YASKAWA SGD7S Product Manual
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YASKAWA SGD7S Product Manual

7s servopack with mechatrolink-ii communications references
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See also: Product Manual
-7-Series AC Servo Drive
-7S SERVOPACK with
MECHATROLINK-II
Communications References
Product Manual
Model: SGD7S
MANUAL NO. SIEP S800001 27B
Basic Information on
SERVOPACKs
Selecting a SERVOPACK
SERVOPACK Installation
Wiring and Connecting
SERVOPACKs
Basic Functions That Require
Setting before Operation
Application Functions
Trial Operation and
Actual Operation
Tuning
Monitoring
Fully-Closed Loop Control
Safety Functions
Maintenance
Parameter Lists
Appendices
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2
3
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5
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7
8
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11
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14

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Feri
June 12, 2025

Berapa Nilai tahanan motor servo ini

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Feri
June 12, 2025

Mau tanya.. untuk mengatasi. Alaram 910 pada servopack. Yaskawa

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Related Manuals for YASKAWA SGD7S

Summary of Contents for YASKAWA SGD7S

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with MECHATROLINK-II Communications References Product Manual Model: SGD7S Basic Information on SERVOPACKs Selecting a SERVOPACK SERVOPACK Installation Wiring and Connecting SERVOPACKs Basic Functions That Require Setting before Operation Application Functions Trial Operation and...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.

  • Page 3: About This Manual

    About this Manual This manual provides information required to select Σ-7S SERVOPACKs with MECHATROLINK-II Communications References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.

  • Page 4: Related Documents

    Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. System Components Machine Controllers...
  • Page 5 Classification Document Name Document No. Description  Provides detailed information Machine Controller and Servo required to select MP3000-Series Machine Controller KAEP S800001 22 Machine Controllers and Σ-7-Series Drive Solutions Catalog and Servo Drive AC Servo Drives. General Catalog Provides detailed information on ...
  • Page 6 Continued from previous page. Classification Document Name Document No. Description  Σ-7-Series AC Servo Drive Σ-7-Series Describes the peripheral devices Peripheral Device SIEP S800001 32 for a Σ-7-Series Servo System. Peripheral Device Selection Manual Selection Manual Σ-7-Series AC Servo Drive Provides detailed information on MECHATROLINK-II the MECHATROLINK-II communi-...

  • Page 7: Using This Manual

    Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Servomotor A generic term used for a Σ-7-Series Rotary Servomotor (SGM7A, SGM7J, or SGM7G) or a Rotary Servomotor Direct Drive Servomotor (SGMCS or SGMCV).
  • Page 8  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
  • Page 9  Trademarks • QR code is a trademark of Denso Wave Inc. • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.

  • Page 10: Safety Precautions

    Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 11  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
  • Page 12 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
  • Page 13 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.

  • Page 14: Wiring Precautions

    NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
  • Page 15  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.

  • Page 16: Operation Precautions

     Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
  • Page 17 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
  • Page 18 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.
  • Page 19 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 20 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

  • Page 21: Servopacks

    Products that do not have the marks are not certified for the standards.  North American Safety Standards (UL) Product Model UL Standards (UL File No.) SERVOPACKs SGD7S UL 61800-5-1 • SGM7A-A5 to -10 • SGM7A-15 to -30 Rotary • SGM7J...
  • Page 22  Safety Standards Product Model Safety Standards Standards EN ISO13849-1: 2008/AC: 2009 Safety of Machinery IEC 60204-1 IEC 61508 series SERVOPACKs SGD7S Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1  Safety Parameters Item Standards Performance Level IEC 61508 SIL3...

  • Page 23: Table Of Contents

    Block Diagrams ........2-6 2.2.1 SGD7S-R70A, -R90A, and -1R6A ....... . 2-6 2.2.2 SGD7S-2R8A .
  • Page 24 SERVOPACK Installation Installation Precautions ....... 3-2 Mounting Types and Orientation ......3-3 Mounting Hole Dimensions .

  • Page 25: Setting Before Operation

    Connecting the Other Connectors ..... . 4-36 4.8.1 Serial Communications Connector (CN3) ......4-36 4.8.2 Computer Connector (CN7) .
  • Page 26 5.13 Motor Stopping Methods for Servo OFF and Alarms..5-37 5.13.1 Stopping Method for Servo OFF ....... . .5-37 5.13.2 Servomotor Stopping Method for Alarms .

  • Page 27: Actual Operation

    Selecting Torque Limits ......6-25 6.7.1 Internal Torque Limits ........6-25 6.7.2 External Torque Limits .
  • Page 28 Trial Operation with MECHATROLINK-II Communications . . . 7-10 Trial Operation with the Servomotor Connected to the Machine . . . 7-11 7.5.1 Precautions ..........7-11 7.5.2 Preparations .
  • Page 29 Autotuning with a Host Reference ..... . 8-34 8.7.1 Outline........... . 8-34 8.7.2 Restrictions .
  • Page 30 Monitoring Monitoring Product Information ......9-2 9.1.1 Items That You Can Monitor ........9-2 9.1.2 Operating Procedures.
  • Page 31 11.2 Hard Wire Base Block (HWBB) ......11-3 11.2.1 Risk Assessment ..........11-3 11.2.2 Hard Wire Base Block (HWBB) State .
  • Page 32 Parameter Lists 13.1 List of Parameters ........13-2 13.1.1 Interpreting the Parameter Lists .
  • Page 33 Basic Information on SERVOPACKs This chapter provides information required to select SERVOPACKs, such as SERVOPACK models and combi- nations with Servomotors. The Σ-7 Series ..... . . 1-2 Interpreting the Nameplate .

  • Page 34: The Σ-7 Series

    1.1 The Σ-7 Series Σ -7 Series The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed and high-precision positioning. The SERVOPACK will make the most of machine performance in the shortest time possible, thus contributing to improving productivity. The Σ-7-series SERVOPACKs include Σ-7S SERVOPACKs for single-axis control and Σ-7W SERVOPACKs for two-axis control.

  • Page 35: Interpreting The Nameplate

    1.2 Interpreting the Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. S_M-II SERVOPACK model Protection class Surrounding air temperature Order number Serial number...

  • Page 36: Part Names

    1.3 Part Names Part Names With Front Cover Open Main circuit (on side of terminals SERVOPACK) S_M-II Motor terminals Name Description Reference  − − Front Cover  − − Input Voltage  Nameplate Indicates the SERVOPACK model and ratings. page 1-3 ...
  • Page 37 1.3 Part Names Name Description Reference Analog Monitor Connector You can use a special cable (peripheral device) to monitor page 4-36 (CN5) the motor speed, torque reference, or other values. − Panel Display Displays the servo status with a seven-segment display.

  • Page 38: Model Designations

    1.4 Model Designations 1.4.1 Interpreting SERVOPACK Model Numbers Model Designations 1.4.1 Interpreting SERVOPACK Model Numbers SGD7S - R70 S_M-II 5th+6th 1st+2nd+3rd 8th+9th+10th Σ-7-Series digit digit digits digits digits Σ-7S SERVOPACKs Maximum Applicable Hardware Options 1st+2nd+3rd digits 4th digit Voltage 8th+9th+10th digits...
  • Page 39 1.4 Model Designations 1.4.2 Interpreting Servomotor Model Numbers Direct Drive Servomotors SGMC - 02 1st+2nd Series digit digit digit digit digit digits Σ-7 Series Servomotors Series 1st+2nd digits 5th digit Rated Torque Design Revision Order Code Specification 3rd digit 6th digit Servomotor Outer Diameter Flange Specification Small capacity, coreless...

  • Page 40: Combinations Of Servopacks And Servomotors

    1.5 Combinations of SERVOPACKs and Servomotors 1.5.1 Combinations of Rotary Servomotors and SERVOPACKs Combinations of SERVOPACKs and Servomotors 1.5.1 Combinations of Rotary Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGM7A-A5A 50 W R70A SGM7A-01A 100 W R90A SGM7A-C2A...

  • Page 41: Combinations Of Direct Drive Servomotors And Servopacks

    1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs 1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Direct Drive Servomotor Model Maximum Torque [N·m] SGD7S- [N·m] SGMCS-02B SGMCS-05B SGMCS-07B SGMCS-04C SGMCS-10C 2R8A Small Capacity, Coreless SGMCS-14C...

  • Page 42: Combinations Of Linear Servomotors And Servopacks

    1.5 Combinations of SERVOPACKs and Servomotors 1.5.3 Combinations of Linear Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Linear Servomotor Model Maximum Torque SGD7S- SGLGW-40A140C 1R6A SGLG SGLGW-40A253C 2R8A (Coreless Models), SGLGW-40A365C 3R8A Used with High- SGLGW-60A140C 1R6A Force Magnetic...

  • Page 43: Functions

    1.6 Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the reference pages for details on the functions. • Functions Related to the Machine Function Reference Power Supply Type Settings for the Main Circuit page 5-13 and Control Circuit Automatic Detection of Connected Motor page 5-15 Motor Direction Setting...
  • Page 44 1.6 Functions Function Reference Vibration Detection Level Initialization page 6-48 Alarm Reset page 12-40 Replacing the Battery page 12-3 Setting the Position Deviation Overflow Alarm page 8-8 Level • Functions to Achieve Optimum Motions Function Reference Tuning-less Function page 8-11 Automatic Adjustment without a Host Reference page 8-23 Automatic Adjustment with a Host Reference...

  • Page 45: Selecting A Servopack

    SGD7S-R70A, -R90A, and -1R6A ... . 2-6 2.2.2 SGD7S-2R8A ......2-6 2.2.3 SGD7S-3R8A, -5R5A, and -7R6A .
  • Page 46 2.1.1 Ratings Ratings and Specifications This section gives the ratings and specifications of SERVOPACKs. 2.1.1 Ratings Three-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A Maximum Applicable Motor 0.05 0.75 Capacity [kW] Continuous Output Current 0.66...

  • Page 47: Ratings And Specifications

    Humidity Storage Humidity 95% relative humidity max. (with no freezing or condensation) Vibration Resistance 4.9 m/s Shock Resistance 19.6 m/s Class SERVOPACK Model: SGD7S- Environ- mental IP20 R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A Protection Class Conditions IP10 180A, 200A •...

  • Page 48: Ratings

    2.1 Ratings and Specifications 2.1.2 Specifications Continued from previous page. Item Specification 1:5000 (At the rated torque, the lower limit of the speed control range Speed Control Range must not cause the Servomotor to stop.) ±0.01% of rated speed max. (for a load fluctuation of 0% to 100%) 0% of rated speed max.

  • Page 49: Functions

    2.1 Ratings and Specifications 2.1.2 Specifications Continued from previous page. Item Specification CHARGE, PWR, and COM indicators, and one-digit seven-segment Displays/Indicators display Communications Pro- MECHATROLINK-II tocol 41 to 5F hex (maximum number of slaves: 30) Station Address Selected with the combination of a rotary switch (S2) and DIP switch MECHA- Settings (S3).

  • Page 50: Block Diagrams

    2.2 Block Diagrams 2.2.1 SGD7S-R70A, -R90A, and -1R6A Block Diagrams 2.2.1 SGD7S-R70A, -R90A, and -1R6A Servomotor Varistor Main circuit − power supply Dynamic brake circuit Temperature Gate drive Current Voltage Voltage Relay Gate drive sensor overcurrent protection sensor sensor drive...

  • Page 51: Sgd7S-3R8A, -5R5A, And -7R6A

    2.2 Block Diagrams 2.2.3 SGD7S-3R8A, -5R5A, and -7R6A 2.2.3 SGD7S-3R8A, -5R5A, and -7R6A S_M-II Servomotor Varistor Main circuit − power supply Dynamic brake circuit Relay Temperature Gate drive Current Voltage Voltage Gate drive drive sensor overcurrent protection sensor sensor sensor...

  • Page 52: Sgd7S-180A And -200A

    2.2 Block Diagrams 2.2.5 SGD7S-180A and -200A 2.2.5 SGD7S-180A and -200A S_M-II Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Temperature Current Voltage Relay Voltage Gate drive sensor sensor sensor sensor drive Varistor Control Analog Analog monitor...

  • Page 53: External Dimensions

    1981080-1 8 Tyco Electronics Japan G.K. Note: The above connectors or their equivalents are used for the SERVOPACKs. 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A 2×M4 Exterior 10 ±0.5 (mounting pitch) Ground terminals 2 × M4...
  • Page 54 Ground terminals (75) 2 × M4 Mounting Hole Diagram S_M-II Approx. mass: 1.0 kg Unit: mm • Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A 3×M4 Exterior 58 ±0.5 (mounting pitch) Ground terminals (75) 2 × M4 Mounting Hole Diagram S_M-II Approx.
  • Page 55 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-180A and -200A 3×M4 Exterior 75 ±0.5 (mounting pitch) Terminals Ground 14 × M4 82.5 ±0.5 (mounting pitch) 12.5 terminals (75) Terminal Details 2 × M4 Mounting Hole Diagram S_M-II Approx.

  • Page 56: Examples Of Standard Connections Between Servopacks And Peripheral Devices

    Rotary Servomotor External Regenerative Resistors are not provided by Yaskawa. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the hold- ing brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power sup- plies, such as the one for the I/O signals of the CN1 connector.
  • Page 57 I/O Signal Cable External External Regenerative Regenerative Resistor Cable Resistor* Safety Function Device Cable Serial Converter Unit Cable Serial Converter Unit Ground cable Sensor Cable Linear Encoder Cables Linear encoder Linear Servomotor External Regenerative Resistors are not provided by Yaskawa. 2-13...

  • Page 58: Servopack Installation

    SERVOPACK Installation This chapter provides information on installing SERVO- PACKs in the required locations. Installation Precautions ....3-2 Mounting Types and Orientation ..3-3 Mounting Hole Dimensions .

  • Page 59: Installation Precautions

    3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.2 Specifications on page 2-3  Installation Near Sources of Heat Implement measures to prevent temperature increases caused by radiant or convection heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions.

  • Page 60: Mounting Types And Orientation

    3.2 Mounting Types and Orientation Mounting Types and Orientation The SERVOPACKs come in the following mounting types: base-mounted, rack-mounted, and duct-ventilated types. Regardless of the mounting type, mount the SERVOPACK vertically, as shown in the following figures. Also, mount the SERVOPACK so that the front panel is facing toward the operator. Note: Prepare two to four mounting holes for the SERVOPACK and mount it securely in the mounting holes.

  • Page 61: Mounting Hole Dimensions

    Screw SERVOPACK Model Size Screws R70A, R90A, 160 ±0.5 − − 1R6A 160 ±0.5 − − 2R8A SGD7S- 3R8A, 5R5A, 160 ±0.5 58 ±0.5 − 7R6A 160 ±0.5 80 ±0.5 12.5 − 120A 180 ±0.5 100 − 180A, 200A 12.5 75±0.5 ...

  • Page 62: Mounting Interval

    Space on SERVOPACK Model Right Side 10 mm above SERVOPACK’s Top Surface R70A, R90A, 1R6A, 1 mm min. Air speed: 0.5 m/s min. 2R8A, 3R8A, 5R5A, 7R6A SGD7S- 120A, 180A, 200A 10 mm min. Air speed: 0.5 m/s min.

  • Page 63: Monitoring The Installation Environment

    3.5 Monitoring the Installation Environment Monitoring the Installation Environment You can use the SERVOPACK Installation Environment Monitor parameter to check the operat- ing conditions of the SERVOPACK in the installation environment. You can check the SERVOPACK installation environment monitor with either of the following methods.

