is 10 MΩ or the SERVOPACK and measure lower, contact your Yaskawa rep- Insulation the insulation resistance with a resentative. Resistance Mea- At least once a year 500 V insulation resistance •...
  • Page 44 Panel Display and Operation of Digital Operator 2.1 Panel Display ..........2-2 2.1.1 Status Display .

  • Page 45: Chapter 2 Panel Display And Operation Of Digital Operator

    2 Panel Display and Operation of Digital Operator 2.1.1 Status Display Panel Display You can use the panel display on the SERVOPACK to check the status of the servo drive. Also, if an alarm or warning occurs, its alarm or warning number is displayed. 2.1.1 Status Display The display shows the following status.

  • Page 46: Operation Of Digital Operator

    2.2 Operation of Digital Operator Operation of Digital Operator Operation examples of utility functions (Fn), parameters (Pn) and monitor displays (Un) when using a digital operator are described in this chapter. Operations can be also performed with SigmaWin+. Σ For more information on the usage of the digital operator, refer to -V Series USER’S MANUAL Operation of Digital Operator (No.: SIEP S800000 55).

  • Page 47: Parameters (Pn)

    2 Panel Display and Operation of Digital Operator 2.4.1 Parameter Classification Parameters (Pn) This section describes the classifications, methods of notation, and settings for parameters given in this man- ual. 2.4.1 Parameter Classification Parameters of the Σ-V Series SERVOPACK are classified into two types of parameters. One type of parame- ters is required for setting up the basic conditions for operation and the other type is required for tuning param- eters that are required to adjust servomotor characteristics.

  • Page 48: Setting Parameters

    2.4 Parameters (Pn) • Notation Example Digital Operator Display (Display Example for Pn002) Digit Notation Setting Notation Notation Meaning Notation Meaning Indicates the value for the Indicates that the value for the Pn002.0 = x Pn002.0 1st digit 1st digit of parameter Pn002. 1st digit of parameter Pn002 is x.
  • Page 49 2 Panel Display and Operation of Digital Operator 2.4.3 Setting Parameters (cont’d) Step Display after Operation Keys Operation Press the Key to write the settings. (2) How to Select Functions Using Parameters The following example shows how to set the function section for insufficient voltage of the application func- tion select switch 8 (Pn008) to 1 "detects warning and limits torque by host controller."...

  • Page 50: Monitor Displays (Un)

    2.5 Monitor Displays (Un) Monitor Displays (Un) The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. For details, refer to 7.2 Viewing Monitor Displays. The digital operator shows numbers beginning with Un. The following four settings are the factory settings.
  • Page 51 Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-2 3.1.1 Main Circuit Terminals .

  • Page 52: Chapter 3 Wiring And Connection

    3 Wiring and Connection 3.1.1 Main Circuit Terminals Main Circuit Wiring The names and specifications of the main circuit terminals are given below. Also this section describes the general precautions for wiring and precautions under special environments. 3.1.1 Main Circuit Terminals : Main circuit terminals Terminal Name...

  • Page 53: Using A Standard Power Supply (Single-Phase 100 V, Three-Phase 200 V, Or Three-Phase 400 V)

    3.1 Main Circuit Wiring (cont’d) Terminal Name Model SGDV- Specification Symbols A Main circuit positive terminal D Use when DC power supply input is used. A Main circuit negative 2 or terminal D Servomotor connec- U, V, W Use for connecting to the servomotor. tion terminals Ground terminals Use for connecting the power supply ground terminal and servomotor ground...
  • Page 54 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) (2) Main Circuit Wires This section describes the main circuit wires for SERVOPACKs. • The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is applied with a surrounding air temperature of 40°C.
  • Page 55 3.1 Main Circuit Wiring (3) Typical Main Circuit Wiring Examples Note the following points when designing the power ON sequence. • Design the power ON sequence so that main power is turned OFF when a servo alarm signal (ALM) is output. •...
  • Page 56 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)   Three-phase 200 V, SGDV- • SGDV-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A R S T SERVOPACK SGDV- 1FLT...
  • Page 57 3.1 Main Circuit Wiring   Three-phase 400 V, SGDV- • SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D R S T SERVOPACK SGDV- 1FLT DC power 24 V supply − 24 V (For servo +24 V alarm display) − Servo power Servo power supply ON supply OFF...
  • Page 58 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) (4) Power Supply Capacities and Power Losses The following table shows the SERVOPACK’s power supply capacities and power losses. Maximum Main Main Power Supply...
  • Page 59 3.1 Main Circuit Wiring (5) How to Select Molded-case Circuit Breaker and Fuse Capacities The following table shows the SERVOPACK’s current capacities and inrush current. Use these values as a basis for selecting the molded-case circuit breaker and fuse. Maximum Current Capacity Inrush Current Main...
  • Page 60 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) 2. The following restrictions apply to UL standard compliance conditions. SERVOPACK Model SGDV- Restrictions 180A, 200A Available rated current for modeled-case circuit breaker: 40 A or less •...

  • Page 61: Using The Servopack With Single-Phase, 200 V Power Input

    3.1 Main Circuit Wiring 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input Some models of Σ-V series three-phase 200 V power input SERVOPACK can be used also with a single-phase 200 V power supply. The following models support a single-phase 200-V power input. SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A When using the SERVOPACK with single-phase, 200 V power input, set parameter Pn00B.2 to 1.
  • Page 62 3 Wiring and Connection 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input (3) Main Circuit Wire for SERVOPACKs Model SGDV-A (Unit: mm Terminal Name Symbols 120* Main circuit power input termi- L1, L2 HIV1.25 HIV2.0 HIV3.5 nals L1C, L2C Control power input terminals HIV1.25 Servomotor connection termi-...
  • Page 63 3.1 Main Circuit Wiring (5) Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses when using single- phase 200 V power supply. Maximum Main Control Power Supply Regenerative Total Main Circuit Applicable Output Circuit Circuit...

  • Page 64: Using The Servopack With A Dc Power Input

    3 Wiring and Connection 3.1.4 Using the SERVOPACK with a DC Power Input 3.1.4 Using the SERVOPACK with a DC Power Input (1) Parameter Setting When using a DC power supply, make sure to set the parameter Pn001.2 to 1 (DC power input supported) before inputting DC power.
  • Page 65 3.1 Main Circuit Wiring (3) Wiring Example with DC Power Supply Input  200-V SERVOPACK SGDV-A R S T 200-V SERVOPACK SGDV- 1FLT AC/DC +24 V (For servo alarm display) − Servo power Servo power supply ON supply OFF 1QF: Molded-case circuit breaker 1PL: Indicator lamp 1FLT: Noise filter 1SA: Surge absorber...

  • Page 66: Using More Than One Servopack

    3 Wiring and Connection 3.1.5 Using More Than One SERVOPACK 3.1.5 Using More Than One SERVOPACK This section shows an example of the wiring and the precautions when more than one SERVOPACK is used. (1) Wiring Example Connect the alarm output (ALM) terminals for three SERVOPACKs in series to enable alarm detection relay 1RY to operate.

  • Page 67: General Precautions For Wiring

    3.1 Main Circuit Wiring 3.1.6 General Precautions for Wiring CAUTION • Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and encoder cables. • The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main cir- cuit cables, and 10 m for control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, 0 V).

  • Page 68: 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 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 69: Safety Function Signal (Cn8) Names And Functions

    3.2 I/O Signal Connections (2) Output Signals Refer- Signal Pin No. Name Function ence Section ALM+ Servo alarm output − Turns OFF when an error is detected. ALM- signal /BK+ Controls the brake. The brake is released when the signal (/SO1+) turns ON (closed).

  • Page 70: Example Of I/O Signal Connections

    3 Wiring and Connection 3.2.3 Example of I/O Signal Connections 3.2.3 Example of I/O Signal Connections The following diagram shows a typical connection example. Photocoupler output Max. allowable voltage: 30 VDC SERVOPACK Max. allowable current: 50 mA DC ALM+ 3.3 kΩ +24 V +24VIN Control power supply...

  • Page 71: 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 • Inverting the polarity of the forward run prohibited and reverse run prohibited signals from the factory setting will prevent the overtravel function from working in case of sig- nal line disconnections or other failures.
  • Page 72 3 Wiring and Connection 3.3.1 Input Signal Allocations Connection Not Required CN1 Pin Numbers (SERVOPACK Input Signal Names Validity Input judges the connec- and Parameters Level Signal tion) Always Always P-OT Forward Run Prohibited Pn50A.3 /P-OT Reverse Run Prohibit- N-OT /N-OT Pn50B.0 Forward External...

  • Page 73: Output Signal Allocations

    3.3 I/O Signal Allocations 3.3.2 Output Signal Allocations • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid." • Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the hold- ing brake from working in case of its signal line disconnection.

  • Page 74: Examples Of Connection To Host Controller

    3 Wiring and Connection 3.4.1 Sequence Input Circuit Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.4.1 Sequence Input Circuit (1) Photocoupler Input Circuit CN1 connector terminals 6 to 13 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit.

  • Page 75: Sequence Output Circuit

    3.4 Examples of Connection to Host Controller (2) 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 SERVOPACK 24-V power supply Switch /HWBB1+ 4 3.3 kΩ...
  • Page 76 3 Wiring and Connection 3.4.2 Sequence Output Circuit (2) Line Driver Output Circuit CN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-B signal), and 21-22 (phase-C signal) are explained below. These terminals output the following signals via the line-driver output circuits. •...

  • Page 77: Wiring Mechatrolink-Ii Communications

    3.5 Wiring MECHATROLINK-II Communications Wiring MECHATROLINK-II Communications The following diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK-II communications cables (CN6A, CN6B). 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG TEST PORT OFF ON...

  • Page 78: Encoder Connection

    3 Wiring and Connection 3.6.1 Encoder Signal (CN2) Names and Functions Encoder Connection This section describes the encoder signal (CN2) names, functions, and connection examples. 3.6.1 Encoder Signal (CN2) Names and Functions The following table shows the names and functions of encoder signals (CN2). Signal Name Pin No.
  • Page 79 ∗3. When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or install a battery on the host controller. • When Installing a Battery on the Encoder Cable Use the encoder cable with a battery case that is specified by Yaskawa. Σ For details, refer to the -V Series Product Catalog (Catalog No.: KAEP S800000 42).

