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Table Of Contents - YASKAWA SGM series User Manual

Ac servomotors and drivers

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Table Of Contents

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Table of Contents

General Precautions2

Notes For Safe Operation3

Inspection And Maintenance4

Manual Contents6

Manual Structure6

For First-Time Users Of Ac Servos6

Table Of Contents9

Basic Understanding Of Ac Servos14

Servo Mechanisms14

Servo Control System16

Servo Configuration17

Configuration Of Servo System17

Controlled System17

Gears + Ball Screw18

Coupling + Ball Screw18

Timing Belt + Trapezoidal Screw Thread18

Dc Servomotor And Ac Servomotor19

Ac Servomotor19

Performance Of Servomotor20

Incremental Encoder20

Absolute Encoder20

Servo Amplifier21

Power Amplifier21

Host Controller22

Features Of Σ-Series Servos23

Using Servopack For Speed/Torque Control24

Chapter 2 Basic Uses Of Σ-Series Products27

Checking On Delivery30

Installing The Servomotor31

Before Installation31

Servomotor With Incremental Encoder33

Servomotor With Absolute Encoder33

Installing The Servopack34

Installation Method35

Connection And Wiring37

Connecting To Peripheral Devices37

Main Circuit Wiring And Power On Sequence37

Molded-Case Circuit Breaker (Mccb)38

Brake Power Supply38

Personal Computer39

Cable For Motor39

Connector Kit For Motor39

Examples Of Connecting I/O Signal Terminals42

Servopack For Speed/Torque Control42

Servopack For Position Control44

Conducting A Test Run49

Test Run In Two Steps49

Conducting A Test Run For The Motor Without Load50

Secure The Servomotor51

Step 1: Conducting A Test Run For Motor Without Load51

Step 2: Conducting A Test Run With The Motor Connected To The Machine56

Supplementary Information On Test Run58

When Using A Servomotor With Brake58

When Performing Position Control From The Host Controller59

Minimum User Constants Required And Input Signals60

Chapter 3 Applications Of Σ-Series Products62

Before Reading This Chapter64

Setting User Constants According To Machine Characteristics65

Changing The Direction Of Motor Rotation65

Setting Reverse Rotation Mode66

Setting Memory Switch66

Shorting The Wiring In The 2Cn Connector66

Setting The Overtravel Limit Function67

Restricting Torque70

How To Set Level 1: Internal Torque Limit70

Example Of Use: Machine Protection71

Using Tgon Signal71

How To Set Level 2: External Torque Limit73

Using P-Cl And N-Cl Signals74

Setting User Constants According To Host Controller76

Inputting Speed Reference76

Standard Setting77

Example Of Input Circuit77

Speed Control78

Zero-Clamp Speed Control78

Using P-Con Signal79

Meaning Of P-Con Signal79

Inputting Position Reference80

Connection Example 2: Open Collector Output80

Input Pulse Multiply Function:82

Example Of I/O Signal Generation Timing82

Allowable Voltage Level And Timing For Reference Pulse Input83

Error Counter Clear Input83

Using Encoder Output84

For Position Control (Sgda-Jjjp) Only.84

Output Phase Form86

Using Contact I/O Signals88

Contact Input Signal Terminal Connections88

Contact Output Signal Terminal Connections89

Using Electronic Gear90

Setting The Electronic Gear90

Check The Machine Specifications90

Belt & Pulley93

Using Contact Input Speed Control94

Signal Generation Timing For Position Control Type98

When Contact Input Speed Control Is Used98

Using Torque Control99

Examples Of Use: Tension Control99

Torque Control Ii100

For Torque Control When P-Con Is Off100

For Speed Control When P-Con Is On101

Torque/Speed Changeover Control103

Using Torque Feed-Forward Function105

How To Use Torque Feed-Forward Function105

Using Torque Restriction By Analog Voltage Reference106

Setting A Torque Limit Value In User Constant Cn-13107

Using The Reference Pulse Inhibit Function (Inhibit)108

Relationship Between Inhibit Signal And Reference Pulse109

Using The Reference Pulse Input Filter Selection Function110

Setting Up The Σ Servopack111

Setting User Constants111

Setting The Jog Speed112

Setting The Number Of Encoder Pulses113

Setting The Motor Type114

Setting Stop Mode115

Adjusting Offset115

Why Does Not The Motor Stop?115

Using Dynamic Brake116

Dynamic Brake (Db)116

Using Zero-Clamp117

Conditions For Zero-Clamp118

Using Holding Brake118

Brake Interlock Output119

Related User Constants119

Running The Motor Smoothly122