  • Page 64: Derating Specifications

    1000 m 2000 m -5°C 55°C 60°C 1000 m 2000 m Surrounding air temperature Altitude Surrounding air temperature and altitude • SGD7S-3R8, -5R5, -7R6, -120, -180, -200 100% 100% 100% -5°C 55°C 60°C 1000 m 2000 m -5°C 55°C 60°C...

  • Page 65: Emc Installation Conditions

    The EMC installation conditions that are given here are the conditions that were used to pass testing criteria at Yaskawa. The EMC level may change under other conditions, such as the actual installation structure and wiring conditions. These Yaskawa products are designed to be built into equipment.

  • Page 66: Wiring And Connecting Servopacks

    Wiring and Connecting SERVOPACKs This chapter provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices. Wiring and Connecting SERVOPACKs ..4-3 4.1.1 General Precautions ..... . 4-3 4.1.2 Countermeasures against Noise .
  • Page 67 Connecting Safety Function Signals ..4-33 4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . 4-33 4.6.2 I/O Circuits ......4-33 Connecting MECHATROLINK Communications Cables 4-35 Connecting the Other Connectors .

  • Page 68: Wiring And Connecting Servopacks

    4.1 Wiring and Connecting SERVOPACKs 4.1.1 General Precautions Wiring and Connecting SERVOPACKs 4.1.1 General Precautions DANGER  Do not change any wiring while power is being supplied. There is a risk of electric shock or injury. WARNING  Wiring and inspections must be performed only by qualified engineers. There is a risk of electric shock or product failure.
  • Page 69 To ensure safe, stable application of the servo system, observe the following precautions when wiring. • Use the cables specified by Yaskawa. Design and arrange the system so that each cable is as short as possible. Refer to the following manual for information on the specified cables.

  • Page 70: Countermeasures Against Noise

    4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise 4.1.2 Countermeasures against Noise The SERVOPACK is designed as an industrial device. It therefore provides no measures to pre- vent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral devices may be affected by switching noise.
  • Page 71 4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise Noise Filters You must attach Noise Filters in appropriate places to protect the SERVOPACK from the adverse effects of noise. The following is an example of wiring for countermeasures against noise. SERVOPACK Noise Filter Servomotor...
  • Page 72 4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise Noise Filter Wiring and Connection Precautions Always observe the following precautions when wiring or connecting Noise Filters. • Separate input lines from output lines. Do not place input lines and output lines in the same duct or bundle them together.

  • Page 73: Grounding

    4.1 Wiring and Connecting SERVOPACKs 4.1.3 Grounding • If a Noise Filter is located inside a control panel, first connect the Noise Filter ground wire and the ground wires from other devices inside the control panel to the grounding plate for the control panel, then ground the plate.

  • Page 74: Basic Wiring Diagrams

    Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
  • Page 75 4.2 Basic Wiring Diagrams Note: 1. You can use parameters to change the functions allocated to the /DEC, P-OT, N-OT, /EXT1, /EXT2, and / EXT3 input signals and the /SO1, /SO2, and /SO3 output signals. Refer to the following section for details. 6.1 I/O Signal Allocations on page 6-3 2.

  • Page 76: Wiring The Power Supply To The Servopack

    The External Regenerative Resistor is not included. Pur- chase it separately. Regenerative Resistor termi- B1/ , B2, B3  For SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, and nals -200A If the internal regenerative resistor is insufficient, remove the lead or short bar between B2 and B3 and connect an Exter- nal Regenerative Resistor between B1/ and B2.

  • Page 77: Wiring Procedure For Main Circuit Connector

    Terminal Name Specifications and Reference Symbols 4.3.5 Wiring Regenerative Resistors on page 4-17  For SGD7S-R70A, -R90A, -1R6A, and -2R8A If the regenerative capacity is insufficient, connect an Exter- nal Regenerative Resistor between B1/ and B2. The External Regenerative Resistor is not included. Pur- chase it separately.

  • Page 78: Power On Sequence

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.3 Power ON Sequence Remove the main circuit connector and motor connector from the SERVOPACK. S_M_II Enlarged View 1. Press in on the lock. 2. Press in on the locks to remove Main circuit the connectors.

  • Page 79: Power Supply Wiring Diagrams

    2SA: Surge Absorber 2KM: Magnetic Contactor 3SA: Surge Absorber (for main circuit power supply) 1D: Flywheel diode You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A, SGD7S- 1R6A, and SGD7S-2R8A. Do not connect them. 4-14...
  • Page 80 3SA: Surge Absorber (for main circuit power supply) 1D: Flywheel diode You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A, SGD7S- 1R6A, and SGD7S-2R8A. Do not connect them. • Wiring Example for DC Power Supply Input...
  • Page 81 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams Using More Than One SERVOPACK Connect the ALM (Servo Alarm) output for these SERVOPACKs in series to operate the alarm detection relay (1RY). When a SERVOPACK alarm is activated, the ALM output signal transistor turns OFF. The following diagram shows the wiring to stop all of the Servomotors when there is an alarm for any one SERVOPACK.

  • Page 82: Wiring Regenerative Resistors

    Refer to the following section for details on the settings. 5.18 Setting the Regenerative Resistor Capacity on page 5-51  SERVOPACK Models SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, and -200A Remove the lead from between the B2 and B3 terminals on the SERVOPACK.

  • Page 83: Wiring Dc Reactors

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.6 Wiring DC Reactors Connect the External Regenerative Resistor between the B1/⊕ and B2 terminals. Enlarged View S_M-II Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistor Resis- tance). Refer to the following section for details on the settings. 5.18 Setting the Regenerative Resistor Capacity on page 5-51 4.3.6 Wiring DC Reactors...

  • Page 84: Wiring Servomotors

    4.4 Wiring Servomotors 4.4.1 Terminal Symbols and Terminal Names Wiring Servomotors 4.4.1 Terminal Symbols and Terminal Names The SERVOPACK terminals or connectors that are required to connect the SERVOPACK to a Servomotor are given below. Terminal/Connector Terminal/Connector Name Remarks Symbols Refer to the following section for the wiring proce- dure.

  • Page 85: Wiring The Servopack To The Encoder

    4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Absolute Encoder If you use an absolute encoder, use an Encoder Cable with a JUSP-BA01-E Battery Case or install a battery on the host controller. Refer to the following section for the battery replacement procedure.

  • Page 86: Wiring The Servopack To The Encoder

    4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Incremental Encoder SERVOPACK Incremental encoder PG5V PG0V Connector shell (Shell) Shield The incremental encoder pin numbers for wiring the connector depend on the Servomotor that you use. represents a shielded twisted-pair cable.
  • Page 87 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Absolute Linear Encoder from Magnescale Co., Ltd.  SR77 and SR87 Absolute linear encoder from Magnescale Co., Ltd. SERVOPACK PG5V PG0V Connector Connector shell shell Shield represents a shielded twisted-pair cable. When Using an Incremental Linear Encoder The wiring depends on the manufacturer of the linear encoder.
  • Page 88 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Linear Encoder from Renishaw PLC Linear encoder from Serial Converter Unit Renishaw PLC SERVOPACK /COS /SIN /REF PG5V PG0V Connector Connector shell shell Connector Shield Connector shell shell Shield represents a shielded twisted-pair cable.
  • Page 89 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  SL700, SL710, SL720, and SL730 • PL101-RY Head with Interpolator Linear encoder Interpolator SERVOPACK Head Cable from Magnescale Co., Ltd. PG5V PG0V Connector Connector shell shell Shield represents a shielded twisted-pair cable. ...

  • Page 90: Wiring The Servopack To The Holding Brake

    4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake 4.4.4 Wiring the SERVOPACK to the Holding Brake • If you use a Rotary Servomotor, select a Surge Absorber according to the brake current and brake power supply. Refer to the following manual for details. Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32) •...

  • Page 91: I/O Signal Connections

    Sequence Input Signal Allowable voltage range: 24 VDC ±20% − +24VIN Power Supply Input The 24-VDC power supply is not provided by Yaskawa. Battery for Absolute These are the pins to connect the abso- BAT+ Encoder (+) lute encoder backup battery.

  • Page 92: Output Signals

    4.5 I/O Signal Connections 4.5.1 I/O Signal Connector (CN1) Names and Functions Output Signals Default settings are given in parentheses. Signal Pin No. Name Function Reference ALM+ Servo Alarm Output Turns OFF (opens) when an error is detected. page 6-6 ALM- /SO1+ You can allocate the output signal to use with...

  • Page 93: I/O Signal Connector (Cn1) Pin Arrangement

    4.5 I/O Signal Connections 4.5.2 I/O Signal Connector (CN1) Pin Arrangement 4.5.2 I/O Signal Connector (CN1) Pin Arrangement The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings. General- Battery for /SO1+ purpose General-...

  • Page 94: I/O Signal Wiring Examples

    Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
  • Page 95 Connect shield to connector shell. Frame ground represents twisted-pair wires. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Always use line receivers to receive the output signals. Note: 1. You can use parameters to change the functions allocated to the /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2, and /SO3 output signals.

  • Page 96: I/O Circuits

    4.5 I/O Signal Connections 4.5.4 I/O Circuits 4.5.4 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 6 to 13. Examples for Relay Circuits Examples for Open-Collector Circuits SERVOPACK SERVOPACK Ω Ω 4.7 k 4.7 k 24 VDC 24 VDC...
  • Page 97 4.5 I/O Signal Connections 4.5.4 I/O Circuits Sequence Output Circuits Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail- ures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. Important This could damage the machine or cause an accident that may result in death or injury.

  • Page 98: Connecting Safety Function Signals

    4.6 Connecting Safety Function Signals 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Connecting Safety Function Signals This section describes the wiring required to use a safety function. Refer to the following chapter for details on the safety function. Chapter 11 Safety Functions 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Pin No.
  • Page 99 4.6 Connecting Safety Function Signals 4.6.2 I/O Circuits  Input (HWBB) Signal Specifications Connector Type Signal Status Meaning Pin No. ON (closed) Does not activate the HWBB (normal operation). CN8-4 /HWBB1 Activates the HWBB (motor current shut-OFF CN8-3 OFF (open) request).

  • Page 100: Connecting Mechatrolink Communications Cables

    4.7 Connecting MECHATROLINK Communications Cables Connecting MECHATROLINK Communications Cables Connect the MECHATROLINK-II Communications Cable to the CN6A and CN6B connectors. S_M-II SVB-0 1 SIZE ×10 ×1 M-I/II Terminator Terminator Note: 1. The length of the cable between stations (L1, L2, ... Ln) must be 0.5 m or more. 2.

  • Page 101: Connecting The Other Connectors

    Measuring probe Black Probe ground The measuring instrument is not provided by Yaskawa. Refer to the following section for information on the monitoring methods for an analog monitor. 9.3 Monitoring Machine Operation Status and Signal Waveforms on page 9-6 4-36...
  • Page 102 Basic Functions That Require Setting before Operation This chapter describes the basic functions that must be set before you start servo system operation. It also describes the setting methods. Manipulating Parameters (Pn) ..5-3 5.1.1 Parameter Classification .
  • Page 103 Polarity Sensor Setting ....5-24 5.10 Polarity Detection ....5-25 5.10.1 Restrictions .

  • Page 104: Manipulating Parameters (Pn)

    5.1 Manipulating Parameters (Pn) 5.1.1 Parameter Classification Manipulating Parameters (Pn) This section describes the classifications, notation, and setting methods for the parameters given in this manual. 5.1.1 Parameter Classification There are the following two types of SERVOPACK parameters. Classification Meaning Parameters for the basic settings that are Setup Parameters required for operation.

  • Page 105: Notation For Parameters

    5.1 Manipulating Parameters (Pn) 5.1.2 Notation for Parameters Tuning Parameters Normally the user does not need to set the tuning parameters individually. Use the various SigmaWin+ tuning functions to set the related tuning parameters to increase the response even further for the conditions of your machine. Refer to the following sections for details. 8.6 Autotuning without Host Reference on page 8-23 8.7 Autotuning with a Host Reference on page 8-34 8.8 Custom Tuning on page 8-42...

  • Page 106: Parameter Setting Methods

    5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods 5.1.3 Parameter Setting Methods You can use the SigmaWin+ or a Digital Operator to set parameters. A sample operating procedure is given below. Setting Parameters with the SigmaWin+ Select Parameters - Edit Parameters from the menu bar of the Main Window of the Sig- maWin+.

  • Page 107: Write Prohibition Setting For Parameters

    5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Click the Write Button. Writing will start. This concludes the procedure to edit the parameter. Proceed to step 7 only when the dialog box shown in step 7 is displayed. Click the OK Button.
  • Page 108 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Click the Setting Button. Click the OK Button. The setting will be written to the SERVOPACK. To enable the new setting, turn the power supply to the SERVOPACK OFF and ON again.

  • Page 109: Initializing Parameter Settings

    5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings SigmaWin+ Digital Operator When Writ- ing Is Pro- Reference Menu Bar SigmaWin+ Function Fn No. Utility Function Name hibited Button Name Autotuning without Refer- Advanced Autotuning with- Cannot be Fn201 page 8-23 ence Input out Reference executed.
  • Page 110 5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Operating Procedure Use the following procedure. Select Parameters - Edit Parameters from the menu bar of the Main Window of the Sig- maWin+. Click the Initialize Button. Click the OK Button. Click the Cancel Button to cancel initialization. The Parameter Editing Dialog Box will return. Click the Initialize Button.
  • Page 111 5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again after the parameter set- tings have been initialized. This concludes the procedure to initialize the parameter settings. 5-10...

  • Page 112: Mechatrolink-Ii Communications Settings

    5.2 MECHATROLINK-II Communications Settings 5.2.1 Communications Settings MECHATROLINK-II Communications Settings The settings for MECHATROLINK-II communications are made with the DIP switch (S3). The station address is set on the rotary switch (S2) and the DIP switch (S3). M-II 5.2.1 Communications Settings Use the DIP switch (S3) to make the communications settings.

  • Page 113: Setting The Station Address

    5.2 MECHATROLINK-II Communications Settings 5.2.2 Setting the Station Address 5.2.2 Setting the Station Address Use the following settings table to set the station address. The station address is set on the rotary switch (S2) and the DIP switch (S3). The default setting of the station address is 41 hex (pin 3 on S3 = OFF, S2 = 1). Station Station Pin 3 on S3...

  • Page 114: Power Supply Type Settings For The Main Circuit And Control Circuit

    5.3 Power Supply Type Settings for the Main Circuit and Control Circuit 5.3.1 AC Power Supply Input/DC Power Supply Input Setting Power Supply Type Settings for the Main Circuit and Control Circuit A SERVOPACK can operated on either an AC power supply input or DC power supply input to the main and control circuits.

  • Page 115: Single-Phase Ac Power Supply Input/Three-Phase Ac Power Supply Input Setting

    200-VAC power supply. You can use a single-phase, 200-V power supply input with the following models. • SGD7S-R70A, -R90A, -1R6A, -2R8A, and -5R5A If you use a single-phase, 200-VAC power supply input for the SERVOPACK’s main circuit power supply, set parameter Pn00B to n.1 (Use a three-phase power supply input as a single-phase power supply input).

  • Page 116: Automatic Detection Of Connected Motor

    5.4 Automatic Detection of Connected Motor Automatic Detection of Connected Motor You can use a SERVOPACK to operate either a Rotary Servomotor or a Linear Servomotor. If you connect the Servomotor encoder to the CN2 connector on the SERVOPACK, the SER- VOPACK will automatically determine which type of Servomotor is connected.