  • Page 80: Connecting Regenerative Resistors

    3 Wiring and Connection 3.7.1 Connecting Regenerative Resistors Connecting Regenerative Resistors If the built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the fol- lowing methods and set the regenerative resistor capacity (Pn600). As for precautions on selecting a regenera- Σ...
  • Page 81 B2 terminals of the SERVOPACK to the R1 and R2 terminals of the regenerative resis- tor unit. Use Pn600 at the factory setting when you use a Yaskawa regenerative resistor unit. Set Pn600 when using a non-YASKAWA external regenerative resistor.

  • Page 82: Setting Regenerative Resistor Capacity

    Pn600 = 2 (unit: 10 W) Note 1. If Pn600 is not set to the optimum value, alarm A.320 will occur. 2. When set to the factory setting (Pn600 = 0), the SERVOPACK’s built-in resistor or Yaskawa’s regenerative resis- tor unit has been used.

  • Page 83: Noise Control And Measures For Harmonic Suppression

    3.8 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. 3.8.1 Wiring for Noise Control • Because the SERVOPACK is designed as an industrial device, it provides no mecha- nism to prevent noise interference.
  • Page 84 3 Wiring and Connection 3.8.1 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 85: Precautions On Connecting Noise Filter

    3.8 Noise Control and Measures for Harmonic Suppression 3.8.2 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 86: Connecting A Reactor For Harmonic Suppression

    3 Wiring and Connection 3.8.3 Connecting a Reactor for Harmonic Suppression Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Correct Incorrect Noise Noise Filter Filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK Shielded...

  • Page 87: Chapter 4 Operation

    Operation 4.1 MECHATROLINK-II Communications Settings ....4-3 4.1.1 Setting the Communications Specifications ....... . 4-3 4.1.2 Setting the Station Address .
  • Page 88 4 Operation 4.7 Absolute Encoders ........4-36 4.7.1 Connecting the Absolute Encoder .

  • Page 89: Mechatrolink-Ii Communications Settings

    4.1 MECHATROLINK-II Communications Settings MECHATROLINK-II Communications Settings The DIP switch (SW2) is used to make the settings for MECHATROLINK-II communications. The station address is set using the rotary switch (SW1) and the DIP switch (SW2). SW2 (factory settings) SW1 (factory setting) 4.1.1 Setting the Communications Specifications Set the communications specifications on the DIP switch (SW2).

  • Page 90: Setting The Station Address

    4 Operation 4.1.2 Setting the Station Address 4.1.2 Setting the Station Address The following table lists the possible settings of the rotary switch (SW1) and the DIP switch (SW2) that can be combined to form a station address. The factory setting for the station address is 41H (SW2 = OFF, SW1 = 1). Bit 3 of SW2 Station Address Bit 3 of SW2...

  • Page 91: Basic Functions Settings

    4.3 Basic Functions Settings Basic Functions Settings 4.3.1 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signal, such as encoder output pulses, output from the SERVOPACK does not change.

  • Page 92: Overtravel

    4 Operation 4.3.2 Overtravel 4.3.2 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. In such a case, no wiring for overtravel input signals is required.
  • Page 93 4.3 Basic Functions Settings (3) Servomotor Stopping Method When Overtravel is Used There are three servomotor stopping methods when an overtravel is used. • Dynamic brake By short-circuiting the electric circuits, the servomotor comes to a quick stop. • Decelerate to a stop Stops by using emergency stop torque.
  • Page 94 4 Operation 4.3.2 Overtravel (4) Overtravel Warning Function This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON. Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the overtravel signal is ON only momentarily.

  • Page 95: Software Limit Settings

    4.3 Basic Functions Settings 4.3.3 Software Limit Settings The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.

  • Page 96: Holding Brakes

    4 Operation 4.3.4 Holding Brakes 4.3.4 Holding Brakes A holding brake is a brake used to hold the position of the movable part of the machine when the SERVO- PACK is turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are built into servomotors with brakes.
  • Page 97 4.3 Basic Functions Settings 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 SGMPS-02, -04, -15 SGMGV-03 to 20 SGMGV-30, -44 100 (24 VDC), 80 (90 VDC)
  • Page 98 4 Operation 4.3.4 Holding Brakes • Select the optimum surge absorber in accordance with the applied brake current and brake power supply. Using LPSE-2H01-E: Z10D471 (manufactured by SEMITEC Corporation) Using LPDE-1H01-E: Z10D271 (manufactured by SEMITEC Corporation) Using 24-V power supply: Z15D121 (manufactured by SEMITEC Corporation) •...
  • Page 99 4.3 Basic Functions Settings (3) Brake Signal (/BK) Allocation Use parameter Pn50F.2 to allocate the /BK signal. Connector When Classifica- Pin Number Parameter Meaning Enabled tion + Terminal - Terminal n.0 – – The /BK signal is not used. n.1 The /BK signal is output from output CN1-1 CN1-2...
  • Page 100 4 Operation 4.3.4 Holding Brakes (5) Brake Signal (/BK) Output Timing during Servomotor Rotation If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal (/BK) 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 101: Stopping Servomotors After Sv_Off Command Or Alarm Occurrence

    4.3 Basic Functions Settings 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence The servomotor stopping method can be selected after the SV_OFF command is received 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 or the SV_ON command is received with a reference input applied to start and stop the servomotor, which may result in deterio- ration of the internal elements in the SERVOPACK.
  • Page 102 4 Operation 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence (2) Stopping Method for Servomotor When an Alarm Occurs There are two types of alarms (Gr.1 and Gr.2) that depend 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 is set to Pn001.0.

  • Page 103: Instantaneous Power Interruption Settings

    4.3 Basic Functions Settings 4.3.6 Instantaneous Power Interruption Settings Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage to the SERVOPACK's main circuit is interrupted. Instantaneous Power Cut Hold Time Speed Position Torque Classification Pn509 Setting Range...

  • Page 104: Semi F47 Function

    4 Operation 4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) 4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) The torque limit function detects an undervoltage warning and limits the output current if the DC power sup- ply voltage for the main circuit in the SERVOPACK drops to a specified value because the power was momentarily interrupted or the power supply voltage for the main circuit was temporarily lowered.
  • Page 105 4.3 Basic Functions Settings (1) Execution Method This function can be executed either with the host controller and the SERVOPACK or with the SERVOPACK only. Use Pn008.1 to specify whether the function is executed by the host controller and SERVOPACK or by the SERVOPACK only.
  • Page 106 4 Operation 4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) (2) Related Parameters Parameter Meaning When Enabled Classification n.0 Does not detect undervoltage. [Factory setting] Pn008 n.1 Detects warning and limits torque by host controller. After restart Setup Detects warning and limits torque by Pn424 and Pn425.

  • Page 107: Setting Motor Overload Detection Level

    4.3 Basic Functions Settings 4.3.8 Setting Motor Overload Detection Level In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect an overload warning (A.910) and overload (low load) alarm (A.720). The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.
  • Page 108 4 Operation 4.3.8 Setting Motor Overload Detection Level (2) Changing Detection Timing of Overload (Low Load) Alarm (A.720) An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor 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 109: Trial Operation

    4.4 Trial Operation Trial Operation This section describes a trial operation using MECHATROLINK-II communications. 4.4.1 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 110: Trial Operation Via Mechatrolink-Ii

    4 Operation 4.4.2 Trial Operation via MECHATROLINK-II 4.4.2 Trial Operation via MECHATROLINK-II The following table provides the procedures for trial operation via MECHATROLINK-II. Step Description Reference Confirm that the wiring is correct, and then connect the I/O signal con- Chapter 3 Wiring and Connection nector (CN1 connector).

  • Page 111: Electronic Gear

    4.4 Trial Operation 4.4.3 Electronic Gear The electronic gear enables the workpiece travel distance per reference unit input from the host controller. The minimum unit of the position data moving a load is called a reference unit. The section indicates the difference between using and not using an electronic gear when a workpiece is moved 10 mm in the following configuration.
  • Page 112 4 Operation 4.4.3 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 SGMCS...

  • Page 113: Encoder Output Pulses

    4.4 Trial Operation 4.4.4 Encoder Output Pulses The encoder pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential. It is used as the position feedback to the host controller.

  • Page 114: Setting Encoder Output Pulse

    4 Operation 4.4.5 Setting Encoder Output Pulse 4.4.5 Setting Encoder Output Pulse Set the encoder output pulse using the following parameter. Encoder Output Pulses Speed Position Torque Classification Pn212 Setting Range Setting Unit Factory Setting When Enabled 16 to 1073741824 1 P/rev 2048 After restart...

  • Page 115: Test Without Motor Function

    4.5 Test Without Motor Function Test Without Motor Function The test without a motor is used to check operation of the host controller and peripheral devices by simulating the operation of the servomotor in the SERVOPACK without actually operating the servomotor. This test enables you to check wiring, verify the system while debugging, and verify parameters.

  • Page 116: Motor Position And Speed Responses

    4 Operation 4.5.2 Motor Position and Speed Responses always regarded as an incremental encoder. When Parameter Meaning Classification Enabled n.0 Sets an incremental encoder as an encoder type for the test without a motor. [Factory setting] Pn00C After restart Setup Sets an absolute encoder as an encoder type for the test n.1...

  • Page 117: Limitations

    4.5 Test Without Motor Function 4.5.3 Limitations The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig- maWin+.) •...

  • Page 118: Digital Operator Displays During Testing Without Motor

    4 Operation 4.5.4 Digital Operator Displays during Testing without Motor 4.5.4 Digital Operator Displays during Testing without Motor An asterisk (∗) is displayed before status display to indicate the test without a motor operation is in progress. ∗ B B −...

  • Page 119: Limiting Torque

    4.6 Limiting Torque Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Reference Sec- Limiting Method Description tion Always limits torque by setting the parameter. 4.6.1 Internal torque limit Limits torque by input signal from the host controller. 4.6.2 External torque limit Torque limit with P_TLIM,...

  • Page 120: External Torque Limit

    4 Operation 4.6.2 External Torque Limit 4.6.2 External Torque Limit Use this function to limit torque by inputting a signal from the host controller at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.