Using The Soft Start Function122

Using The Smoothing Function122

Adjusting Gain122

Setting The Torque Reference Filter Time Constant124

Minimizing Positioning Time125

Using Autotuning Function125

Setting Servo Gain125

Using Feed-Forward Control127

Using Proportional Control127

Setting Speed Bias128

Using Mode Switch129

From Pi Control To P Control129

Example Of Use130

When Error Pulse Is Used As A Detection Point Of Mode Switch132

Mode Switch On/Off132

Using Speed Loop Compensation Function135

Forming A Protective Sequence136

Using Servo Alarm Output And Alarm Code Output136

Basic Wiring For Alarm Output Signals136

Contact Output Signal Alm137

Contact Output Signals Alo1, Alo2, And Alo3137

Using Alarm Codes137

Relationship Between Alarm Display And Alarm Code Output138

Using Servo On Input Signal139

Using Positioning Complete Signal140

Positioning Complete Output141

Using Speed Coincidence Output Signal142

Speed Coincidence Output142

Using Running Output Signal143

Running Output143

Handling Of Power Loss145

Alarm Traceback Data145

Setting Bit 5 Of Cn-01 To Clear Servo Alarm146

Special Wiring147

Wiring Instructions147

Mccb Or Fuse For Each Power Capacity149

Wiring For Noise Control149

Example Of Wiring For Noise Control149

Correct Grounding150

Noise Filter Installation151

Noise Filter Types151

Using More Than One Servo Drive154

Example Of Wiring More Than One Servo Drive154

Using Regenerative Units155

What Is A Regenerative Unit?155

When Is A Regenerative Unit Required?155

Connecting A Regenerative Unit (Jusp−Rg08 Type)157

Connecting A Regenerative Unit (Jusp−Rg08C Type)158

Using An Absolute Encoder159

For Speed/Torque Control159

Electrical Specifications160

Memory Switch To Determine Whether To Use Input Signal Sen160

Memory Switch To 1 To Select Absolute Encoder160

Using A Battery161

Setting Up Absolute Encoder161

Absolute Data Exchange Sequence162

Outline Of Absolute Signal162

Contents Of Absolute Data163

Initial Incremental Pulse163

Absolute Data Transmitting Sequence163

Detailed Specifications Of Each Signal165

Specifications Of Pao Serial Data165

Specifications Of Pso Serial Data165

Incremental Pulse And Home Position Pulse165

Alarm Display167

List Of Alarms167

Extending An Encoder Cable168

Absolute Encoder Home Position Error Detection168

Using Sgda Servopack With High Voltage Line170

Connector Terminal Layouts172

Servopack Connectors For Speed/Torque Control172

1Cn Terminal Layout172

2Cn Terminal Layout172

Servopack Connectors For Position Control173

Connectors For Incremental Encoder174

Connectors For Absolute Encoder175

Connectors And Terminals For Standard-Type Motor Without Brake176

Connectors And Terminals For Motor With Brake176

Connectors For Digital Operator177

Using The Digital Operator178

Basic Operations179

Connecting The Digital Operator179

Jusp-Op02A-1 (Hand-Held Type)179

Jusp-Op03A (Mount Type)179

Resetting Servo Alarms180

Basic Functions And Mode Selection181

Basic Mode Selection181

Operation In Status Display Mode182

Operation In User Constant Setting Mode185

Two Types Of User Constant Are Used185

Using The Setting Mode For Constant Settings186

Set The Required Data186

Using The Setting Mode For Memory Switches188

Turning Bits On And Off188

Operation In Monitor Mode190

Using The Monitor Mode190

For Speed/Torque Control (Sgda -Jjjs)191

Using The Functions194

Operation In Alarm Trace-Back Mode194

Using The Alarm Trace-Back Mode195

Operation Using The Digital Operator197

Simple Motor Check197

Changing Motor Speed200

User Constants Automatically Settable With Autotuning200

Machine Rigidity201

Using Autotuning202

Precautions Relating To Autotuning205

Speed Setting During Autotuning205

Machine Rigidity Selection205

If The Machine Resonates205

If Autotuning Does Not End206

Input Signals206

Reference Offset Automatic Adjustment207

Why Does Reference Offset Occur?207

Automatic Adjustment Of Reference Voltage207

Using The Reference Offset Automatic Adjustment Mode208

Speed Reference Offset Manual Adjustment Mode210

Clearing Alarm Trace-Back Data213

Checking Motor Type214

Checking Software Version215

Servo Selection And Data Sheets216

Selecting A Σ-Series Servo216

Selecting A Servomotor218

Flowchart For Servomotor Selection220

Machine Data Table222

Selecting A Servopack224

Flowchart For Servopack Selection225

Selecting A Digital Operator226