  • Page 117: Motor Direction Setting

    5.5 Motor Direction Setting Motor Direction Setting You can reverse the direction of Servomotor rotation by changing the setting of Pn000 = n.X (Direction Selection) without changing the polarity of the speed or position reference. This causes the rotation direction of the motor to change, but the polarity of the signals, such as encoder output pulses, output from the SERVOPACK do not change.

  • Page 118: Setting The Linear Encoder Pitch

    5.6 Setting the Linear Encoder Pitch Setting the Linear Encoder Pitch If you connect a linear encoder to the SERVOPACK through a Serial Converter Unit, you must set the scale pitch of the linear encoder in Pn282. If a Serial Converter Unit is not connected, you do not need to set Pn282. Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK.

  • Page 119: Writing Linear Servomotor Parameters

    5.7 Writing Linear Servomotor Parameters Writing Linear Servomotor Parameters If you connect a linear encoder to the SERVOPACK without going through a Serial Converter Unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder. The motor parameters contain the information that is required by the SERVOPACK to operate the Linear Servomotor.
  • Page 120 5.7 Writing Linear Servomotor Parameters Operating Procedure Use the following procedure to write the motor parameters to the linear encoder. You can download the motor parameter file to write to the linear encoder from our web site (http://www.e-mechatronics.com/). Select Setup - Motor Parameter Scale Write from the menu bar of the Main Window of the SigmaWin+.
  • Page 121 5.7 Writing Linear Servomotor Parameters Confirm that the motor parameter file information that is displayed is suitable for your motor, and then click the Next Button. Displays an exterior view of the motor. Click the image to enlarge it. Click the Cancel Button to cancel writing the motor parameters to the linear encoder. The Main Win- dow will return.
  • Page 122 5.7 Writing Linear Servomotor Parameters Click the No Button to cancel writing the motor parameters to the linear encoder. If you click the Yes Button, writing the motor parameter scale will start. Click the Complete Button. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again.

  • Page 123: Selecting The Phase Sequence For A Linear Servomotor

    5.8 Selecting the Phase Sequence for a Linear Servomotor Selecting the Phase Sequence for a Linear Servomotor You must select the phase sequence of the Linear Servomotor so that the forward direction of the Linear Servomotor is the same as the encoder’s count-up direction. Before you set the Linear Servomotor phase sequence (Pn080 = n.X), check the follow- ing items.
  • Page 124 5.8 Selecting the Phase Sequence for a Linear Servomotor If the correct value is not displayed for the feedback pulse counter, the following condi- Information tions may exist. Check the situation and correct any problems. • The linear encoder pitch is not correct. If the scale pitch that is set in Pn282 does not agree with the actual scale pitch, the expected number of feedback pulses will not be returned.

  • Page 125: Polarity Sensor Setting

    5.9 Polarity Sensor Setting Polarity Sensor Setting The polarity sensor detects the polarity of the Servomotor. You must set a parameter to specify whether the Linear Servomotor that is connected to the SERVOPACK has a polarity sensor. Specify whether there is a polarity sensor in Pn080 = n.X (Polarity Sensor Selection). If the Linear Servomotor has a polarity sensor, set Pn080 to n.0 (Use polarity sensor) (default setting).

  • Page 126: Polarity Detection

    5.10 Polarity Detection 5.10.1 Restrictions 5.10 Polarity Detection If you use a Linear Servomotor that does not have a polarity sensor, then you must detect the polarity. Detecting the polarity means that the position of the electrical phase angle on the electrical angle coordinates of the Servomotor is detected.

  • Page 127: Using The Sv_On (Servo On) Command To Perform Polarity Detection

    5.10 Polarity Detection 5.10.2 Using the SV_ON (Servo ON) Command to Perform Polarity Detection • The parameters must not be write prohibited. (This item applies only when using the Sig- maWin+ or Digital Operator.) • The test without a motor function must be disabled (Pn00C = n.0). •...
  • Page 128 5.10 Polarity Detection 5.10.3 Using a Tool Function to Perform Polarity Detection Click the Continue Button. Click the Cancel Button to cancel polarity detection. The Main Window will return. Click the Start Button. Polarity detection will be executed. This concludes the procedure to execute polarity detection. 5-27...

  • Page 129: Overtravel And Related Settings

    5.11 Overtravel and Related Settings 5.11 Overtravel and Related Settings Overtravel is a safety function of the SERVOPACK that forces the Servomotor to stop in response to a signal input from a limit switch that is activated when a moving part of the machine exceeds the safe range of movement.

  • Page 130: Overtravel Signals

    5.11 Overtravel and Related Settings 5.11.1 Overtravel Signals 5.11.1 Overtravel Signals The overtravel signals include the P-OT (Forward Drive Prohibit) and the N-OT (Reverse Drive Prohibit) signals. Type Signal Connector Pin No. Signal Status Meaning Forward drive is enabled (actual operation). P-OT CN1-7 Forward drive is prohibited...

  • Page 131: Motor Stopping Method For Overtravel

    5.11 Overtravel and Related Settings 5.11.3 Motor Stopping Method for Overtravel 5.11.3 Motor Stopping Method for Overtravel You can set the stopping method of the Servomotor when overtravel occurs in Pn001 = n.XX (Servo OFF or Alarm Group 1 Stopping Method and Overtravel Stopping Method). Motor Stopping Status after Parameter...

  • Page 132: Overtravel Warnings

    5.11 Overtravel and Related Settings 5.11.4 Overtravel Warnings Maximum speed Operating speed × Deceleration time (Pn30A) Actual deceleration time Maximum speed Operating speed Actual deceleration time Pn30A 5.11.4 Overtravel Warnings You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the servo is ON.
  • Page 133 5.11 Overtravel and Related Settings 5.11.4 Overtravel Warnings 1. Warnings are detected for overtravel in the same direction as the reference. Information 2. Warnings are not detected for overtravel in the opposite direction from the reference. Example: A warning will not be output for a forward reference even if the N-OT signal turns 3.

  • Page 134: Holding Brake

    5.12 Holding Brake 5.12.1 Brake Operating Sequence 5.12 Holding Brake A holding brake is used to hold the position of the moving part of the machine when the SER- VOPACK is turned OFF so that moving part does not move due to gravity or an external force. You can use the brake that is built into a Servomotor with a Brake, or you can provide one on the machine.

  • Page 135: Bk (Brake) Signal

    5.12 Holding Brake 5.12.2 /BK (Brake) Signal Time Required to Time Required to Model Voltage Release Brake [ms] Brake [ms] SGM7J-A5 to 04 SGM7J-06 to 10 24 VDC SGM7G-03 to 20 SGM7A-15 Linear Servomotors: The brake delay times depend on the brake that you use. Set the parameters related to /BK signal output timing according to the delay times for the brake that you will actually use.

  • Page 136: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped

    5.12 Holding Brake 5.12.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped 5.12.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped When the Servomotor is stopped, the /BK signal turns OFF as soon as the SV_OFF (Servo OFF) command is received.
  • Page 137 5.12 Holding Brake 5.12.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating The brake operates when either of the following conditions is satisfied: • When the Motor Speed Goes below the Level Set in Pn507 for a Rotary Servomotor or in Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped SV_OFF (Servo OFF) MECHA...

  • Page 138: Motor Stopping Methods For Servo Off And Alarms

    5.13 Motor Stopping Methods for Servo OFF and Alarms 5.13.1 Stopping Method for Servo OFF 5.13 Motor Stopping Methods for Servo OFF and Alarms You can use the following methods to stop the Servomotor when the servo is turned OFF or an alarm occurs.
  • Page 139 5.13 Motor Stopping Methods for Servo OFF and Alarms 5.13.2 Servomotor Stopping Method for Alarms Motor Stopping Method for Group 1 Alarms When a group 1 alarm occurs, the Servomotor will stop according to the setting of Pn001 = n.X. The default setting is to stop by applying the dynamic brake. Refer to the following section for details.

  • Page 140: Motor Overload Detection Level

    5.14 Motor Overload Detection Level 5.14.1 Detection Timing for Overload Warnings (A.910) 5.14 Motor Overload Detection Level The motor overload detection level is the threshold used to detect overload alarms and over- load warnings when the Servomotor is subjected to a continuous load that exceeds the Servo- motor ratings.

  • Page 141: Detection Timing For Overload Alarms (A.720)

    5.14 Motor Overload Detection Level 5.14.2 Detection Timing for Overload Alarms (A.720) 5.14.2 Detection Timing for Overload Alarms (A.720) If Servomotor heat dissipation is insufficient (e.g., if the heat sink is too small), you can lower the overload alarm detection level to help prevent overheating. To reduce the overload alarm detection level, change the setting of Pn52C (Base Current Der- ating at Motor Overload Detection).

  • Page 142: Electronic Gear Settings

    5.15 Electronic Gear Settings 5.15 Electronic Gear Settings The minimum unit of the position data that is used to move a load is called the reference unit. The reference unit is used to give travel amounts, not in pulses, but rather in distances or other physical units (such as μm or °) that are easier to understand.

  • Page 143: Electronic Gear Ratio Settings

    5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings 5.15.1 Electronic Gear Ratio Settings Set the electronic gear ratio using Pn20E and Pn210. Set the electronic gear ratio within the following range. 0.001 ≤ Electronic gear ratio (B/A) ≤ 64,000 If the electronic gear ratio is outside of this range, an A.040 alarm (Parameter Setting Error) will Important occur.
  • Page 144 5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings When Using a Serial Converter Unit Linea Travel distance per reference unit (reference units) × Resolution of the Serial Converter Unit Pn20E Electronic gear ratio Linear encoder pitch (setting of Pn282) Pn210 ...

  • Page 145: Electronic Gear Ratio Setting Examples

    5.15 Electronic Gear Settings 5.15.2 Electronic Gear Ratio Setting Examples 5.15.2 Electronic Gear Ratio Setting Examples Setting examples are provided in this section. • Rotary Servomotors Machine Configuration Ball Screw Rotary Table Belt and Pulley Reference unit: 0.005 mm Reference unit: 0.01° Reference unit: 0.001 mm Load shaft Step...

  • Page 146: Resetting The Absolute Encoder

    5.16 Resetting the Absolute Encoder 5.16.1 Precautions on Resetting 5.16 Resetting the Absolute Encoder In a system that uses an absolute encoder, the multiturn data must be reset at startup. An alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder must be reset, such as when the power supply is turned ON.

  • Page 147: Operating Procedure

    5.16 Resetting the Absolute Encoder 5.16.3 Operating Procedure 5.16.3 Operating Procedure Use the following procedure to reset the absolute encoder Confirm that the servo is OFF. Select Setup - Reset Absolute Encoder from the menu bar of the Main Window of the SigmaWin+.
  • Page 148 5.16 Resetting the Absolute Encoder 5.16.3 Operating Procedure Click the OK Button. The absolute encoder will be reset. When Resetting Fails If you attempted to reset the absolute encoder when the servo was ON in the SERVOPACK, the fol- lowing dialog box will be displayed and processing will be cancelled. Click the OK Button.

  • Page 149: Setting The Origin Of The Absolute Encoder

    5.17 Setting the Origin of the Absolute Encoder 5.17.1 Absolute Encoder Origin Offset 5.17 Setting the Origin of the Absolute Encoder 5.17.1 Absolute Encoder Origin Offset The origin offset of the absolute encoder is a correction that is used to set the origin of the machine coordinate system in addition to the origin of the absolute encoder.
  • Page 150 5.17 Setting the Origin of the Absolute Encoder 5.17.2 Setting the Origin of the Absolute Linear Encoder Applicable Tools The following table lists the tools that you can use to set the origin of the absolute linear encoder and the applicable tool functions. Tool Function Reference...
  • Page 151 5.17 Setting the Origin of the Absolute Encoder 5.17.2 Setting the Origin of the Absolute Linear Encoder Click the Continue Button. Click the Cancel Button to cancel setting the origin of the absolute linear encoder. The previous dia- log box will return. Click the OK Button.

  • Page 152: Setting The Regenerative Resistor Capacity

    20% = 20 W). Note: 1. An A.320 alarm will be displayed if the setting is not suitable. 2. The default setting of 0 specifies that the SERVOPACK’s built-in regenerative resistor or Yaskawa’s Regen- erative Resistor Unit is being used.

  • Page 153: Application Functions

    Application Functions This chapter describes the application functions that you can set before you start servo system operation. It also describes the setting methods. I/O Signal Allocations ....6-3 6.1.1 Input Signal Allocations .
  • Page 154 Selecting Torque Limits ....6-25 6.7.1 Internal Torque Limits .....6-25 6.7.2 External Torque Limits .

  • Page 155: I/O Signal Allocations

    6.1 I/O Signal Allocations 6.1.1 Input Signal Allocations I/O Signal Allocations Functions are allocated to the pins on the I/O signal connector (CN1) in advance. You can change the allocations and the polarity for some of the connector pins. Function allocations and polarity settings are made with parameters.

  • Page 156: Output Signal Allocations

    6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations Parameter Pin No. Description Setting +24 V A reverse signal (a signal with “/” before the signal abbreviation, such as the / P-CL signal) is active when the contacts are OFF (open). A signal that does not have “/”...
  • Page 157 6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations Interpreting the Output Signal Allocation Tables These columns give the parameter settings to use. Signals S_MECHA are allocated to CN1 pins according to the settings. : Default settings. CN1 Pin No. Output Signal Name Disabled Output Signals and Parameter...

  • Page 158: Alm (Servo Alarm) Signal

    6.1 I/O Signal Allocations 6.1.3 ALM (Servo Alarm) Signal Checking Output Signal Status You can confirm the status of output signals on the I/O signal monitor. Refer to the following section for information on the I/O signal monitor. 9.2.3 I/O Signal Monitor on page 9-5 6.1.3 ALM (Servo Alarm) Signal This signal is output when the SERVOPACK detects an error.

  • Page 159: S-Rdy (Servo Ready) Signal

    6.1 I/O Signal Allocations 6.1.6 /S-RDY (Servo Ready) Signal Type Signal Connector Pin No. Signal Status Servomotor Meaning The Servomotor is Rotary Servomotors operating at the setting of Pn502 or faster. ON (closed) The Servomotor is Linear Servomotors operating at the setting of Pn581 or faster.

  • Page 160: V-Cmp (Speed Coincidence Detection) Signal

    6.1 I/O Signal Allocations 6.1.7 /V-CMP (Speed Coincidence Detection) Signal Type Signal Connector Pin No. Signal Status Meaning Ready to receive the SV_ON (Servo ON) com- ON (closed) mand. Output /S-RDY Must be allocated. Not ready to receive the SV_ON (Servo ON) OFF (open) command.

  • Page 161: Coin (Positioning Completion) Signal

    6.1 I/O Signal Allocations 6.1.8 /COIN (Positioning Completion) Signal If Pn582 is set to 100 and the speed reference is 2,000 mm/s the signal would be output Example when the motor speed is between 1,900 and 2,100 mm/s. Motor speed Pn582 Speed reference The /V-CMP signal is output when the motor speed is in...

  • Page 162: Near (Near) Signal

    6.1 I/O Signal Allocations 6.1.9 /NEAR (Near) Signal Setting the Output Timing of the /COIN (Positioning Com- pletion Output) Signal You can add a reference input condition to the output conditions for the /COIN signal to change the signal output timing. If the position deviation is always low and a narrow positioning completed width is used, change the setting of Pn207 = n.X...