  • Page 121: Checking Output Torque Limiting During Operation

    4.6 Limiting Torque (3) Changes in Output Torque during External Torque Limiting The following diagrams show the change in output torque when the internal torque limit is set to 800%. In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction). /P-CL Pn402 Pn402...

  • Page 122: Absolute Encoders

    4 Operation Absolute Encoders If using an absolute encoder, a system to detect the absolute position can be designed for use with the host controller. As a result, an operation can be performed without a zero point return operation immediately after the power is turned ON.

  • Page 123: Connecting The Absolute Encoder

    4.7 Absolute Encoders 4.7.1 Connecting the Absolute Encoder The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO- PACK, and the host controller. (1) Using an Encoder Cable with a Battery Case Host controller SERVOPACK Phase A Phase A /PAO...
  • Page 124 ∗3. If you use an absolute encoder, provide power by installing an encoder cable with a battery case (model: JUSP- BA01-E) or install a battery on the host controller. • When Installing a Battery on the Encoder Cable Use the encoder cable with a battery case that is specified by Yaskawa. Σ For details, refer to the -V Series Product Catalog (Catalog No.: KAEP S800000 42).

  • Page 125: Absolute Data Request (Sens On Command)

    4.7 Absolute Encoders 4.7.2 Absolute Data Request (SENS ON Command) The Turn Encoder Power Supply ON command (SENS_ON) must be sent to obtain absolute data as an output from the SERVOPACK. The SENS_ON command is sent at the following timing. SERVOPACK control power supply 5 seconds max.

  • Page 126: Battery Replacement

    4 Operation 4.7.3 Battery Replacement 4.7.3 Battery Replacement If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or an absolute encoder battery error warning (A.930) will be displayed. If this alarm or warning is displayed, replace the batteries using the following procedure. Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
  • Page 127 4.7 Absolute Encoders 3. Remove the old battery and install the new battery (model: JZSP-BA01). To the SERVOPACK Encoder Cable Install the battery (model: JZSP-BA01). 4. Close the battery case cover. Close the cover. 5. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830).

  • Page 128: Absolute Encoder Setup And Reinitialization

    4 Operation 4.7.4 Absolute Encoder Setup and Reinitialization 4.7.4 Absolute Encoder Setup and Reinitialization CAUTION • The rotational serial data will be a value between -2 and +2 rotations when the absolute encoder setup is executed. The reference position of the machine system will change. Set the reference position of the host controller to the position after setup.

  • Page 129: Absolute Data Reception Sequence

    4.7 Absolute Encoders (cont’d) Step Panel Display Keys Description Press the Key to setup the absolute encoder. After completing the setup, "DONE" is flashed for M u l t i t u r n C l e a r approximately one second and "BB" is displayed. P G C L 5 - F U N C T I O N - Press the...
  • Page 130 4 Operation 4.7.5 Absolute Data Reception Sequence (2) Absolute Data Reception Sequence 1. Send the Turn Encoder Power Supply ON (SENS_ON) command from the host controller. 2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/ down counter is cleared to zero.
  • Page 131 4.7 Absolute Encoders Reference position Current position (at setup) Coordinate value ±0 Value of M M × R Final absolute data P is calculated by following formula. =M× R+P × R+P ’ Signal Meaning Current value read by encoder Rotational serial data Number of initial incremental pulses Absolute data read at setup (This is saved and controlled by the host controller.) Rotational serial data read at setup...
  • Page 132 4 Operation 4.7.5 Absolute Data Reception Sequence (3) Rotational Serial Data Specifications and Initial Incremental Pulses  Rotational Serial Data Specifications The rotational serial data is output from PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits...
  • Page 133 4.7 Absolute Encoders (4) Transferring Alarm Contents If an absolute encoder is used, the contents of alarms detected by the SERVOPACK are transmitted in serial data to the host controller from the PAO output when the Turn Encoder Power Supply OFF command (SENS_OFF) is received.

  • Page 134: Multiturn Limit Setting

    4 Operation 4.7.6 Multiturn Limit Setting 4.7.6 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 Servomotor...

  • Page 135: Multiturn Limit Disagreement Alarm (A.cc0)

    4.7 Absolute Encoders limit value in the encoder, refer to 4.7.7 Multiturn Limit Disagreement Alarm (A.CC0). Factory Setting (= 65535) Other Setting (≠65535) +32767 Reverse Pn205 setting value Forward Forward Reverse Rotational serial data Rotational serial data Motor rotations Motor rotations -32768 <NOTE>...

  • Page 136: Absolute Encoder Origin Offset

    4 Operation 4.7.8 Absolute Encoder Origin Offset 4.7.8 Absolute Encoder Origin Offset If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system (APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA- TROLINK communications, this parameter will be enabled.

  • Page 137: Other Output Signals

    4.8 Other Output Signals Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 4.8.1 Servo Alarm Output Signal (ALM) This section describes signals that are output when the SERVOPACK detects errors and resetting methods. (1) Servo Alarm Output Signal (ALM) This signal is output when the SERVOPACK detects an error.

  • Page 138: Rotation Detection Output Signal (/Tgon)

    4 Operation 4.8.3 Rotation Detection Output Signal (/TGON) 4.8.3 Rotation Detection Output Signal (/TGON) This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed. (1) Signal Specifications Signal Connector Pin Type Setting Meaning Name...

  • Page 139: Speed Coincidence Output Signal (/V-Cmp)

    4.8 Other Output Signals 4.8.5 Speed Coincidence Output Signal (/V-CMP) The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host controller uses the signal as an interlock. This signal is the output signal during speed control.

  • Page 140: Positioning Completed Output Signal (/Coin)

    4 Operation 4.8.6 Positioning Completed Output Signal (/COIN) 4.8.6 Positioning Completed Output Signal (/COIN) This signal indicates that servomotor movement has been completed during position control. When the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.

  • Page 141: Positioning Near Output Signal (/Near)

    4.8 Other Output Signals 4.8.7 Positioning Near Output Signal (/NEAR) Before confirming that the positioning completed signal has been received, the host controller first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened.

  • Page 142: Speed Limit Detection Signal (/Vlt)

    4 Operation 4.8.8 Speed Limit Detection Signal (/VLT) 4.8.8 Speed Limit Detection Signal (/VLT) This function limits the speed of the servomotor to protect the machine. A servomotor in torque control is controlled to output the specified torque, but the motor speed is not con- trolled.
  • Page 143 4.8 Other Output Signals  Internal Speed Limit Function If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomo- tor in Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the overspeed alarm detection speed.

  • Page 144: Safety Function

    4 Operation 4.9.1 Hard Wire Base Block (HWBB) Function 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.
  • Page 145 4.9 Safety Function (1) Risk Assessment When using the HWBB function, be sure to perform a risk assessment of the servo system in advance. Make sure that the safety level of the standards is met. For details on the standards, refer to Harmonized Standards in the front of this manual.
  • Page 146 4 Operation 4.9.1 Hard Wire Base Block (HWBB) Function (3) Resetting the HWBB State Usually after the servo OFF command (SV_OFF: 32H) is received and the servomotor power is OFF, the SERVOPACK will then enter a hard wire baseblock (HWBB) state with the /HWBB1 and /HWBB2 signals turned OFF.
  • Page 147 4.9 Safety Function (4) Related Commands If the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of IO monitor- ing field D10 (HBB) changes to 1, so the status of the upper level apparatus can be known by looking at the setting of this bit.
  • Page 148 4 Operation 4.9.1 Hard Wire Base Block (HWBB) Function (6) 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 0 V common and the output signal is the source output.
  • Page 149 4.9 Safety Function (7) Operation with Utility Functions The HWBB function works while the SERVOPACK operates in the utility function. 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. Cancel the utility func- tion first, and then set the SERVOPACK to the utility function again and restart operation.

  • Page 150: External Device Monitor (Edm1)

    4 Operation 4.9.2 External Device Monitor (EDM1) (10) Dynamic Brake If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after SV_OFF Command is Received), the servomotor will come to a stop under the control of the dynamic brake when the HWBB func- tion works while the /HWBB1 or /HWBB2 signal is OFF.
  • Page 151 4.9 Safety Function (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 0 V common and the output signal is the source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for safety functions are defined as fol- lows: ON: The state in which the relay contacts are closed or the transistor is ON and current...

  • Page 152: Application Example Of Safety Functions

    4 Operation 4.9.3 Application Example of Safety Functions 4.9.3 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...

  • Page 153: Confirming Safety Functions

    4.9 Safety Function (3) Procedure Request to open the guard. When the servomotor is operating, the host controller stops the servomotor and sends the servo OFF command (SV_OFF). Open the guard and enter. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates. (The operation in the guard is available.) After completing the operation, leave and close the guard.

  • Page 154: Safety Device Connections

    4 Operation 4.9.5 Safety Device Connections 4.9.5 Safety Device Connections There are two types of the safety function’s jumper connectors that are attached to SERVOPACKs. You must remove a safety function’s jumper connector before connecting a safety function device. The connection method depends on the connector type that is used.

  • Page 155: Precautions For Safety Functions

    4.9 Safety Function Connect the safety function device to the safety connector (CN8). Note: If you do not connect a safety function device, leave the safety function's jumper connector connected to the safety connector (CN8). If the SERVOPACK is used without the safety function's jumper connector connected to CN8, no current will be supplied to the servomotor and no motor torque will be output.
  • Page 156 Adjustments 5.1 Type of Adjustments and Basic Adjustment Procedure ....5-3 5.1.1 Adjustments ............5-3 5.1.2 Basic Adjustment Procedure .
  • Page 157 5 Adjustments 5.8 Additional Adjustment Function ....... 5-57 5.8.1 Switching Gain Settings ..........5-57 5.8.2 Manual Adjustment of Friction Compensation .

  • Page 158: Chapter 5 Adjustments

    5.1 Type of Adjustments and Basic Adjustment Procedure Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 5.1.1 Adjustments Adjustments (tuning) are 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, such as speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio.