Flowchart For Digital Operator Selection227

Sgm Servomotor228

Ratings And Specifications228

Electrical Specifications Of The Holding Brake230

J 200-Vac Sgm Servomotor Torque-Motor Speed Characteristics231

Ratings And Specifications Of 200-Vac Sgmp Servomotors232

Ratings And Specifications Of 100-Vac Sgm Servomotors236

100-Vac Sgm Servomotor Torque-Motor Speed Characteristics238

Ratings And Specifications Of 100-Vac Sgmp Servomotors239

100-Vac Sgmp Servomotor Torque-Motor Speed Characteristics242

Mechanical Characteristics243

Allowable Radial Load, Allowable Thrust Load243

Mechanical Tolerance244

Direction Of Motor Rotation244

Impact Resistance244

Vibration Resistance244

Vibration Class245

Servopack Ratings And Specifications246

Ratings And Specifications Of Sgda Servopack For Position Control249

Overload Characteristics251

Starting Time And Stopping Time252

Load Inertia252

Small Load Inertia252

Large Load Inertia253

Sgm Servomotors253

Sgmp Servomotors254

Overhanging Loads255

Overhanging Load Example 2255

In-Rush Current And Power Loss256

Σ-Series Dimensional Drawings257

Servomotor Dimensional Drawings257

Servopack Dimensional Drawings257

Digital Operator Dimensional Drawings257

Details Of Motor And Encoder Plugs272

Incremental Encoder Wiring Specifications272

Motor Wiring Specifications272

Selecting Peripheral Devices304

Flowchart For Peripheral Device Selection305

Start Peripheral Device Selection305

Sgda Servopack (Excluding Cables And Connectors)310

Cables For Servomotor Without Brake311

Cables For Servomotor With Brake311

Cables For Incremental Encoder313

Connector Terminal Block Converter Unit317

Cable With 1Cn Connector And One End Loose Wires317

Surge Suppressor318

Regenerative Unit318

Variable Resistor For Speed Setting318

Encoder Signal Converter Unit318

Specifications And Dimensional Drawings Of Peripheral Devices319

Cable Specifications And Peripheral Devices319

Motor Cables322

Cables For Motor Without Brake323

Cables For Motor With Brake324

Connector Kits325

Encoder Cables331

Cables For Incremental Encoder (Connector Both Ends)331

Cables For Absolute Encoder (Connector Both Ends)331

Cables For Incremental Encoder (Servopack End Without Connector)332

Cables For Absolute Encoder (Servopack End Without Connector)333

Battery For Absolute Encoder336

1Cn Connector337

Cable With 1Cn Connector And One End Without Connector341

Sgda Servopack (3M36P Connector)341

Circuit Breaker341

Magnetic Contactor343

Internal Connection Diagram343

Cables For Connecting Pc And Servopack349

Terminal Arrangement At Servopack End350

Inspection, Maintenance, And Troubleshooting353

Chapter 6 Inspection, Maintenance, And Troubleshooting354

Replacing Battery For Absolute Encoder356

Battery Replacement Procedure356

Troubleshooting Problems With Alarm Display357

Resetting Sen Signal358

Status When Alarm Occurred358

Troubleshooting358

Troubleshooting Problems With No Alarm Display376

Internal Connection Diagram And Instrument Connection Examples378

Instrument Connection Examples − Speed/Torque Control379

Instrument Connection Examples − Position Control380

Differences Between Sgda And Sgd Servopacks381

Servo Adjustment383

Σ-Series Ac Servopacks And Gain Adjustment Methods384

Servo System Block Diagram384

Basic Rules For Gain Adjustment385

B.1 Σ-Series Ac Servopack Gain Adjustment385

Adjusting A Speed-Control Servopack386

Adjusting Using Auto-Tuning386

Important Points About Auto-Tuning386

Speed During Auto-Tuning386

If Auto-Tuning Is Unsuccessful387

Response During Operation Is Unsatisfactory After Auto-Tuning387

Manual Adjustment387

Speed Loop Gain (Cn-04)387

B.2 Adjusting A Speed-Control Servopack387

Torque Reference Filter Time Constant388

Speed Reference Gain388

B.2.2 Manual Adjustment388

Adjusting A Position-Control Servopack390

B.3 Adjusting A Position-Control Servopack391

B.3.2 Manual Adjustment392

Guidelines For Gain Settings According To Load Inertia Ratio395

Machines With High Rigidity395

B.4 Gain Setting References395

Machines With Low Rigidity396

B.4.1 Guidelines For Gain Settings According To Load Inertia Ratio396

C List Of I/O Signals398

List Of Input Signals For Speed/Torque Control399

List Of User Constants409

For Speed/Torque Control (Sgda-Jjjs)410

List Of User Constants (User Constant Setting)410

List Of Alarm Displays419

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Sgmp series Sgda series