  • Page 163: Speed Limit During Torque Control

    6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control /NEAR (Near) Signal Setting You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer- ence position and the current position (i.e., the position deviation as given by the value of the deviation counter) is equal to or less than the setting of the near signal width (Pn524).
  • Page 164 6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control Selecting the Speed Limit You set the speed limit to use in Pn002 = n.X (Torque Control Option). If you set Pn.002 to n.1 (Use V-REF as an external speed limit input), the smaller of the external speed limit and the internal speed limit will be used.

  • Page 165: Operation For Momentary Power Interruptions

    6.2 Operation for Momentary Power Interruptions Operation for Momentary Power Interruptions Even if the main power supply to the SERVOPACK is interrupted momentarily, power supply to the motor (servo ON status) will be maintained for the time set in Pn509 (Momentary Power Interruption Hold Time).

  • Page 166: Semi F47 Function

    6.3 SEMI F47 Function SEMI F47 Function The SEMI F47 function detects an A.971 warning (Undervoltage) and limits the output current if the DC main circuit power supply voltage to the SERVOPACK drops to a specified value or lower because the power was momentarily interrupted or the main circuit power supply voltage was temporarily reduced.
  • Page 167 6.3 SEMI F47 Function Setting for A.971 Warnings (Undervoltage) You can set whether or not to detect A.971 warnings (Undervoltage). Parameter Meaning When Enabled Classification n.0 Do not detect undervoltage warning. (default setting) Detect undervoltage warning and limit   Pn008 torque at host controller.

  • Page 168: Setting The Motor Maximum Speed

    6.4 Setting the Motor Maximum Speed Setting the Motor Maximum Speed You can set the maximum speed of the Servomotor with the following parameter. • Rotary Servomotors Speed Position Torque Maximum Motor Speed Setting Range Setting Unit Default Setting When Enabled Classification Pn316 0 to 65,535...

  • Page 169: Encoder Divided Pulse Output

    6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Encoder Divided Pulse Output The encoder divided pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It is then output externally in the form of two phase pulse signals (phases A and B) with a 90°...
  • Page 170 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Output Phase Forms Forward rotation or movement Reverse rotation or movement (phase B leads by 90°) (phase A leads by 90°) 90° 90° Phase A Phase A Phase B Phase B Phase C Phase C...
  • Page 171 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  Precautions When Using a Linear Incremental Encoder from Magnes- cale Co., Ltd.  Encoder Divided Phase-C Pulse Output Selection You can also output the encoder’s phase-C pulse for reverse movement. To do so, set Pn081 to n.1.
  • Page 172 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When First Passing the Origin Signal in the Forward Direction and Returning after Turning ON the Power Supply The encoder’s phase-C pulse (CN1-21 and CN1-22) is output when the origin detection posi- tion is passed for the first time in the forward direction after the power supply is turned ON.
  • Page 173 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi- tion in the Reverse Direction after Turning ON the Power Supply The encoder’s phase-C pulse is not output when the origin detection position is passed for the first time in the reverse direction after the power supply is turned ON.

  • Page 174: Setting For The Encoder Divided Pulse Output

    6.5 Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output This section describes the setting for the encoder divided pulse output for a Rotary Servomotor or Linear Servomotor. Encoder Divided Pulse Output When Using a Rotary Servomotor If you will use a Rotary Servomotor, set the number of encoder output pulses (Pn212).
  • Page 175 6.5 Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output Encoder Divided Pulse Output When Using a Linear Servomotor If you will use a Linear Servomotor, set the encoder output resolution (Pn281). Speed Position Force Encoder Output Resolution Pn281 Setting Range Setting Unit...

  • Page 176: Software Limits

    6.6 Software Limits 6.6.1 Setting to Enable/Disable Software Limits Software Limits You can set limits in the software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.

  • Page 177: Selecting Torque Limits

    6.7 Selecting Torque Limits 6.7.1 Internal Torque Limits Selecting Torque Limits You can limit the torque that is output by the Servomotor. There are four different ways to limit the torque. These are described in the following table. Limit Method Outline Control Method Reference...

  • Page 178: External Torque Limits

    6.7 Selecting Torque Limits 6.7.2 External Torque Limits Note: If the setting of Pn483 or Pn484 is too low, the force may be insufficient for acceleration or deceleration of the Servomotor. Without Internal Torque Limits With Internal Force Limits (Output to the maximum force is possible.) Maximum force Force limit Speed...
  • Page 179 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Setting the Torque Limits The parameters that are related to setting the torque limits are given below. • Rotary Servomotors If the setting of Pn402 (Forward Torque Limit), Pn403 (Reverse Torque Limit), Pn404 (Forward External Torque Limit), or Pn405 (Reverse External Torque Limit) is too low, the torque may be insufficient for acceleration or deceleration of the Servomotor.
  • Page 180 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Changes in the Output Torque for External Torque Limits The following table shows the changes in the output torque when the internal torque limit is set to 800%. • Rotary Servomotors In this example, the Servomotor direction is set to Pn000 = n.0 (Use CCW as the forward direction).

  • Page 181: Clt (Torque Limit Detection) Signal

    6.7 Selecting Torque Limits 6.7.3 /CLT (Torque Limit Detection) Signal 6.7.3 /CLT (Torque Limit Detection) Signal This section describes the /CLT signal, which indicates the status of limiting the motor output torque. Type Signal Connector Pin No. Signal Status Meaning The motor output torque is being ON (closed) limited.

  • Page 182: Absolute Encoders

    6.8 Absolute Encoders 6.8.1 Connecting an Absolute Encoder Absolute Encoders The absolute encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute encoder, the host controller can monitor the current position. Therefore, it is not necessary to perform an origin return operation when the power supply to the sys- tem is turned ON.

  • Page 183: Structure Of The Position Data Of The Absolute Encoder

    6.8 Absolute Encoders 6.8.2 Structure of the Position Data of the Absolute Encoder 6.8.2 Structure of the Position Data of the Absolute Encoder The position data of the absolute encoder is the position coordinate from the origin of the absolute encoder.

  • Page 184: Reading The Position Data From The Absolute Encoder

    6.8 Absolute Encoders 6.8.4 Reading the Position Data from the Absolute Encoder 6.8.4 Reading the Position Data from the Absolute Encoder The SENS_ON (Turn ON Encoder) command is used to read the position data from the absolute encoder. The sequence for using the SENS_ON command to read the position data from the absolute encoder of a Rotary Servomotor is given below.

  • Page 185: Transmission Specifications

    6.8 Absolute Encoders 6.8.5 Transmission Specifications 6.8.5 Transmission Specifications The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal are given in the following table. The PAO signal sends only the multiturn data. Refer to the following section for the timing of sending the position data from the absolute encoder. 6.8.4 on page 6-32 Reading the Position Data from the Absolute Encoder...

  • Page 186: Alarm Output From Output Ports For The Position Data From The Absolute Encoder

    6.8 Absolute Encoders 6.8.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder The current position P in the machine coordinate system is calculated as follows: × R + P × R + P ’ Symbol Meaning Position data for the current position of the absolute encoder Current position of the multiturn data of the absolute encoder...

  • Page 187: Multiturn Limit Setting

    6.8 Absolute Encoders 6.8.8 Multiturn Limit Setting 6.8.8 Multiturn Limit Setting The multiturn limit is used in position control for a turntable or other rotating body. For example, consider a machine that moves the turntable shown in the following diagram in only one direction.

  • Page 188: Multiturn Limit Disagreement Alarm (A.cc0)

    6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Default Setting Not Default Setting +32,767 Setting of Pn205 Reverse Reverse Forward Forward Multiturn data Multiturn data Number of Number of rotations rotations -32,768 The multiturn data will always be 0 in the following cases. It is not necessary to reset the Information absolute encoder in these cases.
  • Page 189 6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Operating Procedure Select Setup - Multiturn Limit Setting from the menu bar of the Main Window of the SigmaWin+. Click the Continue Button. Click the Cancel Button to cancel setting the multiturn limit. The Main Window will return.
  • Page 190 6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Select Setup - Multiturn Limit Setting from the menu bar of the Main Window of the SigmaWin+. Click the Continue Button. Click the Writing into the Motor Button. Click the Re-change Button to change the setting. Click the OK Button.

  • Page 191: Absolute Linear Encoders

    6.9 Absolute Linear Encoders 6.9.1 Connecting an Absolute Linear Encoder Absolute Linear Encoders The absolute linear encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute linear encoder, the host controller can monitor the current position.

  • Page 192: Output Ports For The Position Data From The Absolute Linear Encoder

    6.9 Absolute Linear Encoders 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder You can read the position data of the absolute linear encoder from the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.

  • Page 193: Reading The Position Data From The Absolute Linear Encoder

    6.9 Absolute Linear Encoders 6.9.4 Reading the Position Data from the Absolute Linear Encoder 6.9.4 Reading the Position Data from the Absolute Linear Encoder The SENS_ON (Turn ON Encoder) command is used to read the position data from the abso- lute linear encoder.

  • Page 194: Calculating The Current Position In Machine Coordinates

    6.9 Absolute Linear Encoders 6.9.6 Calculating the Current Position in Machine Coordinates Data Format of PAO Signal As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit upper 15- bit position data, and “CR” (which indicates the end of the message). + or −...

  • Page 195: Alarm Output From The Output Ports For The Position Data From The Absolute Linear Encoder

    6.9 Absolute Linear Encoders 6.9.7 Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder 6.9.7 Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder Any alarm detected by the SERVOPACK is transmitted as the upper 16-bit data (with sign) to the host controller with the PAO (Encoder Divided Pulse Output) signal when the SENS_ON (Turn ON Encoder) command turns OFF.

  • Page 196: Software Reset

    6.10 Software Reset 6.10.1 Preparations 6.10 Software Reset You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and changing the settings of parameters that normally require turning the power supply to the SERVOPACK OFF and ON again. This can be used to change those parameters without turning the power supply to the SERVOPACK OFF and ON again.
  • Page 197 6.10 Software Reset 6.10.3 Operating Procedure Click the Execute Button. Click the Cancel Button to cancel the software reset. The Main Window will return. Click the Execute Button. Click the OK Button to end the software reset operation. All settings including parameters will have been re-calculated. When you finish this operation, discon- nect the SigmaWin+ from the SERVOPACK, and then connect it again.
  • Page 198 6.10 Software Reset 6.10.3 Operating Procedure Select the Reset MECHATROLINK communication Check Box. MECHA Click the Execute Button. If you perform a software reset without resetting MECHATROLINK communications, a com- munications error will occur between the controller and SERVOPACK, and communications will no longer be possible.
  • Page 199 6.10 Software Reset 6.10.3 Operating Procedure Click the Yes Button. The parameters that are automatically updated will be updated in controller’s setting parameters (reg- isters: OW). At the same time, MECHATROLINK communications will be reset and the MECHATROLINK Commu- nications Reset Dialog Box will be closed. MECHA 6-47...

  • Page 200: Initializing The Vibration Detection Level

    6.11 Initializing the Vibration Detection Level 6.11.1 Preparations 6.11 Initializing the Vibration Detection Level You can detect machine vibration during operation to automatically adjust the settings of Pn312 or Pn384 (Vibration Detection Level) to detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration Warning) more precisely.

  • Page 201: Operating Procedure

    6.11 Initializing the Vibration Detection Level 6.11.3 Operating Procedure Tool Function Operating Procedure Reference Setup - Initialize Vibra- SigmaWin+ 6.11.3 Operating Procedure on page 6-49 tion Detection Level 6.11.3 Operating Procedure Use the following procedure. Select Setup - Initialize Vibration Detection Level from the menu bar of the Main Win- dow of the SigmaWin+.

  • Page 202: Related Parameters

    6.11 Initializing the Vibration Detection Level 6.11.4 Related Parameters The newly set vibration detection level will be displayed and the value will be saved in the SERVO- PACK. 6.11.4 Related Parameters The following three items are given in the following table. •...

  • Page 203: Adjusting The Motor Current Detection Signal Offset

    6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment 6.12 Adjusting the Motor Current Detection Signal Offset The motor current detection signal offset is used to reduce ripple in the torque. You can adjust the motor current detection signal offset either automatically or manually. 6.12.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.

  • Page 204: Manual Adjustment

    6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Offset Dialog Box. Click the Adjust Button. The values that result from automatic adjustment will be displayed in the New Boxes. 6.12.2 Manual Adjustment You can use this function if you automatically adjust the motor current detection signal offset and the torque ripple is still too large.
  • Page 205 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment Preparations The following conditions must be met to manually adjust the motor current detection signal off- set. • The parameters must not be write prohibited. Applicable Tools The following table lists the tools that you can use to manually adjust the offset and the applica- ble tool functions.
  • Page 206 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment Use the +1 and -1 Buttons to adjust the offset for phase V. Change the offset by about 10 in the direction that reduces the torque ripple. Repeat steps 4 to 7 until the torque ripple cannot be improved any further regardless of whether you increase or decrease the offsets.

  • Page 207: Trial Operation And Actual Operation

    Trial Operation and Actual Operation This chapter provides information on the flow and proce- dures for trial operation and convenient functions to use during trial operation. Flow of Trial Operation ....7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .

  • Page 208: Flow Of Trial Operation

    7.1 Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors The procedure for trial operation is given below. Step Meaning Reference Installation Install the Servomotor and SERVOPACK according to the installation conditions.

  • Page 209: Flow Of Trial Operation For Linear Servomotors

    7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Trial Operation with the Servomotor Con- nected to the Machine CN1, to host controller To power supply 7.5 Trial Operation with the Servomotor Connected to Secure the motor flange to the the Machine on page 7-11 machine, and connect the...
  • Page 210 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Setting Parameters in the SERVOPACK No. of Parameter to Step Description Remarks Reference Set this parameter only if Linear Encoder Pn282 you are using a Serial Con- page 5-17...
  • Page 211 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Trial Operation with MECHATROLINK-II Communications To power CN1, to supply host controller 7.4 Trial Operation with MECHATROLINK-II Communi- cations on page 7-10 Trial Operation with the Servomotor Connected to the Machine To power...

  • Page 212: Inspections And Confirmations Before Trial Operation

    7.2 Inspections and Confirmations before Trial Operation Inspections and Confirmations before Trial Operation To ensure safe and correct trial operation, check the following items before you start trial oper- ation. • Make sure that the SERVOPACK and Servomotor are installed, wired, and connected cor- rectly.

  • Page 213: Trial Operation For The Servomotor Without A Load

    7.3 Trial Operation for the Servomotor without a Load 7.3.1 Preparations Trial Operation for the Servomotor without a Load You use jogging for trial operation of the Servomotor without a load. Jogging is used to check the operation of the Servomotor without connecting the SERVOPACK to the host controller.

  • Page 214: Applicable Tools

    7.3 Trial Operation for the Servomotor without a Load 7.3.2 Applicable Tools 7.3.2 Applicable Tools The following table lists the tools that you can use to perform jogging and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual (Manual Digital Operator Fn002 No.: SIEP S800001 33)
  • Page 215 7.3 Trial Operation for the Servomotor without a Load 7.3.3 Operating Procedure Click the Forward Button or the Reverse Button. Jogging will be performed only while you hold down the mouse button. After you finish jogging, turn the power supply to the SERVOPACK OFF and ON again. This concludes the jogging procedure.

  • Page 216: Trial Operation With Mechatrolink-Ii Communications

    You can check the response data from the SERVOPACK with the SMON command. Confirm the product model with the ID_RD command. The SERVOPACK will return the product model (example: SGD7S-R90A10A). Set the following items, which are necessary for trial operation.