  • Page 159: Basic Adjustment Procedure

    5 Adjustments 5.1.2 Basic Adjustment Procedure 5.1.2 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 160: Monitoring Operation During Adjustment

    5.1 Type of Adjustments and Basic Adjustment Procedure 5.1.3 Monitoring Operation during Adjustment Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea- suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO- PACK to monitor analog signal waveform.
  • Page 161 5 Adjustments 5.1.3 Monitoring Operation during Adjustment The following signals can be monitored by selecting functions with parameters Pn006 and Pn007. Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2. Description Parameter Monitor Signal Unit Remarks n.00...
  • Page 162 5.1 Type of Adjustments and Basic Adjustment Procedure <Example> Analog monitor output at n.00 (motor rotating speed setting) When multiplier is set to × 1: When multiplier is set to × 10: Analog monitor Analog monitor output voltage [V] output voltage [V] +10 V (approx.) +8 V +6 V...

  • Page 163: Safety Precautions On Adjustment Of Servo Gains

    5 Adjustments 5.1.4 Safety Precautions on Adjustment of Servo Gains 5.1.4 Safety Precautions on Adjustment of Servo Gains CAUTION • If adjusting the servo gains, observe the following precautions. • Do not touch the rotating section of the servomotor while power is being supplied to the motor. •...
  • Page 164 5.1 Type of Adjustments and Basic Adjustment Procedure Under these conditions, the following equation is used to calculate the maximum limit (Pn520). 6000 1048576 Pn520 = × × × 2 400/10 2621440 × 2 5242880 (The factory setting of Pn520) If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo- tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy these equations.
  • Page 165 5 Adjustments 5.1.4 Safety Precautions on Adjustment of Servo Gains  Related Alarms Alarm Alarm Name Meaning Display This alarm occurs if the servomotor power is turned ON when the position Position Error Overflow A.d01 error is greater than the set value of Pn526 while the servomotor power is Alarm at Servo ON OFF.

  • Page 166: Tuning-Less Function

    5.2 Tuning-less Function Tuning-less Function The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level. CAUTION •...
  • Page 167 5 Adjustments 5.2.1 Tuning-less Function (cont’d) Function Availability Remarks Disable the tuning-less function by setting Offline moment of inertia calculation * Not available Pn170.0 to 0 before executing this function. While this function is being used, the tuning- less function cannot be used. After Mechanical analysis* Available completion of the analysis, it can be used...
  • Page 168 5.2 Tuning-less Function  Load Level a) Using the utility function To change the setting, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure. Digital Operator Display Meaning Mode 0 Load level: Low Mode 1 [Factory setting] Load level: Medium Mode 2 Load level: High b) Using the parameter Parameter...

  • Page 169: Tuning-Less Levels Setting (Fn200) Procedure

    5 Adjustments 5.2.2 Tuning-less Levels Setting (Fn200) Procedure 5.2.2 Tuning-less Levels Setting (Fn200) Procedure CAUTION • To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an emergency stop at any time. The procedure to use the tuning-less function is given below. Operate the tuning-less function from the digital operator (option) or SigmaWin+.
  • Page 170 5.2 Tuning-less Function (cont’d) Step Display after Operation Keys Operation Press the Key to complete the tuning-less func- tion. The screen in step 1 will appear again. Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the notch filter will be set again automatically.

  • Page 171: Related Parameters

    5 Adjustments 5.2.3 Related Parameters (5) Tuning-less Function Type The following table shows the types of tuning-less functions for the version of SERVOPACK software. Software Version* Tuning-less Type Meaning 000A or earlier Tuning-less type 1 − 000B or later Tuning-less type 2 The level of noise produced is lower than that of Type 1.

  • Page 172: Advanced Autotuning (Fn201)

    5.3 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 173 5 Adjustments 5.3.1 Advanced Autotuning • Filters (torque reference filter and notch filter) • Friction compensation • Anti-resonance control • Vibration suppression (Mode = 2 or 3) Refer to 5.3.3 Related Parameters for parameters used for adjustments. CAUTION • Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over- shooting may occur.
  • Page 174 With this function, the following restrictions are applied in accordance with the version number of the SER- VOPACK software and the encoder being used. The applicable servomotor depends on the type of encoder used. • 13-bit encoder: SGMJV-A • 20-bit or 17-bit encoder: SGMV-D, SGMV-3 SGMPS-C, SGMPS-2...

  • Page 175: Advanced Autotuning Procedure

    5 Adjustments 5.3.2 Advanced Autotuning Procedure 5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning. Advanced autotuning is performed from the digital operator (option) or SigmaWin+. The operating procedure from the digital operator is described here. Σ Refer to the -V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key operations of the digital operator.
  • Page 176 5.3 Advanced Autotuning (Fn201) (cont’d) Step Display after Operation Keys Operation STROKE (Travel Distance) Setting Travel distance setting range: The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE (travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse rotation, and the positive (+) direction is for forward rotation.
  • Page 177 5 Adjustments 5.3.2 Advanced Autotuning Procedure (cont’d) 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 dis- tance), the calculated value of the moment of inertia ratio will be saved in the SERVOPACK and the auto run operation will restart.
  • Page 178 5.3 Advanced Autotuning (Fn201)  When "Error" Flashes on the Display Error Probable Cause Corrective Actions • Increase the set value for Pn522. Machine vibration is occurring or the posi- • Change the mode from 2 to 3. The gain adjustment was tioning completed signal (/COIN) is turning •...
  • Page 179 5 Adjustments 5.3.2 Advanced Autotuning Procedure Related Functions on Advanced Autotuning This section describes functions related to advanced 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 during advanced autotuning and the notch filter will be set.
  • Page 180 5.3 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 friction resistance resulting from variations in the machine assembly •...

  • Page 181: Related Parameters

    5 Adjustments 5.3.3 Related Parameters 5.3.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 182: Advanced Autotuning By Reference (Fn202)

    5.4 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 183 5 Adjustments 5.4.1 Advanced Autotuning by Reference (1) Preparation Check the following settings before performing advanced autotuning by reference. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met. •...
  • Page 184 With this function, the following restrictions are applied in accordance with the version number of the SER- VOPACK software and the encoder being used. The applicable servomotor depends on the type of encoder used. • 13-bit encoder: SGMJV-A • 20-bit or 17-bit encoder: SGMV-D, SGMV-3 SGMPS-C, SGMPS-2...

  • Page 185: Advanced Autotuning By Reference Procedure

    5 Adjustments 5.4.2 Advanced Autotuning by Reference Procedure 5.4.2 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+. Here, the operating procedure from the digital operator is described. Σ...
  • Page 186 5.4 Advanced Autotuning by Reference (Fn202) (cont’d) Step Display after Operation Keys Operation Input a reference from the host controller and then press the Key to start the adjustment. "ADJ" will flash during adjustment on the status dis- play. Note: Adjustment cannot be performed during "BB" is shown on the status display.
  • Page 187 5 Adjustments 5.4.2 Advanced Autotuning by Reference Procedure (3) Related Functions on Advanced Autotuning by Reference This section describes functions related to 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 during advanced autotuning by reference, and the notch filter will be set.
  • Page 188 5.4 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 friction resistance resulting from variations in the machine assembly •...

  • Page 189: Related Parameters

    5 Adjustments 5.4.3 Related Parameters 5.4.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 190: One-Parameter Tuning (Fn203)

    5.5 One-parameter Tuning (Fn203) One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 5.5.1 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 tuning levels.
  • Page 191 With this function, the following restrictions are applied in accordance with the version number of the SER- VOPACK software and the encoder being used. The applicable servomotor depends on the type of encoder used. • 13-bit encoder: SGMJV-A • 20-bit or 17-bit encoder: SGMV-D, SGMV-3 SGMPS-C, SGMPS-2...

  • Page 192: One-Parameter Tuning Procedure

    5.5 One-parameter Tuning (Fn203) 5.5.2 One-parameter Tuning Procedure The following procedure is used for one-parameter tuning. There are the following two operation procedures depending on the tuning mode being used. • When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun- ing will be used as the tuning method for applications other than positioning.
  • Page 193 5 Adjustments 5.5.2 One-parameter Tuning Procedure (cont’d) Step Display after Operation Keys Operation If the servomotor power is OFF, send an SV_ON command from the host controller. The display will − change from "BB" to "RUN." If the servomotor power is ON, go to step 6. Press the Key to display the set value.
  • Page 194 5.5 One-parameter Tuning (Fn203)  Setting the Tuning Mode 2 or 3 Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Press the Key to move through the list and select Fn203. Status Display Press the Key to display the moment of inertia...
  • Page 195 5 Adjustments 5.5.2 One-parameter Tuning Procedure (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the FF LEVEL and FB LEVEL with the Key. Check the response. Refer to 5.5.3 One-parameter Tuning Example for details.
  • Page 196 5.5 One-parameter Tuning (Fn203) (2) Related Functions on One-parameter Tuning 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 during one-parameter tuning and the notch filter will be set.
  • Page 197 5 Adjustments 5.5.2 One-parameter Tuning Procedure  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 friction resistance resulting from variations in the machine assembly •...

  • Page 198: One-Parameter Tuning Example

    5.5 One-parameter Tuning (Fn203) 5.5.3 One-parameter Tuning Example This section describes the procedure to adjust the FF LEVEL and FB LEVEL after step 8 of 5.5.2 (1)  Set- ting the Tuning Mode 2 or 3 and the procedure to save the values after adjustment to the SERVOPACK. <NOTE>...
  • Page 199 5 Adjustments 5.5.3 One-parameter Tuning Example (cont’d) Panel Display after Operation or Measurement Step Operation Results Display Example Measure the positioning time with a measuring instru- ment. If the measurement results and specifications are met, this concludes the tuning. Go to step 8. Overshooting Go to the next step if overshooting occurs before the specifications are met.

  • Page 200: Related Parameters

    5.5 One-parameter Tuning (Fn203) 5.5.4 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 201: Anti-Resonance Control Adjustment Function (Fn204)

    5 Adjustments 5.6.1 Anti-Resonance Control Adjustment Function Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 5.6.1 Anti-Resonance Control Adjustment Function The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra- tion frequencies are from 100 to 1000 Hz.