  • Page 217: Trial Operation With The Servomotor Connected To The Machine

    7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.1 Precautions Trial Operation with the Servomotor Connected to the Machine This section provides the procedure for trial operation with both the machine and Servomotor. 7.5.1 Precautions WARNING  Operating mistakes that occur after the Servomotor is connected to the machine may not only damage the machine, but they may also cause accidents resulting in personal injury.

  • Page 218: Operating Procedure

    7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.3 Operating Procedure 7.5.3 Operating Procedure Enable the overtravel signals. 5.11.2 Setting to Enable/Disable Overtravel on page 5-29 Make the settings for the protective functions, such as the safety function, overtravel, and the brake.

  • Page 219: Convenient Function To Use During Trial Operation

    7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Convenient Function to Use during Trial Operation This section describes some convenient operations that you can use during trial operation. Use them as required. 7.6.1 Program Jogging You can use program jogging to perform continuous operation with a preset operation pattern, travel distance, movement speed, acceleration/deceleration time, waiting time, and number of movements.
  • Page 220 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Continued from previous page. Setting Setting Operation Pattern of Pn530 Number of movements (Pn536) Speed 0 Movement Speed (Waiting time Travel Travel Travel Rotary Servomotor: → Reverse distance distance distance Pn533 by travel dis-...
  • Page 221 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging If Pn530 is set to n.0, n.1, n.4, or n.5, you can set Pn536 (Program Information Jogging Number of Movements) to 0 to perform infinite time operation. You cannot use infinite time operation if Pn530 is set to n.2 or n.3. If you perform infinite time operation from the Digital Operator, press the JOG/SVON Key to turn OFF the servo to end infinite time operation.

  • Page 222: Operating Procedure

    7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging • Linear Servomotors Speed Position Force Program Jogging-Related Selections Pn530 Setting Range Setting Unit Default Setting When Enabled Classification − 0000 to 0005 0000 Immediately Setup Program Jogging Travel Distance Speed Position Force...

  • Page 223: Program Jogging

    7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Set the operating conditions, click the Apply Button, and then click the Run Button. A graph of the operation pattern will be displayed. Click the Servo ON Button and then the Execute Button. The program jogging operation will be executed.

  • Page 224: Origin Search

    7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search 7.6.2 Origin Search The origin search operation positions the motor to the origin within one rotation and the clamps it there. CAUTION  Make sure that the load is not coupled when you execute an origin search. The Forward Drive Prohibit (P-OT) signal and Reverse Drive Prohibit (N-OT) signal are disabled during an origin search.
  • Page 225 7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Operating Procedure Use the following procedure. Select Setup - Origin Search from the menu bar of the Main Window of the SigmaWin+. The Origin Search Dialog Box will be displayed. Read the warnings and then click the OK Button.

  • Page 226: Test Without A Motor

    7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor 7.6.3 Test without a Motor A test without a motor is used to check the operation of the host controller and peripheral devices by simulating the operation of the Servomotor in the SERVOPACK, i.e., without actually operating a Servomotor.
  • Page 227 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor • Linear Servomotors Motor Connection Information That Is Used Source of Information Status Motor information Information in the motor that is connected Linear encoder informa- tion Connected •...
  • Page 228 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Restrictions The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal Refer to the following section for information on confirming the brake output signal. 9.2.3 I/O Signal Monitor on page 9-5 •...
  • Page 229 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor SigmaWin+ Digital Operator Executable? Reference Menu Bar SigmaWin+ Function Motor Not Motor Fn No. Utility Function Name Button Name Connected Connected Display Servomotor   Fn011 Model page 9-2 Display Software Ver- ...

  • Page 230: Operation Using Mechatrolink-Ii Commands

    7.7 Operation Using MECHATROLINK-II Commands Operation Using MECHATROLINK-II Commands Refer to the following manual for information on MECHATROLINK-II commands. Σ-7-Series MECHATROLINK-II Communications Command Manual (Manual No.: SIEP S800001 30) 7-24...

  • Page 231: Tuning

    Tuning This chapter provides information on the flow of tuning, details on tuning functions, and related operating proce- dures. Overview and Flow of Tuning ... 8-4 8.1.1 Tuning Functions ......8-5 8.1.2 Diagnostic Tool .
  • Page 232 Autotuning without Host Reference ..8-23 8.6.1 Outline ....... .8-23 8.6.2 Restrictions .
  • Page 233 8.11 Additional Adjustment Functions ..8-59 8.11.1 Gain Switching ......8-59 8.11.2 Friction Compensation .

  • Page 234: Overview And Flow Of Tuning

    8.1 Overview and Flow of Tuning Overview and Flow of Tuning Tuning is performed to optimize response by adjusting the servo gains in the SERVOPACK. The servo gains are set using a combination of parameters, such as parameters for the speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio.

  • Page 235: Tuning Functions

    8.1 Overview and Flow of Tuning 8.1.1 Tuning Functions 8.1.1 Tuning Functions The following table provides an overview of the tuning functions. Applicable Con- Tuning Function Outline Reference trol Methods This automatic adjustment function is designed to enable stable operation without servo tuning. This Speed control or Tuning-less Function function can be used to obtain a stable response...

  • Page 236: Diagnostic Tool

    8.1 Overview and Flow of Tuning 8.1.2 Diagnostic Tool 8.1.2 Diagnostic Tool You can use the following tools to measure the frequency characteristics of the machine and set notch filters. Applicable Diagnostic Tool Outline Reference Control Methods The machine is subjected to vibration to detect Speed control, Mechanical Analysis resonance frequencies.

  • Page 237: Monitoring Methods

    8.2 Monitoring Methods Monitoring Methods You can use the data tracing function of the SigmaWin+ or the analog monitor signals of the SERVOPACK for monitoring. If you perform custom tuning or manual tuning, always use the above functions to monitor the machine operating status and SERVOPACK signal waveform while you adjust the servo gains.

  • Page 238: Precautions To Ensure Safe Tuning

    8.3 Precautions to Ensure Safe Tuning 8.3.1 Overtravel Settings Precautions to Ensure Safe Tuning CAUTION  Observe the following precautions when you perform tuning. • Do not touch the rotating parts of the motor when the servo is ON. • Before starting the Servomotor, make sure that an emergency stop can be performed at any time.
  • Page 239 8.3 Precautions to Ensure Safe Tuning 8.3.3 Setting the Position Deviation Overflow Alarm Level Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units] • Rotary Servomotors Maximum motor speed [min Encoder resolution Pn210 × × × (1.2 to 2) Pn520 >...

  • Page 240: Vibration Detection Level Setting

    8.3 Precautions to Ensure Safe Tuning 8.3.4 Vibration Detection Level Setting 8.3.4 Vibration Detection Level Setting You can set the vibration detection level (Pn312) to more accurately detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration Warning) when vibration is detected during machine operation.

  • Page 241: Tuning-Less Function

    8.4 Tuning-less Function 8.4.1 Application Restrictions Tuning-less Function The tuning-less function performs autotuning to obtain a stable response regardless of the type of machine or changes in the load. Autotuning is started when the servo is turned ON. CAUTION  The tuning-less function is disabled during torque control. ...

  • Page 242: Operating Procedure

    8.4 Tuning-less Function 8.4.2 Operating Procedure 8.4.2 Operating Procedure The tuning-less function is enabled in the default settings. No specific procedure is required. You can use the following parameter to enable or disable the tuning-less function. Parameter Meaning When Enabled Classification ...

  • Page 243: Troubleshooting Alarms

    8.4 Tuning-less Function 8.4.3 Troubleshooting Alarms Click the Button to adjust the response level setting. Increase the response level setting to increase the response. Decrease the response level setting to suppress vibration. The default response level setting is 4. Response Level Setting Description Remarks Response level: High...

  • Page 244: Parameters Disabled By Tuning-Less Function

    8.4 Tuning-less Function 8.4.4 Parameters Disabled by Tuning-less Function 8.4.4 Parameters Disabled by Tuning-less Function When the tuning-less function is enabled (Pn170 = n.1) (default setting), the parameters in the following table are disabled. Item Parameter Name Parameter Number Speed Loop Gain Pn100 Second Speed Loop Gain Pn104...

  • Page 245: Estimating The Moment Of Inertia

    8.5 Estimating the Moment of Inertia 8.5.1 Outline Estimating the Moment of Inertia This section describes how the moment of inertia is calculated. The moment of inertia ratio that is calculated here is used in other tuning functions. You can also estimate the moment of inertia during autotuning without a host reference.

  • Page 246: Restrictions

    8.5 Estimating the Moment of Inertia 8.5.2 Restrictions 8.5.2 Restrictions The following restrictions apply to estimating the moment of inertia. Systems for which Execution Cannot Be Performed • When the machine system can move only in one direction • When the range of motion is 0.5 rotations or less Systems for Which Adjustments Cannot Be Made Accurately •...

  • Page 247: Operating Procedure

    8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure 8.5.4 Operating Procedure Use the following procedure to set the moment of inertia ratio. WARNING  Estimating the moment of inertia requires operating the motor and therefore presents haz- ards. Observe the following precaution. •...
  • Page 248 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Execute Button. Set the conditions as required.           Speed Loop Setting Area Make the speed loop settings in this area. If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
  • Page 249 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure  Help Button Click this button to display guidelines for setting the reference conditions. Make the fol- lowing settings as required. • Operate the motor to measure the load moment of inertia of the machine in comparison with the rotor moment of inertia.
  • Page 250 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Start Button.       Start Button The reference conditions will be transferred to the SERVOPACK. A progress bar will show the progress of the transfer. ...
  • Page 251 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Reverse Button. The shaft will rotate in the reverse direction and the measurement will start. After the measurement and data transfer have been completed, the Forward Button will be displayed in color. Repeat steps 8 to 9 until the Next Button is enabled.
  • Page 252 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Writing Results Button.       Identified Moment of Inertia Ratio Box The moment of inertia ratio that was found with operation and measurements is dis- played here.

  • Page 253: Autotuning Without Host Reference

    8.6 Autotuning without Host Reference 8.6.1 Outline Autotuning without Host Reference This section describes autotuning without a host reference. • Autotuning without a host reference performs adjustments based on the setting of the speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when adjustments are started.

  • Page 254: Restrictions

    8.6 Autotuning without Host Reference 8.6.2 Restrictions Rated motor speed Movement speed  2/3 References Time t Responses Rated motor speed  2/3 Motor rated torque: S_M-II Approx. 100% SERVOPACK Travel Distance Servomotor Time t Motor rated torque: Note: Execute autotuning without a host reference after jogging to a position that ensures a suitable range of motion.

  • Page 255: Applicable Tools

    8.6 Autotuning without Host Reference 8.6.3 Applicable Tools Preparations Check the following settings before you execute autotuning without a host reference. • The main circuit power supply must be ON. • There must be no overtravel. • The servo must be OFF. •...
  • Page 256 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Execute Button. Click the OK Button. Select the No Reference Input Option in the Autotuning Area and then click the Auto- tuning Button. 8-26...
  • Page 257 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Set the conditions in the Switching the load moment of inertia (load mass) identifica- tion Box, the Mode selection Box, the Mechanism selection Box, and the Distance Box, and then click the Next Button. •...
  • Page 258 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Servo ON Button. Click the Start tuning Button. Confirm safety around moving parts and click the Yes Button. 8-28...

  • Page 259: Troubleshooting Problems In Autotuning Without A Host Reference

    8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference The motor will start operating and tuning will be executed. Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration. When the settings have been completed, the indicators for the functions that were used will light at the lower left of the dialog box.
  • Page 260 8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference  When an Error Occurs during Execution of Autotuning without a Host Reference Error Possible Cause Corrective Action • Increase the setting of the positioning completed width (Pn522). •...

  • Page 261: Automatically Adjusted Function Settings

    8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings 8.6.6 Automatically Adjusted Function Settings You can specify whether to automatically adjust the following functions during autotuning.  Automatic Notch Filters Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration will be detected during autotuning without a host reference and a notch filter will be adjusted.
  • Page 262 8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings Parameter Function When Enabled Classification Do not adjust vibration suppression automati- cally during execution of autotuning without a   host reference, autotuning with a host refer- ence, and custom tuning. Pn140 Immediately Tuning...

  • Page 263: Related Parameters

    8.6 Autotuning without Host Reference 8.6.7 Related Parameters 8.6.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute autotuning without a host reference. Do not change the settings while autotuning without a host reference is being executed. Parameter Name Automatic Changes...

  • Page 264: Autotuning With A Host Reference

    8.7 Autotuning with a Host Reference 8.7.1 Outline Autotuning with a Host Reference This section describes autotuning with a host reference. Autotuning with a host reference makes adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when adjustments are started.

  • Page 265: Restrictions

    8.7 Autotuning with a Host Reference 8.7.2 Restrictions 8.7.2 Restrictions Systems for Which Adjustments Cannot Be Made Accurately Adjustments will not be made correctly for autotuning with a host reference in the following cases. Use custom tuning. • When the travel distance for the reference from the host controller is equal to or lower than the setting of the positioning completed width (Pn522) •...

  • Page 266: Operating Procedure

    8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure 8.7.4 Operating Procedure Use the following procedure to perform autotuning with a host reference. CAUTION  If you are using an MP3000-Series Controller for phase control, set the mode selection to 1. If 2 or 3 is selected for the mode, correct phase control may not be possible.
  • Page 267 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Set the conditions in the Mode selection Box and the Mechanism selection Box, and then click the Next Button. If you select the Start tuning using the default settings Check Box in the Tuning parameters Area, the tuning parameters will be returned to the default settings before tuning is started.
  • Page 268 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Input the correct moment of inertia ratio and click the Next Button. Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button. 8-38...
  • Page 269 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Confirm safety around moving parts and click the Yes Button. The motor will start operating and tuning will be executed. Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration.

  • Page 270: Troubleshooting Problems In Autotuning With A Host Reference

    8.7 Autotuning with a Host Reference 8.7.5 Troubleshooting Problems in Autotuning with a Host Reference 8.7.5 Troubleshooting Problems in Autotuning with a Host Reference The following tables give the causes of and corrections for problems that may occur in autotun- ing with a host reference.

  • Page 271: Related Parameters

    8.7 Autotuning with a Host Reference 8.7.7 Related Parameters 8.7.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute autotuning with a host reference. Do not change the settings while autotuning with a host reference is being executed. Parameter Name Automatic Changes...

  • Page 272: Custom Tuning

    8.8 Custom Tuning 8.8.1 Outline Custom Tuning This section describes custom tuning. 8.8.1 Outline You can use custom tuning to manually adjust the servo during operation using a speed or position reference input from the host controller. You can use it to fine-tune adjustments that were made with autotuning.

  • Page 273: Applicable Tools

    8.8 Custom Tuning 8.8.3 Applicable Tools 8.8.3 Applicable Tools The following table lists the tools that you can use to perform custom tuning and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Digital Operator Fn203 Manual (Manual No.: SIEP S800001 33) −...
  • Page 274 8.8 Custom Tuning 8.8.4 Operating Procedure When the following dialog box is displayed, click the OK Button and then confirm that the Information correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio). Click the Advanced adjustment Button. Click the Custom tuning Button.
  • Page 275 8.8 Custom Tuning 8.8.4 Operating Procedure Set the Tuning mode Box and Mechanism selection Box, and then click the Next But- ton. Tuning mode Box Mode Selection Description This setting gives priority to stability and preventing overshooting. In addi- 0: Set servo gains tion to gain adjustment, notch filters with priority given and anti-resonance control (except...
  • Page 276 8.8 Custom Tuning 8.8.4 Operating Procedure Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button. Tuning Mode 2 to 3 Tuning Mode 0 or 1 Use the Buttons to change the tuning level. Click the Back Button during tuning to restore the setting to its original value.
  • Page 277 8.8 Custom Tuning 8.8.4 Operating Procedure You can set the functions to suppress vibration (notch filters, automatic anti-resonance setting, vibration suppression, and autotuning with a host reference) as required. Refer to the following section for details. Vibration Suppression Functions on page 8-47 When tuning has been completed, click the Completed Button.
  • Page 278 8.8 Custom Tuning 8.8.4 Operating Procedure  Automatic Setting To set vibration suppression automatically, use the parameters to enable notch filters and auto- matic anti-resonance control setting. The notch filter frequency (stage 1 or 2) or anti-resonance control frequency that is effective for the vibration that was detected during tuning will be automatically set.

  • Page 279: Automatically Adjusted Function Settings

    8.8 Custom Tuning 8.8.5 Automatically Adjusted Function Settings 8.8.5 Automatically Adjusted Function Settings You cannot use vibration suppression functions at the same time. Other automatic function set- tings are the same as for autotuning without a host reference. Refer to the following section. 8.6.6 Automatically Adjusted Function Settings on page 8-31 8.8.6 Tuning Example for Tuning Mode 2 or 3...

  • Page 280: Related Parameters

    8.8 Custom Tuning 8.8.7 Related Parameters 8.8.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute custom tuning. Do not change the settings while custom tuning is being executed. Parameter Name Automatic Changes Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant...

  • Page 281: Anti-Resonance Control Adjustment

    8.9 Anti-Resonance Control Adjustment 8.9.1 Outline Anti-Resonance Control Adjustment This section describes anti-resonance control. 8.9.1 Outline Anti-resonance control increases the effectiveness of vibration suppression after custom tun- ing. Anti-resonance control is effective for suppression of continuous vibration frequencies from 100 to 1,000 Hz that occur when the control gain is increased.

  • Page 282: Applicable Tools

    8.9 Anti-Resonance Control Adjustment 8.9.3 Applicable Tools 8.9.3 Applicable Tools The following table lists the tools that you can use to perform anti-resonance control adjust- ment and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Man- Digital Operator Fn204 ual (Manual No.: SIEP S800001 33)
  • Page 283 8.9 Anti-Resonance Control Adjustment 8.9.4 Operating Procedure Click the Anti-res Ctrl Adj Button. The rest of the procedure depends on whether you know the vibration frequency. If you do not know the vibration frequency, click the Auto Detect Button. If you know the vibration frequency, click the Manual Set Button.

  • Page 284: Related Parameters

    8.9 Anti-Resonance Control Adjustment 8.9.5 Related Parameters When the adjustment has been completed, click the Finish Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia- log Box. This concludes the procedure. 8.9.5 Related Parameters The following parameters are automatically adjusted or used as reference when you execute...

  • Page 285: Vibration Suppression

    8.10 Vibration Suppression 8.10.1 Outline 8.10 Vibration Suppression This section describes vibration suppression. 8.10.1 Outline You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.

  • Page 286: Preparations

    8.10 Vibration Suppression 8.10.2 Preparations The vibration frequencies that are automatically detected may vary somewhat with each posi- Information tioning operation. Perform positioning several times and make adjustments while checking the effect of vibration suppression. 8.10.2 Preparations Check the following settings before you execute vibration suppression. •...
  • Page 287 8.10 Vibration Suppression 8.10.4 Operating Procedure Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies. If a vibration frequency is not detected, pro- vide a means of measuring the vibration frequency. Important Click the Set Button.

  • Page 288: Setting Combined Functions

    8.10 Vibration Suppression 8.10.5 Setting Combined Functions Vibration suppression will be enabled in step 5. The motor response, however, will change when the Servomotor comes to a stop with no reference input. Important This concludes the procedure. 8.10.5 Setting Combined Functions You can also use the feedforward function when you execute vibration suppression.

  • Page 289: Additional Adjustment Functions

    8.11 Additional Adjustment Functions 8.11.1 Gain Switching 8.11 Additional Adjustment Functions This section describes the functions that you can use to make adjustments after you perform autotuning without a host reference, autotuning with a host reference, and custom tuning. Function Applicable Control Methods Reference Gain Switching...
  • Page 290 8.11 Additional Adjustment Functions 8.11.1 Gain Switching Manual Gain Switching With manual gain switching, you use G-SEL in the option field to change between gain settings 1 and gain settings 2. Type Command Name Value Meaning Changes the gain settings to gain settings 1. Input G-SEL in the option field Changes the gain settings to gain settings 2.
  • Page 291 8.11 Additional Adjustment Functions 8.11.1 Gain Switching Waiting Switching time: Pn135 time: Pn131 Pn102 Position Loop Gain Pn106 Second Position Loop Gain /COIN Switching condition A satisfied. You can use gain switching for either PI control or I-P control (Pn10B = n.0 or 1). Information Related Parameters Speed...

  • Page 292: Friction Compensation

    8.11 Additional Adjustment Functions 8.11.2 Friction Compensation Continued from previous page. Position Second Model Following Control Correction Pn149 Setting Range Setting Unit Default Setting When Enabled Classification 500 to 2,000 0.1% 1,000 Immediately Tuning Speed Position Second Friction Compensation Gain Pn122 Setting Range Setting Unit...
  • Page 293 8.11 Additional Adjustment Functions 8.11.2 Friction Compensation Speed Position Second Friction Compensation Gain Pn122 Setting Range Setting Unit Default Setting When Enabled Classification 10 to 1,000 Immediately Tuning Speed Position Friction Compensation Coefficient Pn123 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100...

  • Page 294: Current Control Mode Selection

    Current control mode selection can be used for the following SERVOPACKs. To use current control mode selection, set Pn009 to n.1 (Use current control mode 2). This will set effective conditions for many situations. Input Voltage SERVOPACK Model 200 V SGD7S-120A, -180A, and -200A Parameter Meaning When Enabled Classification ...

  • Page 295: Speed Detection Method Selection

    8.11 Additional Adjustment Functions 8.11.5 Speed Detection Method Selection 8.11.5 Speed Detection Method Selection You can use the speed detection method selection to ensure smooth Servomotor speed changes during operation. To ensure smooth motor speed changes during operation, set Pn009 to n.1 (Use speed detection 2). With a Linear Servomotor, you can reduce the noise level of the running motor when the linear encoder scale pitch is large.

  • Page 296: Fully-Closed Loop Control

    8.11 Additional Adjustment Functions 8.11.7 Backlash Compensation Related Parameters Set the following parameters to use backlash compensation.  Backlash Compensation Direction Set the direction in which to apply backlash compensation. Parameter Meaning When Enabled Classification  Compensate forward references. (default setting) Pn230 After restart Setup...
  • Page 297 8.11 Additional Adjustment Functions 8.11.7 Backlash Compensation  Backlash Compensation Time Constant You can set a time constant for a first order lag filter for the backlash compensation value (Pn231) that is added to the position reference. If you set Pn233 (Backlash Compensation Time Constant) to 0, the first order lag filter is dis- abled.
  • Page 298 8.11 Additional Adjustment Functions 8.11.7 Backlash Compensation MECHA Servo ON Target position Target position Target position Driving in the Forward TPOS0 TPOS1 TPOS2 Reference travel Reference travel Forward reference Reference Direction distance 1 distance 2 direction APOS Machine shaft Pn231 Reference travel Reference travel distance 1...
  • Page 299 8.11 Additional Adjustment Functions 8.11.7 Backlash Compensation  Operation When There Is Overtravel When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or software  limit), the operation is the same as for when the servo is OFF ( Operation When the Servo Is OFF on page 8-68), i.e., backlash compensation is not applied.
  • Page 300 8.11 Additional Adjustment Functions 8.11.7 Backlash Compensation MECHATROLINK Monitor Information This section describes the information that is set for the MECHATROLINK monitor information (monitor 1, monitor 2, monitor 3, and monitor 4) and the backlash compensation operation. Monitor Abbreviation Description Unit Remarks Code...
  • Page 301 8.11 Additional Adjustment Functions 8.11.7 Backlash Compensation  Related Monitoring Diagrams The following symbols are used in the related monitoring diagrams. [A]: Analog monitor [U]: Monitor mode (Un monitor) [O]: Output signal [T]: Trace data [M]: MECHATROLINK monitor information [U] [M]: Input reference pulse S_MECHA [A] [T]: Speed feedforward counter...

  • Page 302: Manual Tuning

    Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) Figure 8.1 Simplified Block Diagram for Position Control In order to manually tune the servo gains, you must understand the configuration and charac- teristic of the SERVOPACK and adjust the servo gains individually.
  • Page 303 8.12 Manual Tuning 8.12.1 Tuning the Servo Gains Applicable Tools You can monitor the servo gains with the SigmaWin+ or with the analog monitor. Precautions Vibration may occur while you are tuning the servo gains. We recommend that you enable vibration alarms (Pn310 = n.2) to detect vibration.
  • Page 304 8.12 Manual Tuning 8.12.1 Tuning the Servo Gains Position Position Loop Gain Pn102 Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20,000 0.1/s Immediately Tuning For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can Information occur during high-speed operation.

  • Page 305: Notch Filters

    8.12 Manual Tuning 8.12.1 Tuning the Servo Gains Torque-Related Torque-Related Function Function Selections 1 Selections 2 Pn408 Pn416 Torque Torque First Second First Second Third Fourth Fifth stage first stage stage stage stage stage stage reference reference notch filter: notch filter: torque second notch filter:...
  • Page 306 8.12 Manual Tuning 8.12.1 Tuning the Servo Gains The notch filter frequency characteristics for different notch filter Q values are shown below. Q = 0.7 Q = 1.0 Frequency [Hz] Q = 0.5 Note: The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics.
  • Page 307 8.12 Manual Tuning 8.12.1 Tuning the Servo Gains Speed Position Torque First Stage Notch Filter Frequency Pn409 Setting Range Setting Unit Default Setting When Enabled Classification 50 to 5,000 1 Hz 5,000 Immediately Tuning Speed Position Torque First Stage Notch Filter Q Value Pn40A Setting Range Setting Unit...
  • Page 308 8.12 Manual Tuning 8.12.1 Tuning the Servo Gains • Do not set notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A, and Pn41D) that are close to the speed loop’s response frequency. Set a frequency that is at least four times the speed loop gain (Pn100).
  • Page 309 PI control would be the normal choice.  Decimal Points in Parameter Settings For the SGD7S SERVOPACKs, decimal places are given for the settings of parameters on the Digital Operator, Panel Operator, and in the manual. For example with Pn100 (Speed Loop Gain), Pn100 = 40.0 is used to indicate a setting of 40.0 Hz.
  • Page 310 Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) mKp: Model following control gain (Pn141)
  • Page 311 8.12 Manual Tuning 8.12.1 Tuning the Servo Gains Parameter Function When Enabled Classification  Do not use model following control. (default setting)  Use model following control.   Do not perform vibration suppression. Pn140 Immediately Tuning (default setting) Perform vibration suppression for a specific ...

  • Page 312: Compatible Adjustment Functions

    8.12 Manual Tuning 8.12.2 Compatible Adjustment Functions Position Model Following Control Speed Feedforward Compensation Pn147 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10,000 0.1% 1,000 Immediately Tuning  Model Following Control Type Selection When you enable model following control, you can select the model following control type. Nor- mally, set Pn14F to n.1 (Use model following control type 2) (default setting).
  • Page 313 8.12 Manual Tuning 8.12.2 Compatible Adjustment Functions Without Mode Switching With Mode Switching Motor Motor Overshooting speed speed Actual Servomotor operation Reference Time Time Settling time Overshooting Settling time  Related Parameters Select the switching condition for mode switching with Pn10B = n.X. Parameter That Sets the Level Mode Switching...
  • Page 314 8.12 Manual Tuning 8.12.2 Compatible Adjustment Functions Speed Position Mode Switching Level for Acceleration Setting Range Setting Unit Default Setting When Enabled Classification Pn182 0 to 30,000 Immediately Tuning 1 mm/s Position Mode Switching Level for Position Deviation Pn10F Setting Range Setting Unit Default Setting When Enabled...
  • Page 315 PI control Position Integral The position integral is the integral function of the position loop. It is used for the electronic cams and electronic shafts when using the SERVOPACK with a Yaskawa MP3000-Series Machine Controller. Position Position Integral Time Constant...

  • Page 316: Diagnostic Tools

    8.13 Diagnostic Tools 8.13.1 Mechanical Analysis 8.13 Diagnostic Tools 8.13.1 Mechanical Analysis Overview You can connect the SERVOPACK to a computer to measure the frequency characteristics of the machine. This allows you to measure the frequency characteristics of the machine without using a measuring instrument.

  • Page 317: Easy Fft

    8.13 Diagnostic Tools 8.13.2 Easy FFT Frequency Characteristics The motor is used to cause the machine to vibrate and the frequency characteristics from the torque to the motor speed are measured to determine the machine characteristics. For a nor- mal machine, the resonance frequencies are clear when the frequency characteristics are plot- ted on graphs with the gain and phase (Bode plots).
  • Page 318 8.13 Diagnostic Tools 8.13.2 Easy FFT WARNING  Never touch the Servomotor or machine during execution of Easy FFT. Doing so may result in injury. CAUTION  Use Easy FFT when the servo gain is low, such as in the initial stage of servo tuning. If you execute Easy FFT after you increase the gain, the machine may vibrate depending on the machine characteristics or gain balance.
  • Page 319 8.13 Diagnostic Tools 8.13.2 Easy FFT Click the OK Button. Another EasyFFT Dialog Box will be displayed. Click the Servo ON Button. Select the instruction (reference) amplitude and the rotation direction in the Measure- ment condition Area, and then click the Start Button. The motor shaft will rotate and measurements will start.
  • Page 320 8.13 Diagnostic Tools 8.13.2 Easy FFT Check the results in the Measurement result Area and then click the Measurement complete Button. Click the Result Writing Button if you want to set the measurement results in the param- eters. This concludes the procedure. Related Parameters The following parameters are automatically adjusted or used as reference when you execute Easy FFT.

  • Page 321: Monitoring

    Monitoring This chapter provides information on monitoring SERVO- PACK product information and SERVOPACK status. Monitoring Product Information ..9-2 9.1.1 Items That You Can Monitor ....9-2 9.1.2 Operating Procedures .

  • Page 322: Monitoring Product Information

    9.1 Monitoring Product Information 9.1.1 Items That You Can Monitor Monitoring Product Information 9.1.1 Items That You Can Monitor Monitor Items • SERVOPACK model • SERVOPACK software version • SERVOPACK special specifications Information on SERVOPACKs • SERVOPACK serial number • SERVOPACK manufacturing date •...

  • Page 323: Monitoring Servopack Status

    9.2 Monitoring SERVOPACK Status 9.2.1 System Monitor Monitoring SERVOPACK Status 9.2.1 System Monitor Use one of the following methods to display the System Monitor Window. • Start the SigmaWin+. The System Monitor Window will be automatically displayed. • Select Monitor - Monitor - System Monitor from the menu bar of the Main Window of the SigmaWin+.
  • Page 324 9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations Monitor Items The items that you can monitor on the Status Monitor Window and Motion Monitor Window are listed below. • Status Monitor Window Monitor Items • Main Circuit • /S-ON (Servo ON Input Signal) •...