  • Page 202: Anti-Resonance Control Adjustment Function Operating Procedure

    5.6 Anti-Resonance Control Adjustment Function (Fn204) 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With this function, an operation reference is sent, and the function is executed while vibration is occurring. Anti-resonance control adjustment function is performed from the digital operator (option) or SigmaWin+. The following methods can be used for the anti-resonance control adjustment function.
  • Page 203 5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation Press the Key. The cursor will move to "damp," and the flashing of "freq" will stop. Select the digit with the Key, and press Key to set the damping gain.
  • Page 204 5.6 Anti-Resonance Control Adjustment Function (Fn204)  With Determined Vibration Frequency Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn204. Press the Key to display the tuning mode selec- tion screen for Fn204 (anti-resonance control adjust- ment function).
  • Page 205 5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation Select the digit with the Key, and press Key to adjust the damping gain. Error Error Error Torque reference Torque reference Torque reference Positioning completed Positioning completed Positioning completed signal...

  • Page 206: Related Parameters

    5.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation Select the digit with the Key, and press Key to set the damping gain. Note: Increase the damping gain from about 0 to 200% in 10% increments while checking the effect of vibration reduction.

  • Page 207: Vibration Suppression Function (Fn205)

    5 Adjustments 5.7.1 Vibration Suppression Function Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 5.7.1 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 208: Vibration Suppression Function Operating Procedure

    5.7 Vibration Suppression Function (Fn205) Remained Vibration Detection Width Position Classification Pn560 Setting Range Setting Unit Factory Setting When Enabled 1 to 3000 0.1% Immediately Setup Note: As a guideline, change the setting 10% at a time. The smaller the set value is, the higher the detection sensitivity will be.
  • Page 209 5 Adjustments 5.7.2 Vibration Suppression Function Operating Procedure (2) Operating Procedure Step Display after Operation Keys Operation Input a operation reference and take the following steps while repeating positioning. Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn205.
  • Page 210 5.7 Vibration Suppression Function (Fn205) (cont’d) 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 Position Error Torque reference Example of measured waveform Press the Key to save the setting.

  • Page 211: Related Parameters

    5 Adjustments 5.7.3 Related Parameters Model following control is used to make optimum feedforward settings in the SERVO- PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward (VFF) input or torque feedforward (TFF) input from the host controller.

  • Page 212: Additional Adjustment Function

    5.8 Additional Adjustment Function 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 reference, or one-parameter tuning. • Switching gain settings • Friction compensation •...
  • Page 213 5 Adjustments 5.8.1 Switching Gain Settings (2) Manual Gain Switching Manual gain switching uses G-SEL of OPTION field to switch between gain setting 1 and gain setting 2. Type Command Name Setting Meaning Switches to gain setting 1. Input G-SEL of OPTION field Switches to gain setting 2.
  • Page 214 5.8 Additional Adjustment Function  Relationship between the Waiting and Switching Times for Gain Switching 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 215 5 Adjustments 5.8.1 Switching Gain Settings (cont’d) 2nd Speed Loop Integral Time Constant Position Speed Classification Pn105 Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0.01 ms 2000 Immediately Tuning 2nd Position Loop Gain Position Classification Pn106 Setting Range Setting Unit Factory Setting...

  • Page 216: Manual Adjustment Of Friction Compensation

    5.8 Additional Adjustment Function 5.8.2 Manual Adjustment of Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The friction compensation function can be automatically adjusted with advanced autotuning (Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required.
  • Page 217 5 Adjustments 5.8.2 Manual Adjustment of 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 accurately as possible. If the wrong moment of inertia ratio is set, vibration may result.

  • Page 218: Current Control Mode Selection Function

    5.8 Additional Adjustment Function 5.8.3 Current Control Mode Selection Function This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled by default and set to be effective under different application conditions. Set Pn009.1 = 1 to use this function. This function can be used with the following SERVOPACKs.

  • Page 219: Backlash Compensation Function

    5 Adjustments 5.8.6 Backlash Compensation Function 5.8.6 Backlash Compensation Function (1) Overview When driving a machine with backlash, there will be a deviation between the travel distance in the position reference that is managed by the host controller and the travel distance of the actual machine. Use backlash compensation function to add the backlash compensation value to the position reference and use the result to drive the servomotor.
  • Page 220 5.8 Additional Adjustment Function • The backlash compensation value is restricted by the following formula. The specified compensation is not performed if this condition is not met. Pn210 Maximum motor speed [min ≤ × × Encoder resolution × 0.00025 Pn231 Pn20E ∗...
  • Page 221 5 Adjustments 5.8.6 Backlash Compensation Function CAUTION • The encoder output pulse will output the number of encoder pulses for which driving was actually per- formed, including the backlash compensation value. If using the encoder output pulse for position feed- back at the host controller, must consider the backlash compensation value.
  • Page 222 5.8 Additional Adjustment Function  When Servo is OFF Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered). Therefore, the reference position POS moves by only the backlash compensation value. The relationship between APOS and the servomotor shaft position is as follows: •...
  • Page 223 5 Adjustments 5.8.6 Backlash Compensation Function (5) Monitor Functions (Un Monitoring) Un No. Displayed Information Unit Specification Indicates the input reference speed before backlash Un007 Input reference speed compensation. Displays the position error with respect to the position Un008 Position error amount Reference unit reference after backlash compensation.
  • Page 224 5.8 Additional Adjustment Function Parameters Monitor Information Output Unit Remarks Reference 0003H Position error (lower 32 bits) – unit Reference 0004H Position error (upper 32 bits) – unit Reference 000AH Encoder count (lower 32 bits) unit Count value of the actually driven motor encoder Reference 000BH...

  • Page 225: Compatible Adjustment Function

    5 Adjustments 5.9.1 Feedforward Reference Compatible Adjustment Function The Σ-V series SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8 to make machine adjustments. This section explains compatible functions provided by earlier models, such as the Σ-III Series SERVOPACK. 5.9.1 Feedforward Reference This function applies feedforward compensation to position control and shortens positioning time.

  • Page 226: Mode Switch (P/Pi Switching)

    5.9 Compatible Adjustment Function 5.9.2 Mode Switch (P/PI Switching) The mode switch automatically switches between proportional and PI control. Set the switching condition with Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and detection points.
  • Page 227 5 Adjustments 5.9.2 Mode Switch (P/PI Switching) (2) Operating Examples for Different Switching Conditions  Using the Torque Reference [Factory Setting] With this setting, the speed loop is switched to P control when the value of torque reference input exceeds the torque set in Pn10C.

  • Page 228: Torque Reference Filter

    5.9 Compatible Adjustment Function 5.9.3 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 229 5 Adjustments 5.9.3 Torque Reference Filter (2) Notch Filter The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso- nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre- quency.

  • Page 230: Position Integral

    5.9.4 Position Integral The position integral is the integral function of the position loop. It is used for the electronic cams and elec- tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers. Position Integral Time Constant Position...

  • Page 231: Chapter 6 Utility Functions (Fn)

    Utility Functions (Fn) 6.1 List of Utility Functions ........6-2 6.2 Alarm History Display (Fn000) .

  • Page 232: List Of Utility Functions

    6 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. Function Reference Function...

  • Page 233: Alarm History Display (Fn000)

    6.2 Alarm History Display (Fn000) Alarm History Display (Fn000) This function displays the last ten alarms that have occurred in the SERVOPACK. 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 total operating time when an alarm occurs.

  • Page 234: Jog Operation (Fn002)

    6 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 controller. CAUTION • While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operat- ing range of the machine when performing JOG operation for the SERVOPACK.
  • Page 235 6.3 JOG Operation (Fn002) (cont’d) Step Display after Operation Keys Operation − J O G − R U N Press the Key. P n 3 0 4 = 0 1 0 0 0 The status display changes from "BB" to "RUN", and U n 0 0 0 = 0 0 0 0 0 U n 0 0 2 =...

  • Page 236: Origin Search (Fn003)

    6 Utility Functions (Fn) 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 237 6.4 Origin Search (Fn003) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the util- − F U N C T I O N − ity function. F n 0 0 2 : J O G F n 0 0 3 : Z −...

  • Page 238: Program Jog Operation (Fn004)

    6 Utility Functions (Fn) Program JOG Operation (Fn004) The program JOG operation is a utility function, that allows continuous 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 239 6.5 Program JOG Operation (Fn004) Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) Number of movements Pn536 Number of movements Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed Movement Movement Movement speed distance distance distance Diagram Pn533 Press the Key.
  • Page 240 6 Utility Functions (Fn) Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × Number of movements Pn536 Number of movements Pn536 Movement Pn531 speed Movement Speed Pn533 distance Diagram At zero speed Press the Key.
  • Page 241 6.5 Program JOG Operation (Fn004) (cont’d) Program JOG Acceleration/Deceleration Time Speed Position Torque Classification Pn534 Setting Range Setting Unit Factory Setting When Enabled 2 to 10000 1 ms Immediately Setup Program JOG Waiting Time Speed Position Torque Classification Pn535 Setting Range Setting Unit Factory Setting When Enabled...

  • Page 242: Initializing Parameter Settings (Fn005)

    6 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 servomotor power is OFF • After initialization, turn OFF the power supply and then turn ON again to validate the settings.

  • Page 243: Clearing Alarm History (Fn006)

    6.7 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 is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO- PACK is turned OFF.

  • Page 244: Offset Adjustment Of Analog Monitor Output (Fn00C)

    6 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 offset values are factory-set before shipping. Therefore, the user need not usually use this function.
  • Page 245 6.8 Offset Adjustment of Analog Monitor Output (Fn00C) (3) Operating Procedure Use the following procedure to perform the offset adjustment of analog monitor output. Step Display after Operation Keys Operation Press the Key to view the main menu for the −...

  • Page 246: Gain Adjustment Of Analog Monitor Output (Fn00D)

    6 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 rotating speed monitor output). The gain values are factory-set before shipping. Therefore, the user need not usually use this function.
  • Page 247 6.9 Gain Adjustment of Analog Monitor Output (Fn00D) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. Step Display after Operation Keys Operation Press the Key to view the main menu for the −...

  • Page 248: Automatic Offset-Signal Adjustment Of The Motor Current Detection Signal

    6 Utility Functions (Fn) 6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. The user need not usually use this function. •...

  • Page 249: Manual Offset-Signal Adjustment Of The Motor Current Detection Signal

    6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) 6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E).
  • Page 250 6 Utility Functions (Fn) (cont’d) Step Display after Operation Keys Operation R U N M a n u a l O f f s e t − A D J Press the key to move the cursor to the U-phase o f M o t o r C u r r e n t offset (ZADJIU).

  • Page 251: (Fn00F)

    6.12 Write Prohibited Setting (Fn010) 6.12 Write Prohibited Setting (Fn010) This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function. Parameter changes and execution of the utility function become restricted in the following manner when Write prohibited (P.0001) is assigned to the write prohibited setting (Fn010).
  • Page 252 6 Utility Functions (Fn) (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Follow the steps to set enable or disable writing. Setting values are as follows: • P.0000 : Write permitted (Releases write prohibited mode.) [Factory setting] "...

  • Page 253: Servomotor Model Display (Fn011)

    Press the Key to view the main menu for the utility function. Use the Key to move through the list and select Fn011. Servomotor Model SGMAV SGMSV SGMGV SGMJV SGMPS SGMCS- SGMCS- SGMCS- SGMCS- SGMCS- SGMCS- Servomotor SGMCS- input voltage...

  • Page 254: Software Version Display (Fn012)

    6 Utility Functions (Fn) 6.14 Software Version Display (Fn012) Select Fn012 to check the SERVOPACK and encoder software version numbers. (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Use the following procedure. Step Display after Operation Keys...

  • Page 255: Resetting Configuration Errors In Option Modules (Fn014)

    6.15 Resetting Configuration Errors in Option Modules (Fn014) 6.15 Resetting Configuration Errors in Option Modules (Fn014) The SERVOPACK with option module recognizes installation status and types of option modules that are con- nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function clears these alarms.

  • Page 256: Vibration Detection Level Initialization (Fn01B)

    6 Utility Functions (Fn) 6.16 Vibration Detection Level Initialization (Fn01B) This function detects vibration when servomotor is connected to a machine in operation and automatically adjusts the vibration detection level (Pn312) to output more exactly the vibration alarm (A.520) and the vibra- tion warning (A.911).
  • Page 257 6.16 Vibration Detection Level Initialization (Fn01B) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.

  • Page 258: Display Of Servopack And Servomotor Id (Fn01E)

    6 Utility Functions (Fn) 6.17 Display of SERVOPACK and Servomotor ID (Fn01E) This function displays ID information for SERVOPACK, servomotor, encoder, and option module connected to the SERVOPACK. The ID information of some option modules (SGDV-OFA01A) is not stored in the SER- VOPACK.
  • Page 259 6.17 Display of SERVOPACK and Servomotor ID (Fn01E) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.

  • Page 260: Display Of Servomotor Id In Feedback Option Module (Fn01F)

    6 Utility Functions (Fn) 6.18 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. If the option module is not connected, "Not connect" will be displayed after the module name.

  • Page 261: Origin Setting (Fn020)

    6.19 Origin Setting (Fn020) 6.19 Origin Setting (Fn020) When using an external absolute encoder for fully-closed loop control, this function is used to set the current position of the external absolute encoder as the origin (zero point position). This function can be used with the following products. Mitutoyo Corporation ABS ST780A series Model: ABS ST78A/ST78AL...

  • Page 262: Software Reset (Fn030)

    6 Utility Functions (Fn) 6.20 Software Reset (Fn030) This function enables resetting the SERVOPACK internally from software. This function is used when reset- ting alarms and changing the settings of parameters that normally require restarting the SERVOPACK. Parameters settings can also be enabled without turning the SERVOPACK OFF and ON again. •...

  • Page 263: Easyfft (Fn206)

    6.21 EasyFFT (Fn206) 6.21 EasyFFT (Fn206) EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the reso- nance frequency detection.
  • Page 264 6 Utility Functions (Fn) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − utility function. F n 2 0 5 : V i b S u p F n 2 0 6 : E a s y F F T Use the Key to move through the list and...
  • Page 265 6.21 EasyFFT (Fn206) (cont’d) Step Display after Operation Keys Operation When the detection processing is successfully com- pleted, "Measure" stops flashing and the results and the notch filter value to be set are displayed. If the processing was not completed, "No Measure" is dis- played.
  • Page 266 6 Utility Functions (Fn) (3) Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 267: Online Vibration Monitor (Fn207)

    6.22 Online Vibration Monitor (Fn207) 6.22 Online Vibration Monitor (Fn207) If vibration is generated during operation and this function is executed while the servomotor power is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies.
  • Page 268 6 Utility Functions (Fn) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.
  • Page 269 6.22 Online Vibration Monitor (Fn207) (3) Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 270: Chapter 7 Monitor Displays (Un)

    Monitor Displays (Un) 7.1 List of Monitor Displays ........7-2 7.2 Viewing Monitor Displays .

  • Page 271: List Of Monitor Displays

    7 Monitor Displays (Un) List of Monitor Displays The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status. Refer to the following table. Parameter Description Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference (percentage of the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: Un003...

  • Page 272: Viewing Monitor Displays

    7.2 Viewing Monitor Displays Viewing Monitor Displays The monitor display can be checked or viewed in the Parameter/Monitor (-PRM/MON-) window of the digital operator. The following figure shows four factory settings that are first displayed if viewing monitor displays. Indicates that the value of Un000 (motor rotating speed) is 0 min To view any items that are not shown, press the Key to scroll through the list.

  • Page 273: Monitoring Input Signals

    7 Monitor Displays (Un) 7.3.1 Interpreting Input Signal Display Status Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for the method of interpreting the display and a display example are shown below. 7.3.1 Interpreting Input Signal Display Status The input signal monitor (Un005) can be read in the following way.

  • Page 274: Input Signal Display Example

    7.3 Monitoring Input Signals 7.3.2 Input Signal Display Example Input signals are displayed as shown below. • When the /DEC signal is ON The fourth digit is in the lower level. U n 0 0 5 = 8 7 6 5 4 3 2 1 digit •...

  • Page 275: Monitoring Output Signals

    7 Monitor Displays (Un) 7.4.1 Interpreting Output Signal Display Status Monitoring Output Signals The status of output signals can be checked with the output signal monitor (Un006). The procedure for the method of interpreting the display and a display example are shown below. 7.4.1 Interpreting Output Signal Display Status The output signal monitor (Un006) can be read in the following way.

  • Page 276: Monitoring Safety Input Signals

    7.5 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). The procedure for the method of interpreting the display and a display example are shown below. 7.5.1 Interpreting Safety Input Signal Display Status The safety I/O signal monitor (Un015) can be read in the following way.
  • Page 277 Fully-closed Loop Control 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control ....8-2 8.1.1 System Configuration ..........8-2 8.1.2 Internal Block Diagram of Fully-closed Loop Control .

  • Page 278: Chapter 8 Fully-Closed Loop Control

    8 Fully-closed Loop Control 8.1.1 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. 8.1.1 System Configuration The following figure shows an example of the system configuration. SERVOPACK with Fully-closed Module Model: SGDV Servomotor...

  • Page 279: Internal Block Diagram Of Fully-Closed Loop Control

    8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 8.1.2 Internal Block Diagram of Fully-closed Loop Control Internal block diagram of fully-closed loop control is shown below.  With Position Control SERVOPACK MECHATROLINK Elec- move command Position Error Speed tronic...

  • Page 280: Serial Converter Unit

    8 Fully-closed Loop Control 8.1.3 Serial Converter Unit 8.1.3 Serial Converter Unit This section provides the specification of the serial converter unit. (1) Model: JZDP-D00-000-E  Characteristics and Specifications Items Specifications Power Supply Voltage +5.0 V±5%, ripple content 5% max. 120 mA Typ.
  • Page 281 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control (2) Analog Signal Input Timing Input the analog signals with the timing shown in the following figure. The /cos and /sin signals are the differential signals when the cos and sin signals are shifted 180°. The specifi- cations of the cos, /cos, sin, and /sin signals are identical except for the phases.

  • Page 282: Example Of Connections To External Encoders

    8 Fully-closed Loop Control 8.1.4 Example of Connections to External Encoders 8.1.4 Example of Connections to External Encoders (1) External Encoder by Heidenhain  Model: LIDA48 or LIF48 (1 Vp-p Analog Voltage) SERVOPACK with Fully-closed Module Serial converter unit External encoder JZDP-D003-000-E by Heidenhain CN31...

  • Page 283: Encoder Output Pulse Signals From Servopack With An External Encoder By Renishaw Plc

    8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc The output position of the zero point signal (Ref) will depend on the direction of movement for some models of external encoders by Renishaw plc.

  • Page 284: Precautions When Using An External Incremental Encoder By Magnescale

    8 Fully-closed Loop Control 8.1.6 Precautions When Using an External Incremental Encoder by Magnescale 8.1.6 Precautions When Using an External Incremental Encoder by Magnescale When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder determines if an encoder dividing phase-C pulse (CN1-21, CN1-22) is output and counted.
  • Page 285 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control  Passing First Zero Point in Reverse Direction and Returning after Power ON When the zero point detection position is first passed in the reverse direction after turning the power supply OFF and ON again, the encoder dividing phase-C pulse (CN1-21, CN1-22) is not output.
  • Page 286 8 Fully-closed Loop Control 8.1.6 Precautions When Using an External Incremental Encoder by Magnescale  External Encoder with Multiple Zero Points and Passing First Zero Point in Reverse Direction after Power ON When you use an external encoder with multiple zero points, each zero point operates in the same manner as ...
  • Page 287 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control  Setting of Pn081.0 Do not change the factory setting if the zero point position of the existing equipment must remain as is. • When Pn081 is set to n.1, the encoder output phase-C pulse output width may be narrower than the width of the phase-A pulse.

  • Page 288: Servopack Startup Procedure

    8 Fully-closed Loop Control SERVOPACK Startup Procedure First check that the SERVOPACK operates correctly with semi-closed loop control, then check that it operates correctly with fully-closed loop control. The following describes the startup procedure for the SERVOPACK in fully-closed loop control. Parameters Requiring Procedure Description...
  • Page 289 8.2 SERVOPACK Startup Procedure (cont’d) Parameters Requiring Procedure Description Operation Controller Settings Perform a program JOG opera- Perform a program JOG operation • Program JOG related tion. and check that the distance that the parameters (Pn530 to servomotor moved is the same as Pn536) the distance that is set in Pn531.