  • Page 325: I/O Signal Monitor

    9.2 Monitoring SERVOPACK Status 9.2.3 I/O Signal Monitor 9.2.3 I/O Signal Monitor Use the following procedure to check I/O signals. Select Monitor - Check Wiring from the menu bar of the Main Window of the Sig- maWin+. Click the Monitor Mode Button. M-II Output signal status Input signal status...

  • Page 326: Monitoring Machine Operation Status And Signal Waveforms

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.1 Items That You Can Monitor Monitoring Machine Operation Status and Signal Waveforms To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a memory recorder. 9.3.1 Items That You Can Monitor You can use the SigmaWin+ or a measuring instrument to monitor the shaded items in the fol- lowing block diagram.

  • Page 327: Using The Sigmawin

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.2 Using the SigmaWin+ 9.3.2 Using the SigmaWin+ This section describes how to trace data and I/O with the SigmaWin+. Refer to the following manual for detailed operating procedures for the SigmaWin+. AC Servo Drives Engineering Tool SigmaWin+ Online Manual Σ-7 Component (Manual No.: SIEP S800001 48) Operating Procedure Select Trace - Trace from the menu bar of the Main Window of the SigmaWin+.
  • Page 328 Connect a measuring instrument, such as a memory recorder, to the analog monitor connector (CN5) on the SERVOPACK to monitor analog signal waveforms. The measuring instrument is not provided by Yaskawa. Refer to the following section for details on the connection.

  • Page 329: Using A Measuring Instrument

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument Description Parameter Monitor Signal Output Unit Remarks n.00 • Rotary Servomotor: 1 V/1,000 min (default Motor Speed – • Linear Servomotor: 1 V/1,000 mm/s setting of Pn007) •...
  • Page 330 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument Changing the Monitor Factor and Offset You can change the monitor factors and offsets for the output voltages for analog monitor 1 and analog monitor 2. The relationships to the output voltages are as follows: Analog Monitor 1 Signal Analog Monitor 1 Analog Monitor 1...

  • Page 331: Using A Measuring Instrument

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument  Adjustment Example An example of adjusting the output of the motor speed monitor is provided below. Offset Adjustment Gain Adjustment Analog monitor output voltage Analog monitor output voltage 1 [V] Gain adjustment...
  • Page 332 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument • Gain Adjustment Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn00D (Manual No.: SIEP S800001 33)  SigmaWin+ Setup - Adjust Offset Operating Procedure on page 9-12 ...
  • Page 333 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument While watching the analog monitor, use the +1 and -1 Buttons to adjust the offset. There are two channels: CH1 and CH2. If necessary, click the down arrow on the Channel Box and select the channel.

  • Page 334: Monitoring Product Life

    9.4 Monitoring Product Life 9.4.1 Items That You Can Monitor Monitoring Product Life 9.4.1 Items That You Can Monitor Monitor Items • SERVOPACK Installation Environment • Servomotor Installation Environment • Built-in Fan Service Life Prediction • Capacitor Service Life Prediction •...
  • Page 335 Fully-Closed Loop Control This chapter provides detailed information on performing fully-closed loop control with the SERVOPACK. 10.1 Fully-Closed System ....10-2 10.2 SERVOPACK Commissioning Procedure . 10-3 10.3 Parameter Settings for Fully-Closed Loop Control .

  • Page 336: Fully-Closed System

    Encoder Cable* External encoder (Not provided by Yaskawa.) The connected devices and cables depend on the type of external linear encoder that is used. Note: Refer to the following section for details on connections that are not shown above, such as connections to power supplies and peripheral devices.

  • Page 337: Servopack Commissioning Procedure

    10.2 SERVOPACK Commissioning Procedure 10.2 SERVOPACK Commissioning Procedure First, confirm that the SERVOPACK operates correctly with semi-closed loop control, and then confirm that it operates correctly with fully-closed loop control. The commissioning procedure for the SERVOPACK for fully-closed loop control is given below. Con- Required Parameter Step...
  • Page 338 10.2 SERVOPACK Commissioning Procedure Continued from previous page. Con- Required Parameter Step Description Operation trolling Settings Device Perform a program jog- Perform a program jogging opera- ging operation. tion and confirm that the travel dis- • Pn530 to Pn536 (pro- Items to Check tance is the same as the reference SERVO-...

  • Page 339: Parameter Settings For Fully-Closed Loop Control

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.1 Control Block Diagram for Fully-Closed Loop Control 10.3 Parameter Settings for Fully-Closed Loop Control This section describes the parameter settings that are related to fully-closed loop control. Position Speed Torque Parameter to Set Setting Reference Control...

  • Page 340: Setting The Motor Direction And The Machine Movement Direction

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.2 Setting the Motor Direction and the Machine Movement Direction 10.3.2 Setting the Motor Direction and the Machine Movement Direction You must set the motor direction and the machine movement direction. To perform fully-closed loop control, you must set the motor rotation direction with both Pn000 = n.X (Direction Selection) and Pn002 = n.X...

  • Page 341: Setting The Number Of External Encoder Scale Pitches

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.3 Setting the Number of External Encoder Scale Pitches 10.3.3 Setting the Number of External Encoder Scale Pitches Set the number of external encoder scale pitches per motor rotation in Pn20A. Number of external encoder Setting Example pitches per motor rotation External encoder...

  • Page 342: External Absolute Encoder Data Reception Sequence

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.5 External Absolute Encoder Data Reception Sequence If the setting is 20 and the speed is 1,600 mm/s, the output frequency would be 1.6 Mpps Example 1600 mm/s = 1,600,000 = 1.6 Mpps 0.001 mm Because 1.6 Mpps is less than 6.4 Mpps, this setting can be used.

  • Page 343: Analog Monitor Signal Settings

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.8 Analog Monitor Signal Settings  Setting Example Increase the value if the belt slips or is twisted excessively. If this parameter is set to 0, the external encoder value will be read as it is. If you use the default setting of 20, the second rotation will start with the deviation for the first motor rotation multiplied by 0.8.
  • Page 344 Safety Functions This chapter provides detailed information on the safety functions of the SERVOPACK. 11.1 Introduction to the Safety Functions ..11-2 11.1.1 Safety Functions ......11-2 11.1.2 Precautions for Safety Functions .

  • Page 345: Introduction To The Safety Functions

    11.1 Introduction to the Safety Functions 11.1.1 Safety Functions 11.1 Introduction to the Safety Functions 11.1.1 Safety Functions Safety functions are built into the SERVOPACK to reduce the risks associated with using the machine by protecting workers from the hazards of moving machine parts and otherwise increasing the safety of machine operation.

  • Page 346: Hard Wire Base Block (Hwbb)

    11.2 Hard Wire Base Block (HWBB) 11.2.1 Risk Assessment 11.2 Hard Wire Base Block (HWBB) A hard wire base block (abbreviated as HWBB) is a safety function that is designed to shut OFF the current to the motor with a hardwired circuit. The drive signals to the Power Module that controls the motor current are controlled by the cir- cuits that are independently connected to the two input signal channels to turn OFF the Power Module and shut OFF the motor current.

  • Page 347: Hard Wire Base Block (Hwbb) State

    11.2 Hard Wire Base Block (HWBB) 11.2.2 Hard Wire Base Block (HWBB) State • Direct Drive Servomotor: 1/20 rotation max. (rotational angle calculated at the motor shaft) • Linear Servomotor: 50 mm max. • The HWBB does not shut OFF the power to the SERVOPACK or electrically isolate it. Imple- ment measures to shut OFF the power supply to the SERVOPACK before you perform main- tenance on it.

  • Page 348: Resetting The Hwbb State

    11.2 Hard Wire Base Block (HWBB) 11.2.3 Resetting the HWBB State 11.2.3 Resetting the HWBB State Normally, after the SV_OFF (Servo OFF: 32 hex) command is received and power is no longer supplied to the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVO- PACK will enter the HWBB state.

  • Page 349: Related Commands

    11.2 Hard Wire Base Block (HWBB) 11.2.4 Related Commands 11.2.4 Related Commands If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, bit D10 in the I/O moni- toring field (HBB) changes to 1. The host controller can monitor this bit to determine the status. If the state changes to the HWBB state during the execution of the next motion command, a command warning occurs.

  • Page 350: Operation Without A Host Controller

    11.2 Hard Wire Base Block (HWBB) 11.2.7 Operation without a Host Controller 11.2.7 Operation without a Host Controller The HWBB will operate even for operation without a host controller. However, if the HWBB operates during execution of the following functions, leave the execution mode for the function and then enter it again to restart operation.

  • Page 351: Bk (Brake Output) Signal

    11.2 Hard Wire Base Block (HWBB) 11.2.9 /BK (Brake Output) Signal 11.2.9 /BK (Brake Output) Signal If the HWBB operates when the /HWBB1 or /HWBB2 signal is OFF, the /BK (Brake) signal will turn OFF. At that time, the setting in Pn506 (Brake Reference - Servo OFF Delay Time) will be disabled.

  • Page 352: Edm1 (External Device Monitor)

    11.3 EDM1 (External Device Monitor) 11.3.1 EDM1 Output Signal Specifications 11.3 EDM1 (External Device Monitor) The EDM1 (External Device Monitor) signal is used to monitor failures in the HWBB. Connect the monitor signal as a feedback signal, e.g., to the Safety Unit. Note: To meet performance level e (PLe) in EN ISO 13849-1, the EDM signal must be monitored by the host con- troller.

  • Page 353: Applications Examples For Safety Functions

    11.4 Applications Examples for Safety Functions 11.4.1 Connection Example 11.4 Applications Examples for Safety Functions This section provides examples of using the safety functions. 11.4.1 Connection Example In the following example, a Safety Unit is used and the HWBB operates when the guard is opened.

  • Page 354: Procedure

    11.4 Applications Examples for Safety Functions 11.4.3 Procedure 11.4.3 Procedure Request is received to open the guard. If the motor is operating, a stop command is received from the host controller, the motor stops, and the servo is turned OFF. The guard is opened.

  • Page 355: Validating Safety Functions

    11.5 Validating Safety Functions 11.5 Validating Safety Functions When you commission the system or perform maintenance or SERVOPACK replacement, you must always perform the following validation test on the HWBB after completing the wiring. (It is recommended that you keep the confirmation results as a record.) •...

  • Page 356: Connecting A Safety Function Device

    11.6 Connecting a Safety Function Device 11.6 Connecting a Safety Function Device Use the following procedure to connect a safety function device. Remove the Safety Jumper Connector from the connector for the safety function device (CN8). Enlarged View Hold the Safety Jumper Connector between your Safety Jumper fingers and remove it.

  • Page 357: Maintenance

    Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 12.1 Inspections and Part Replacement ..12-2 12.1.1 Inspections ......12-2 12.1.2 Guidelines for Part Replacement .

  • Page 358: Inspections And Part Replacement

    After an examination of the part in question, we will determine whether the part should be replaced. The parameters of any SERVOPACKs that are sent to Yaskawa for part replacement are reset to the factory settings before they are returned to you. Always keep a record of the parameter set- tings.

  • Page 359: Replacing The Battery

    12.1 Inspections and Part Replacement 12.1.3 Replacing the Battery 12.1.3 Replacing the Battery If the battery voltage drops to approximately 2.7 V or less, an A.830 alarm (Encoder Battery Alarm) or an A.930 warning (Encoder Battery Warning) will be displayed. If this alarm or warning is displayed, the battery must be replaced.
  • Page 360 12.1 Inspections and Part Replacement 12.1.3 Replacing the Battery  When Using an Encoder Cable with a Battery Case Turn ON only the control power supply to the SERVOPACK. If you remove the Battery or disconnect the Encoder Cable while the control power supply to the SERVOPACK is OFF, the absolute encoder data will be lost.

  • Page 361: Alarm Displays

    12.2 Alarm Displays 12.2.1 List of Alarms 12.2 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. If there is an alarm, the display will change in the following order. Example: Alarm A.E60 Status Not lit.

  • Page 362: List Of Alarms

    12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Parameter Combination The combination of some parameters exceeds A.042 Gr.1 the setting range. Error Semi-Closed/Fully-Closed The settings of the Option Module and Pn002 = A.044...
  • Page 363 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal Temperature Error The surrounding temperature of the control PCB A.7A1 1 (Control Board Tempera- Gr.2 is abnormal.
  • Page 364 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method A.C21 Polarity Sensor Error An error occurred in the polarity sensor. Gr.1 Phase Information Dis- A.C22 The phase information does not match.
  • Page 365 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method A synchronization error occurred during MECHA- MECHATROLINK Internal A.E02 TROLINK communications with the SERVO- Gr.1 Synchronization Error 1 PACK.

  • Page 366: Troubleshooting Alarms

    12.2.2 Troubleshooting Alarms 12.2.2 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Reference Alarm Number:...
  • Page 367 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion A.024: System Alarm (An The SERVOPACK may be internal program A failure occurred in faulty. Replace the SER- –...
  • Page 368 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio detection conditions...
  • Page 369 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: –...
  • Page 370 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits across Servomotor There is a short-circuit...

  • Page 371: Troubleshooting Alarms

    12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Check the regenerative load ratio in the Sig- Change the regenerative The SERVOPACK maWin+ Motion Monitor resistance to a value regenerative resis- Tab Page to see how larger than the SERVO-...
  • Page 372 Resistor Capacity) to 0 page 5-51 (setting unit: ×10 W) if no following SERVO- check the setting of PACKs: SGD7S- Pn600. Regenerative Resistor is R70A, SGD7S-R90A, required. SGD7S-1R6A, or SGD7S-2R8A. The jumper between...
  • Page 373 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified –...
  • Page 374 External Regenera- page 5-51 following SERVO- check the setting of tive Resistor is not PACKs: SGD7S- Pn600. required, set Pn600 to 0. R70A, SGD7S- R90A,SGD7S-1R6A, or SGD7S-2R8A. The SERVOPACK may be A failure occurred in faulty.
  • Page 375 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the – supply voltage.
  • Page 376 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- –...
  • Page 377 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are page 4-19 contact in the motor...
  • Page 378 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- –...
  • Page 379 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Remove foreign matter from the SERVOPACK. A.7AB: The fan inside the If an alarm still occurs, the Check for foreign matter SERVOPACK SERVOPACK SERVOPACK may be...
  • Page 380 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Turn the power supply to the SERVOPACK OFF and ON again. The encoder malfunc- If an alarm still occurs, the –...
  • Page 381 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature –...
  • Page 382 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Setting the origin of Before you set the ori- the absolute linear gin, use the fully-closed The motor must be encoder failed feedback pulse counter stopped while setting the...
  • Page 383 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Implement the following countermeasures against noise. A malfunction • Check the MECHA- occurred in the TROLINK Communica- MECHATROLINK –...
  • Page 384 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The order of phases U, V, and W in the Check the Servomotor Make sure that the Servo- –...
  • Page 385 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The settings of Pn282 (Linear Encoder Pitch) Check the linear and Pn080 = n.X The parameter set- encoder specifications page 5-17, (Motor Phase Selection) page 5-22...
  • Page 386 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel detection at a position Overtravel was detected during page 4-29...
  • Page 387 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the page 4-19 the encoder connector.
  • Page 388 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Noise entered on the Implement countermea- signal line from the – sures against noise for the page 4-5 encoder.
  • Page 389 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly page 4-19 encoder.
  • Page 390 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- page 4-21 is not wired correctly...
  • Page 391 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Excessive Position...
  • Page 392 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The WDT data in the Check to see if the WDT Correctly update the WDT host controller was data is being updated at –...
  • Page 393 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion There is a faulty con- Check the connection nection between the between the SERVO- Correctly connect the SERVOPACK and the –...
  • Page 394 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion The three-phase Check the power sup- Make sure that the power power supply wiring is page 4-11 ply wiring. supply is correctly wired.
  • Page 395 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction for Correc- Alarm Name tion Disconnect the Digital Operator and then con- nect it again. A failure occurred in If an alarm still occurs, the –...