  • Page 290: Parameter Settings For Fully-Closed Loop Control

    8 Fully-closed Loop Control Parameter Settings for Fully-closed Loop Control This section describes the parameter settings for fully-closed loop control. Position Speed Torque Set Parameters Setting Contents Reference Control Control Control Pn000.0 Motor rotation direction    8.3.1 Pn002.3 External encoder usage method ...

  • Page 291: Parameter Settings For Fully-Closed Loop Control

    8.3 Parameter Settings for Fully-closed Loop Control 8.3.1 Motor Rotation Direction The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage). (1) Setting Parameter Pn000.0 The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser- vomotor.
  • Page 292 8 Fully-closed Loop Control 8.3.1 Motor Rotation Direction (3) Relation between Motor Rotation Direction and External Encoder Pulse Phases Refer to the table below. Pn002.3 (External Encoder Usage) Parameter Reference Forward Reverse Forward Reverse direction reference reference reference reference Motor rotation direction External encoder cos lead...

  • Page 293: Sine Wave Pitch (Frequency) For An External Encoder

    8.3 Parameter Settings for Fully-closed Loop Control 8.3.2 Sine Wave Pitch (Frequency) for an External Encoder Set the number of external encoder pitches per motor rotation to Pn20A. (1) Setting Example Specifications External encoder sine wave pitch: 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 294: External Absolute Encoder Data Reception Sequence

    8 Fully-closed Loop Control 8.3.4 External Absolute Encoder Data Reception Sequence (2) Related Parameter Encoder Output Resolution Position Classifica- tion Pn281 Setting Range Setting Unit Factory Setting When Enabled 1 to 4096 1 edge/pitch After restart Setup Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external ...
  • Page 295 8.3 Parameter Settings for Fully-closed Loop Control (2) Absolute Data Transmission Sequence and Contents 1. Send the Turn Encoder Power Supply ON (SENS_ON) command from the host controller. 2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down counter to zero.
  • Page 296 8 Fully-closed Loop Control 8.3.4 External Absolute Encoder Data 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...

  • Page 297: Electronic Gear

    8.3 Parameter Settings for Fully-closed Loop Control 8.3.5 Electronic Gear Refer to 4.4.3 Electronic Gear for the purpose of setting the electronic gear. The following formula is used to calculate the electronic gear ratio in fully-closed loop control. Travel distance per reference unit × Number of divisions (value in the following table) Pn20E Electronic gear ratio Pn210...

  • Page 298: Alarm Detection

    8 Fully-closed Loop Control 8.3.6 Alarm Detection  Setting Example A setting example is given below. If the servomotor moves 0.2 μm for every pulse of position reference, the external encoder sine wave pitch is 20 μm, and the number of divisions is 256, the electronic gear ratio will be as follow. 0.2 ×...

  • Page 299: Analog Monitor Signal

    8.3 Parameter Settings for Fully-closed Loop Control  Related Parameter Multiplier per One Fully-closed Rotation Position Classifica- tion Pn52A Setting Range Setting Unit Factory Setting When Enabled 0 to 100 Immediately Setup 8.3.7 Analog Monitor Signal The position error between servomotor and load can be monitored with the analog monitor. When Parameter Name...

  • Page 300: Chapter 9 Troubleshooting

    Troubleshooting 9.1 Alarm Displays ..........9-2 9.1.1 List of Alarms .

  • Page 301: Alarm Displays

    9 Troubleshooting 9.1.1 List of Alarms Alarm Displays The following sections describe troubleshooting in response to alarm displays. The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the alarm numbers in 9.1.1 List of Alarms. The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms.
  • Page 302 9.1 Alarm Displays (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method • Setting of AC input/DC input is incorrect. Main Circuit Power A.330 Gr.1 Available Supply Wiring Error • Power supply wiring is incorrect. A.400 Overvoltage Main circuit DC voltage is excessively high.
  • Page 303 9 Troubleshooting 9.1.1 List of Alarms (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method MECHATROLINK ASIC error occurred in the MECHATROLINK A.b6A Communications Gr.1 communications. ASIC Error 1 MECHATROLINK ASIC error occurred in the MECHATROLINK A.b6b Communications Gr.2 communications.
  • Page 304 9.1 Alarm Displays (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method MECHATROLINK Synchronization error during MECHATROLINK A.E02 Internal Synchronization Er- Gr.1 Available communications with the SERVOPACK. ror 1 MECHATROLINK The setting of the MECHATROLINK transmission A.E40 Transmission Cycle Gr.2 Available...

  • Page 305: Troubleshooting Of Alarms

    If an error occurs in the servo drive, an alarm A. or CPF is displayed on the panel display. 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 Number:...
  • Page 306 9.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The speed of program JOG oper- ation (Fn004) is lower than the Check if the detection conditions setting range after having Decrease the setting of the elec- changed the electronic gear ratio tronic gear ratio (Pn20E/Pn210).
  • Page 307 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Incorrect wiring or contact fault Check the wiring. Refer to 3.1 Correct the wiring. of main circuit cables. Main Circuit Wiring for details. Check for short-circuits across the servomotor terminal phases U, V, Short-circuit or ground fault of and W, or between the grounding...
  • Page 308 SGDV resistor and set Pn600 to the appro- nal regenerative resistor or the -470A, -550A, -590A, -780A, - priate value, or connect a Yaskawa Yaskawa regenerative resistor unit 210D, -260D, -280D, or -370D regenerative resistor unit and set and the set value in Pn600.
  • Page 309 SGDV resistor and set Pn600 to the appro- nal regenerative resistor or the -470A, -550A, -590A, -780A, - priate value, or connect a Yaskawa Yaskawa regenerative resistor unit 210D, -260D, -280D, or -370D regenerative resistor unit and set and the set value in Pn600.
  • Page 310 9.1 Alarm Displays (cont’d) Alarm Number: 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. • For 400-VAC SERVOPACKs: The AC power supply voltage Set AC/DC power supply voltage Measure the power supply voltage.
  • Page 311 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The order of phases U, V, and W Confirm that the servomotor is cor- in the servomotor wiring is incor- Check the motor wiring. rectly wired.
  • Page 312 9.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The inrush current limit resistor A.740: operation frequency at the main Reduce the frequency of turning the Overload of Surge − circuit power supply ON/OFF main circuit power supply ON/OFF. Current Limit Resistor operation exceeds the allowable (The main circuit power...
  • Page 313 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The battery connection is incor- A.830: Check the battery connection. Reconnect the battery. rect. Absolute Encoder Battery Error The battery voltage is lower than Measure the battery voltage.
  • Page 314 9.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name A.8A3: The external absolute encoder may External Encoder An external absolute encoder be faulty. Refer to the encoder man- − Error of Position fault occurred. ufacturer’s instruction manual for corrective actions.
  • Page 315 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply to the SER- VOPACK OFF and ON again. If the A.bF2: A SERVOPACK fault occurred. − alarm still occurs, the SERVO- System Alarm 2 PACK may be faulty.
  • Page 316 9.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Noise interference occurred on the I/O signal line because the Check the encoder cable and con- Confirm that there is no problem encoder cable is bent and the nector.
  • Page 317 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The wiring and contact for Check the wiring. Correct the wiring. encoder cable are incorrect. Use tinned annealed copper Noise interference occurred due shielded twisted-pair or screened −...
  • Page 318 9.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Confirm that there is no contact The servomotor U, V, and W wir- Check the servomotor main circuit fault in the motor wiring or encoder ings is faulty. cable connection.
  • Page 319 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name WDT data of host controller was Check the WDT data updating for Update the WDT data at the host not updated correctly. the host controller. controller correctly.
  • Page 320 9.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name A safety option module fault − Replace the safety option module. A.E74: occurred. Unsupported Safety A unsupported safety option Refer to the catalog of the con- Connect a compatible safety option Option Module module was connected.
  • Page 321 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply to the SER- FL-1 VOPACK OFF and ON again. If the System Alarm − SERVOPACK failure alarm still occurs, the SERVO- FL-2 PACK may be faulty.

  • Page 322: Warning Displays

    9.2 Warning Displays Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name and warning meaning output are listed in order of the warning numbers in 9.2.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings. 9.2.1 List of Warnings This section provides list of warnings.

  • Page 323: Troubleshooting Of Warnings

    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 Num- ber: Warning...
  • Page 324 9.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name The power supply Set the power supply voltage within voltage exceeds the Measure the power supply voltage. the specified range. specified limit. Insufficient external regenerative resis- Change the regenerative resistance, tance, regenerative A.920:...
  • Page 325 9 Troubleshooting 9.2.2 Troubleshooting of Warnings (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name Refer to 9.3 Monitoring Communi- A.94D cation Data on Occurrence of an Data Setting Parameter size set in Alarm or Warning to determine Use the correct parameter size.
  • Page 326 9.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name • For 100 VAC SERVOPACKs: The AC power sup- ply voltage is 60 V or less. • For 200-VAC SERVOPACKs: Set the power supply voltage within The AC power sup- Measure the power supply voltage.

  • Page 327: Monitoring Communication Data On Occurrence Of An Alarm Or Warning

    9 Troubleshooting Monitoring Communication Data on Occurrence of an Alarm or Warning The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94) or a command warning (A.95) can be monitored using the following parameters. The following is an example of the data when an alarm/warning has occurred in the normal state.

  • Page 328: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor

    9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 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 329 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Reduce the load so that the moment of inertia ratio becomes within the The servomotor largely vibrated allowable value, or increase the during execution of tuning-less Check the motor speed waveform. load level or lower the tuning level function.
  • Page 330 9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check to see if the servo gains have Unbalanced servo gains Execute the advanced autotuning. been correctly adjusted. Check the speed loop gain (Pn100). Speed loop gain value (Pn100) too Reduce the speed loop gain high.
  • Page 331 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect pair or screened unshielded twisted- cable specifications of encoder Use the specified encoder cable. cable. pair cable with a core of 0.12 mm min.
  • Page 332 9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the external power supply Correct the external power supply (+24 V) voltage for the input signal. (+24 V) voltage. Check if the overtravel limit switch Correct the overtravel limit switch.
  • Page 333 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable. encoder cable specifications pair cable with a core of 0.12 mm min.