  • Page 396: Resetting Alarms

    12.2 Alarm Displays 12.2.3 Resetting Alarms 12.2.3 Resetting Alarms If there is an ALM (Servo Alarm) signal, use one of the following methods to reset the alarm after eliminating the cause of the alarm. Be sure to eliminate the cause of an alarm before you reset the alarm. If you reset the alarm and continue operation without eliminating the cause of the alarm, it may result in damage to the equipment or fire.

  • Page 397: Clearing The Alarm History

    12.2 Alarm Displays 12.2.5 Clearing the Alarm History Alarm number: Alarm name Alarms in order of occurrence (Older alarms have higher numbers.) 1. If the same alarm occurs consecutively within one hour, it is not saved in the alarm history. Information If it occurs after an hour or more, it is saved.

  • Page 398: Resetting Alarms Detected In Option Modules

    12.2 Alarm Displays 12.2.6 Resetting Alarms Detected in Option Modules 12.2.6 Resetting Alarms Detected in Option Modules If any Option Modules are attached to the SERVOPACK, the SERVOPACK detects the pres- ence and models of the connected Option Modules. If it finds any errors, it outputs alarms. You can delete those alarms with this operation.
  • Page 399 12.2 Alarm Displays 12.2.6 Resetting Alarms Detected in Option Modules Select the Clear Check Box for the Option Modules from which to clear alarms and the click the Execute Button. You cannot clear the Error detected detection result. Remove the Option Module, or check to see if the Option Module is correctly mounted.

  • Page 400: Warning Displays

    12.3 Warning Displays 12.3.1 List of Warnings 12.3 Warning Displays If a warning occurs in the SERVOPACK, an alarm number will be displayed on the panel dis- play. Warnings are displayed to warn you before an alarm occurs. This section provides a list of warnings and the causes of and corrections for warnings. 12.3.1 List of Warnings The list of warnings gives the warning name, warning meaning in order of the warning num- bers.
  • Page 401 12.3 Warning Displays 12.3.1 List of Warnings Continued from previous page. Warning Warning Name Meaning Number Command Warning 1 A command was sent when the conditions for sending a command were A.95A (Unsatisfied Com- not satisfied. mand Conditions) Command Warning 2 A.95B (Unsupported Com- An unsupported command was sent.

  • Page 402: Troubleshooting Warnings

    12.3.2 Troubleshooting Warnings 12.3.2 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause...
  • Page 403 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check for abnormal Abnormal vibra- motor noise, and check Reduce the motor speed. tion was detected the speed and torque Or, reduce the servo gain page 8-42 during motor waveforms during oper-...
  • Page 404 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status –...
  • Page 405 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Implement measures to The Servomotor Check the operation ensure that the motor will was rotated by an – status. not be rotated by an exter- external force.
  • Page 406 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name A.94D: The parameter Check the command size set in the Set the correct parameter Data Setting Warn- page 12- that caused the warn- ing 4 (Parameter command is not size.
  • Page 407 • Implement countermea- sures against noise. One of the con- A.9B0: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- – reached the end tive for replacement. nance Warning of its service life. 12-51...

  • Page 408: Monitoring Communications Data During Alarms Or Warnings

    12.4 Monitoring Communications Data during Alarms or Warnings 12.4 Monitoring Communications Data during Alarms or Warnings You can monitor the command data that is received when an alarm or warning occurs, such as a data setting warning (A.94) or a command warning (A.95) by using the following parame- ters.

  • Page 409: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Turn OFF the Servo System before troubleshooting the items shown in bold lines in the table.
  • Page 410 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the setting of Correct the parameter Pn080 =n.X (Polar- page 5-24 setting. ity Sensor Selection). • If you are using an incremental linear Servomotor encoder, send the...
  • Page 411 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The setting of Pn001 = n.X (Servo OFF or Check the setting of Set Pn001 = n.X – Alarm Group 1 Stopping Pn001 = n.X.
  • Page 412 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Reduce the load so that the moment of inertia ratio or mass The Servomotor vibrated ratio is within the allow- considerably while perform- Check the waveform of able value, or increase...
  • Page 413 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the Correct the cable lay- The Encoder Cable was sub- Encoder Cable is bundled out so that no surge is jected to excessive noise with a high-current line or –...
  • Page 414 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- page 8-23 anced.
  • Page 415 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur- tion.
  • Page 416 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the servo OFF Select a Servomotor stopping method set in stopping method other Pn001 = n.X or than coasting to a stop. The selection of the Servo- Pn001 = n.X.
  • Page 417 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur- tion.

  • Page 418: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. 13.1 List of Parameters ....13-2 13.1.1 Interpreting the Parameter Lists ... . 13-2 13.1.2 List of Parameters .

  • Page 419: List Of Parameters

    13.1 List of Parameters 13.1.1 Interpreting the Parameter Lists 13.1 List of Parameters 13.1.1 Interpreting the Parameter Lists The types of motors to which the parameter applies. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. Rotary: The parameter is used for only Rotary Servomotors. Linear: The parameter is used for only Linear Servomotors.

  • Page 420: List Of Parameters

    13.1 List of Parameters 13.1.2 List of Parameters 13.1.2 List of Parameters Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Basic Function Selec- 0000 to After – 0000 Setup – tions 0 10B1 restart Rotation Direction Selection...
  • Page 421 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 – Setup – Selections 2 4213 restart MECHATROLINK Command Position and Speed Control...
  • Page 422 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- page – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection Motor speed (1 V/1,000 min...
  • Page 423 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- page – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection Motor speed (1 V/1,000 min...
  • Page 424 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0010 Tuning – Selections 9 0111 restart ...
  • Page 425 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 Setup – Selections B 1121 restart Operator Parameter Display Selection Reference...
  • Page 426 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – – 0000 Setup Selections F 2011 restart Preventative Maintenance Warning Selection ...
  • Page 427 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- page Pn109 Feedforward 0 to 100 Tuning ately 8-82 Feedforward Filter Time Immedi- page Pn10A...
  • Page 428 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Gain Switching Waiting Immedi- page Pn136 0 to 65,535 1 ms Tuning Time 2 ately 8-59...
  • Page 429 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- Pn144 trol Bias in the Reverse 0 to 10,000 0.1% 1000 Tuning...
  • Page 430 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Filter -1,000 to Immedi- Pn164 Time Constant 1 Cor- 0.01 ms Tuning –...
  • Page 431 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Electronic Gear Ratio 1 to After page Pn210 Setup (Denominator) 1,073,741,824 restart 5-41 Number of Encoder 16 to...
  • Page 432 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000 to Immedi- page − 0000 Setup Selections 0002 ately 6-48 Vibration Detection Selection Do not detect vibration.
  • Page 433 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to – 0000 – Setup – tion Selections 1111 When Notch Filter Selection 1 Reference...
  • Page 434 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to Immedi- page – 0000 Setup tion Selections 2 1111 ately 8-77...
  • Page 435 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque Feedforward Immedi- − Pn426 Average Movement 0 to 5,100 0.1 ms Setup ately Time...
  • Page 436 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Speed Coincidence Immedi- page Pn503 Detection Signal Output 0 to 100 Rotary Setup 1 min ately...
  • Page 437 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After − 8882 Setup – FFFF restart N-OT (Reverse Drive Prohibit) Signal Allocation Reference Enable reverse drive when CN1-13 input signal is ON (closed).
  • Page 438 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup – tions 1 6666 restart /COIN (Positioning Completion Output) Signal Allocation...
  • Page 439 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000 to Output Signal Selec- After – 0000 Setup – tions 3 restart 0666 /NEAR (Near Output) Signal Allocation...
  • Page 440 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After page – 6543 Setup FFFF restart /DEC (Origin Return Deceleration Switch Input) Signal Allocation Active when CN1-13 input signal is ON (closed).
  • Page 441 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup – tions 4 0666 restart ...
  • Page 442 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Deviation Over- 1 refer- 1 to 524288 Immedi- page Pn526 flow Alarm Level at ence Setup 1,073,741,823...
  • Page 443 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Analog Monitor 2 Offset -10,000 to Immedi- page Pn551 0.1 V Setup Voltage 10,000 ately...
  • Page 444 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000 to Immedi- − 0040 Setup trols 0F73 ately MECHATROLINK Communications Check Mask for Debugging Do not mask.
  • Page 445 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear Pn80B 1 to 65,535 Setup ence Acceleration Constant ately units/s...
  • Page 446 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Monitor 0000 to Immedi- – 0000 Setup Selections AAAA ately IO12 Signal Mapping Do not map.
  • Page 447 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000 to Immedi- – 0000 – Setup tion FFFF ately Setting...
  • Page 448 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Setting Monitor Applicable Motors Communications Module Only Previous value of latched feedback position (LPOS) [encoder 0080 hex pulses] Pn824...
  • Page 449 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 1F1E Setup 1F1F restart  0 to F P_CL bit position Disable P_CL bit allocation.
  • Page 450 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn836 Setup ence Acceleration Constant 2 20,971,520 ately units/s...
  • Page 451 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000 to Immedi- – 0000 Setup Settings 3333 ately Latch Sequence 5 Signal Selection...
  • Page 452 13.1 List of Parameters 13.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Number of Parameter After Pn900 0 to 16 – Setup Banks restart Number of Parameter After Pn901...

  • Page 453: Parameter Recording Table

    13.2 Parameter Recording Table 13.2 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter Default When Name Setting Enabled Pn000 0000 Basic Function Selections 0 After restart Application Function Selec- Pn001 0000 After restart tions 1 Application Function Selec- Pn002...
  • Page 454 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Second Friction Compen- Pn122 Immediately sation Gain Friction Compensation Pn123 Immediately Coefficient Friction Compensation Fre- Pn124 Immediately quency Correction Friction Compensation Gain Pn125 Immediately Correction Pn131 Gain Switching Time 1 Immediately Pn132...
  • Page 455 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Anti-Resonance Damping Pn166 Immediately Gain 2 Tuning-less Function- Pn170 1401 Related Selections Mode Switching Level for Pn181 Immediately Speed Reference Mode Switching Level for Pn182 Immediately Acceleration Pn205 65535...
  • Page 456 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Forward External Torque Pn404 Immediately Limit Reverse External Torque Pn405 Immediately Limit Pn406 Emergency Stop Torque Immediately Speed Limit during Torque Pn407 10000 Immediately Control Torque-Related Function Pn408 0000 Selections...
  • Page 457 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Speed Ripple Compensa- Pn427 Immediately tion Enable Speed Sweep Torque Reference Pn456 Immediately Amplitude Notch Filter Adjustment Pn460 0101 Immediately Selections 1 Speed Limit during Force Pn480 10000 Immediately...
  • Page 458 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Motor-Load Position Devia- Pn51B 1000 tion Overflow Detection Immediately Level Position Deviation Over- Pn51E Immediately flow Warning Level Position Deviation Over- Pn520 5242880 Immediately flow Alarm Level Positioning Completed Pn522 Immediately...
  • Page 459 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Speed Limit Level at Servo Pn584 10000 Immediately Program Jogging Move- Pn585 Immediately ment Speed Motor Running Cooling Pn586 Immediately Ratio Polarity Detection Execu- Pn587 0000 tion Selection for Absolute Immediately Linear Encoder...
  • Page 460 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn81F 0000 Command Data Allocations After restart Pn820 Forward Latching Area Immediately Pn822 Reverse Latching Area Immediately Pn824 0000 Option Monitor 1 Selection Immediately Pn825 0000 Option Monitor 2 Selection Immediately Immedi-...
  • Page 461 13.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled MECHATROLINK Receive Pn88A Error Counter Monitor (for Immediately maintenance, read only) Command Data Monitor Pn890 to during Alarm/Warning (for Immediately Pn89E maintenance, read only) Response Data Monitor Pn8A0 to during Alarm/Warning (for Immediately...

  • Page 462: Appendices

    Appendices The appendix provides information on interpreting panel displays, and tables of corresponding SERVOPACK and SigmaWin+ function names. 14.1 Interpreting Panel Displays ....14-2 14.1.1 Interpreting Status Displays ....14-2 14.1.2 Alarm and Warning Displays .

  • Page 463: Interpreting Panel Displays

    14.1 Interpreting Panel Displays 14.1.1 Interpreting Status Displays 14.1 Interpreting Panel Displays You can check the Servo Drive status on the panel display of the SERVOPACK. Also, if an alarm or warning occurs, the alarm or warning number will be displayed. 14.1.1 Interpreting Status Displays The status is displayed as described below.

  • Page 464: Corresponding Servopack And Sigmawin+ Function Names

    14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.1 Corresponding SERVOPACK Utility Function Names 14.2 Corresponding SERVOPACK and SigmaWin+ Function Names This section gives the names and numbers of the utility functions and monitor display functions used by the SERVOPACKs and the names used by the SigmaWin+. 14.2.1 Corresponding SERVOPACK Utility Function Names SigmaWin+...

  • Page 465: Corresponding Servopack Monitor Display Function Names

    14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Menu Bar Name [Unit] Un No. Name [Unit] Button Un000 Motor Speed [min Motor Speed [min Un001 Speed Reference [min Speed Reference [min Torque Reference [%]...
  • Page 466 14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Menu Bar Name [Unit] Un No. Name [Unit] Button Input Reference Pulse Counter [ref- Un00C Input Reference Pulse Counter [reference units] erence units] Feedback Pulse Counter [encoder Un00D Feedback Pulse Counter [encoder pulses] pulses]...
  • Page 467 14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names You can use Un010 to monitor the upper limit setting for the maximum motor speed or the upper limit setting for the encoder output resolution. You can monitor the upper limit of the encoder output resolution setting (Pn281) for the current maximum motor speed setting (Pn385), or you can monitor the upper limit of the maximum motor speed setting for the current encoder output resolution setting.
  • Page 468 Index Index battery - - - - - - - - - - - - - - - - - - - - - - - 12-3 replacement - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 block diagram Symbols - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16...
  • Page 469 Index - - - - - - - - - - - - - - 5-51 linear encoder External Regenerative Resistor - - - - - - - - - - - - - - - - - - - 5-43 feedback resolution - - - - - - - - - - - - - - - - - - - - 6-26 external torque limits...
  • Page 470 Index parameters - - - - - - - - - - - - - - - - - - - - - - - - - - vii Servo System - - - - - - - - - - - - - - - - - - - - - - - 5-3 classification - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii Servomotor...
  • Page 471 Index - - - - - - - - - - - - - - - - -12-46 troubleshooting warnings - - - - - - - - - - - - - - - - - - - - - - 5-4 tuning parameters tuning-less - - - - - - - - - - - - - - - - - - - - - - - - 8-13...
  • Page 472 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 27B S_M-II Published in Japan May 2014 14-4 Date of Rev. No. publication Date of original publication Rev.
  • Page 473 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. Avenida Piraporinha 777, 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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