  • Page 334: Chapter 10 Appendix

    Appendix 10.1 List of Parameters ......... 10-2 10.2 Parameter Recording Table .

  • Page 335: List Of Parameters

    10 Appendix 10.1 List of Parameters This section contains a tables of parameters. Note: Do not change the following parameters from the factory settings. • Reserved parameters • Parameters not described in this manual Parameter Setting Factory When Reference Size Name Units Classification...
  • Page 336 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 4113 0000 After restart Setup Switch 2 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 337 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − 0000 to 005F 0002 Immediately Setup 5.1.3 Switch 6 4th 3rd 2nd 1st digit digit digit digit n.     Analog Monitor 1 Signal Selection Motor rotating speed (1 V / 1000 min Speed reference (1 V / 1000 min...
  • Page 338 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 7121 4000 After restart Setup Switch 8 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 339 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 1111 0000 After restart Setup Switch B 4th 3rd 2nd 1st digit digit digit digit n.     Reference Parameter Display Selection Section...
  • Page 340 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − 0000 to 1111 0000 After restart Setup 8.1.5 Switch 81 digit digit digit digit Phase-C Pulse Output Selection Pn081 Outputs phase-C pulse only in forward direction.
  • Page 341 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Mode Switch Pn10C 0 to 800 Immediately Tuning (torque reference) Pn10D Mode Switch (speed reference) 0 to 10000 Immediately Tuning 1 min 5.9.2 Pn10E Mode Switch (acceleration) 0 to 30000 Immediately...
  • Page 342 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Model Following Control − − 0000 to 1121 0100 Immediately Tuning Related Switch 4th 3rd 2nd 1st digit digit digit digit n.     Model Following Control Selection Does not use model following control.
  • Page 343 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Control Related Switch 0000 to 0011 0011 After restart Tuning – － 4th 3rd 2nd 1st digit digit digit digit n.     Reference Model Following Control Type Selection Section...
  • Page 344 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Tuning-less Function Related − − 0000 to 2411 1401 – – Switch 4th 3rd 2nd 1st digit digit digit digit n.     When Reference Tuning-less Function Selection...
  • Page 345 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Fully-closed Control − − 0000 to 1003 0000 After restart Setup Selection Switch 4th 3rd 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Pn22A Reserved (Do not change.)
  • Page 346 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Vibration Detection Switch 0000 to 0002 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference Vibration Detection Selection Section...
  • Page 347 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Torque Related − − − − 0000 to 1111 0000 Function Switch 4th 3rd 2nd 1st digit digit digit digit n.     When Reference 1st Step Notch Filter Selection...
  • Page 348 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section 5.2.1 Notch Filter Adjustment − 0000 to 0101 0101 Immediately Tuning 5.3.1 Switch 5.5.1 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 349 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 1 0000 to FFF1 1881 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Reserved (Do not change.) Reserved (Do not change.)
  • Page 350 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Input Signal Selection 2 0000 to FFFF 8882 After restart Setup – 4th 3rd 2nd 1st digit digit digit digit n.     Reference N-OT Signal Mapping Section...
  • Page 351 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Output Signal Selection 1 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference Positioning Completion Signal Mapping (/COIN) Section...
  • Page 352 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Output Signal Selection 3 0000 to 0333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference Near Signal Mapping (/NEAR) Section...
  • Page 353 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Input Signal Selection 5 0000 to FFFF 6543 After restart Setup 3.3.1 4th 3rd 2nd 1st digit digit digit digit n.     Homing Deceleration Switch Signal Mapping (/DEC) Active when CN1-13 input signal is ON (closed).
  • Page 354 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Output Signal Inverse Setting 0000 to 0111 0000 After restart Setup 3.3.2 4th 3rd 2nd 1st digit digit digit digit n.     Output Signal Inversion for CN1-1 or -2 Terminal Does not inverse outputs.
  • Page 355 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Program JOG Operation − 0000 to 0005 0000 Immediately Setup Related Switch 4th 3rd 2nd 1st digit digit digit digit n.     Program JOG Operation Switch (Waiting time Pn535 →...
  • Page 356 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Communications Control – – 0040 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n.     MECHATROLINK-II Communications Check Mask (for debug) No mask Ignores MECHATROLINK communications error (A.E6).
  • Page 357 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section -1073741823 Pn804 Forward Software Limit reference 1073741823 Immediately Setup 1073741823 unit 4.3.3 -1073741823 Pn806 Reverse Software Limit reference -1073741823 Immediately Setup 1073741823 unit -1073741823 Absolute Encoder Origin ∗6 Pn808...
  • Page 358 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Homing Mode Setting – – 0000 Immediately Setup digit digit digit digit Homing Direction Forward Reverse Pn816 Reserved (Do not change.) Reserved (Do not change.) Reserved (Do not change.) Homing Approach Speed 1 ∗7...
  • Page 359 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Input Signal Monitor – – 0000 Immediately Setup Selection digit digit digit digit IO12 Signal Mapping No mapping Monitors CN1-13 input terminal. Monitors CN1-7 input terminal. Monitors CN1-8 input terminal.
  • Page 360 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Option Monitor 1 Selection – – Motor rotating speed 0000H [1000000H/overspeed detection position] Speed reference 0001H [1000000H/overspeed detection position] 0002H Torque [1000000H/max. torque] 0003H Position error (lower 32 bits) [reference unit] 0004H...
  • Page 361 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Option Field Allocation 1 0000 to 1E1E – 1813 After restart Setup digit digit digit digit 0 to E ACCFIL bit position Disables ACCFIL bit allocation. Pn82A Enables ACCFIL bit allocation.
  • Page 362 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Option Field Allocation 4 0000 to 1F1C – 0000 After restart Setup digit digit digit digit 0 to C BANK_SEL1 bit position Pn82D Disables BANK_SEL1 bit allocation.
  • Page 363 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section 10000 2nd Linear Acceleration ∗7 Pn836 1 to 20971520 reference Setup Immediately Constant 2 unit/s Acceleration Constant 0 to ∗7 Pn838 reference Setup Immediately Switching Speed 2 2097152000 unit/s...
  • Page 364 10.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Latch Sequence Signal 1 to 4 0000 to 3333 – 0000 Immediately Setup Setting digit digit digit digit Latch sequence 1 signal selection. Phase C EXT1 signal EXT2 signal...
  • Page 365 10 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Transmission Cycle Setting Pn882 Monitor [0.25 μs] 0 to FFFFH – Immediately Setup – (for maintenance, read only) Communications Cycle Setting Monitor Pn883 0 to 32 –...

  • Page 366: Parameter Recording Table

    10.2 Parameter Recording Table 10.2 Parameter Recording Table Use the following table for recording parameters. Factory When Parameter Name Setting Enabled Pn000 0000 Basic Function Select Switch 0 After restart Pn001 0000 Application Function Select Switch 1 After restart Pn002 0000 Application Function Select Switch 2 After restart...
  • Page 367 10 Appendix (cont’d) Factory When Parameter Name Setting Enabled Model Following Control Related Pn140 0100 Immediately Switch Pn141 Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 1000 Immediately pensation Model Following Control Bias Pn143 1000 Immediately (Forward Direction) Model Following Control Bias Pn144 1000...
  • Page 368 10.2 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn311 Vibration Detection Sensibility Immediately Pn312 Vibration Detection Level Immediately Moment of Inertia Calculating Start Pn324 Immediately Level Torque Reference Filter Time Con- Pn401 Immediately stant Pn402 Forward Torque Limit Immediately Pn403 Reverse Torque Limit...
  • Page 369 10 Appendix (cont’d) Factory When Parameter Name Setting Enabled Brake Reference - Servo OFF Delay Pn506 Immediately Time Pn507 Brake Reference Output Speed Level Immediately Waiting Time for Brake Signal When Pn508 Immediately Motor Running Pn509 Instantaneous Power Cut Hold Time Immediately Pn50A 1881...
  • Page 370 10.2 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn600 Regenerative Resistor Capacity Immediately Pn601 Reserved – Pn800 0040 Communications Control Immediately Application Function Select 6 Pn801 0003 Immediately (Software LS) Pn803 Origin Range Immediately Pn804 1073741823 Forward Software Limit Immediately Pn806 -1073741823...
  • Page 371 10 Appendix (cont’d) Factory When Parameter Name Setting Enabled Pn82A 1813 Option Field Allocation 1 After restart Pn82B 1D1C Option Field Allocation 2 After restart Pn82C 1F1E Option Field Allocation 3 After restart Pn82D 0000 Option Field Allocation 4 After restart Pn82E 0000 Option Field Allocation 5...
  • Page 372 10.2 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn902 to Parameter Bank Member Definition After restart Pn910 Pn920 to Parameter Bank Data (nonvolatile Immediately Pn95F memory save disabled) 10-39...

  • Page 373: Index

    Index Index battery battery case- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 battery replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 installing the battery in the host controller - - - - - - - - - - - - - 4-38 using an encoder cable with a battery case - - - - - - - - - 4-37 4-40...
  • Page 374 Index examples of encoder connection- - - - - - - - - - - - - - - - - - - - - - - 3-28 limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33 external device monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64 list of alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 external latch signal 1- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22...
  • Page 375 Index precautions for safety functions - - - - - - - - - - - - - - - - - - - - - - - 4-69 standard power supply input precautions for wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17 main circuit wires for SERVOPACKs - - - - - - - - - - - - - - - - - 3-4 precautions on connecting noise filter - - - - - - - - - - - - - - - - - - - 3-35 molded-case circuit breaker- - - - - - - - - - - - - - - - - - - - - - - - 3-9...
  • Page 376 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 46B <1>-1 WEB revision number Revision number Published in Japan September 2009 Date of publication Date of Rev.
  • Page 377 Date of Rev. Rev. Section Revised Content Publication April 2010 <1> 3.4.1 (1) Addition: Source circuit 4.3.2 (2) Revision: Setting number of parameters Pn50A and Pn50B 4.7.5 (2) Revision: Description of the initial incremental pulses 5.3.2, 5.4.2, Addition: Description of CAUTION 5.5.2, 5.7.1 5.4.1 (2) Revision: Description of “When Advanced Autotuning by reference Cannot be Adjusted”...
  • Page 378 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 http://www.yaskawa.com.br...

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