YASKAWA SGD7S Product Manual
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YASKAWA SGD7S Product Manual

E-7-series ac servo drive, e-7s servopack, command option attachable type with devicenet module
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Table of Contents

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Download this manual See also: Product Manual
-7-Series AC Servo Drive
-7S SERVOPACK
Command Option Attachable Type
with DeviceNet Module
Product Manual
SERVOPACK Model: SGD7S
Option Module Model: SGDV-OCA04A, -OCA05A
MANUAL NO. SIEP S800001 70B
Basic Information
Selecting a SERVOPACK
Installation
Wiring and Connections
Basic Functions That Require
Setting before Operation
Application Functions
Trial Operation and
Actual Operation
Tuning
Monitoring
Fully-Closed Loop Control
Safety Functions
DeviceNet Functions
DeviceNet Communications
Maintenance
Parameter Lists
Appendices
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Do you have a question about the SGD7S and is the answer not in the manual?

Questions and answers

Pravin Supe
January 31, 2025

Error code 710 in z drive ( SGD7S-2R8A00A)

User image 679d11e8e4b1c
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2 comments:
Pravin Supe
January 31, 2025

Issue not getting solved

0
Mr. Anderson
May 14, 2025

Based on the provided context, the specific meaning of error code 710 for the YASKAWA SGD7S-2R8A00A drive is not directly listed. However, considering the context mentions the SGD7S series drives and their detailed breakdowns (like 2R8A models) from the YASKAWA manual, and based on standard YASKAWA error code conventions, error code 710 typically indicates an "Encoder Communication Error".

For the SGD7S-2R8A00A model, error code 710 usually means:
- There is a problem with communication between the drive (SERVOPACK) and the encoder attached to the motor.
- Possible causes might include a loose encoder cable, a damaged encoder, poor connection at the encoder connector, or a failure within the encoder itself.

Recommended actions:
- Check the encoder cable for any disconnections or damage.
- Inspect and reseat the encoder connector securely.
- If possible, test with a different motor to rule out encoder failure.
- Check the drive's encoder input circuit if no issues are found externally.

Would you like me to also find the official YASKAWA manual page that references this error for even more detailed troubleshooting steps?

This answer is automatically generated

0

Related Manuals for YASKAWA SGD7S

Summary of Contents for YASKAWA SGD7S

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SERVOPACK Model: SGD7S Option Module Model: SGDV-OCA04A, -OCA05A Basic Information Selecting a SERVOPACK Installation Wiring and Connections Basic Functions That Require Setting before Operation...
  • 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 This manual provides information required to select Σ-7S Command Option Attachable-Type SERVOPACKs with DeviceNet Modules 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 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 Describes the features and applica-  Machine Controller and tion examples for combinations of Machine Controller AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- and Servo Drive lers and Σ-7-Series AC Servo Solutions Catalog General Catalog Drives.
  • Page 6 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III SIEP S800001 28 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II SIEP S800001 27 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train...
  • Page 7 Continued from previous page. Classification Document Name Document No. Description  Σ-7-Series AC Servo Drive Σ-7-Series Rotary Servomotor SIEP S800001 36 Rotary Servomotor Product Manual Product Manual  Σ-7-Series AC Servo Drive Provide detailed information on Σ-7-Series Linear Servomotor SIEP S800001 37 selecting, installing, and connecting Linear Servomotor the Σ-7-Series Servomotors.
  • Page 8 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 (SGM7J, SGM7A, SGM7P, or Rotary Servomotor SGM7G) or a Direct Drive Servomotor (SGMCS or SGMCV).
  • Page 9  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 10  Trademarks • QR code is a trademark of Denso Wave Inc. • DeviceNet is a trademark of the ODVA (Open DeviceNet Vendor Association, Inc.). • Other product names and company names are the trademarks or registered trademarks of the respective company.
  • Page 11 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 12  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 13 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 14 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 15 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 16  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 17  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 18 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 19  Troubleshooting Precautions DANGER  If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper- ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
  • Page 20 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...
  • Page 21 • 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 22 • 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 23 Products that do not have the marks are not certified for the standards.  North American Safety Standards (UL) Product Models North American Safety Standards (UL File No.) UL 61800-5-1 (E147823) SERVOPACKs SGD7S CSA C22.2 No.274 • SGMMV • SGM7A UL 1004-1 Rotary • SGM7J...
  • Page 24  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 25: Table Of Contents

    Contents About this Manual..........iii Outline of Manual .
  • Page 26 SGD7S-180A and -200A........2-14...
  • Page 27 Wiring the Power Supply to the SERVOPACK ... . . 4-11 4.3.1 Terminal Symbols and Terminal Names ......4-11 4.3.2 Wiring Procedure for Main Circuit Connector .
  • Page 28 Setting the Linear Encoder Pitch ..... . . 5-18 Writing Linear Servomotor Parameters ....5-19 Selecting the Phase Sequence for a Linear Servomotor .
  • Page 29 Application Functions I/O Signal Descriptions ....... 6-3 6.1.1 Input Signals ..........6-3 6.1.2 Output Signals.

  • Page 30: Actual Operation

    Trial Operation and Actual Operation Flow of Trial Operation ....... . 7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .
  • Page 31 Autotuning without Host Reference ..... 8-23 8.6.1 Outline........... . 8-23 8.6.2 Restrictions .
  • Page 32 8.14 Diagnostic Tools ........8-91 8.14.1 Mechanical Analysis .
  • Page 33 Safety Functions 11.1 Introduction to the Safety Functions ....11-2 11.1.1 Safety Functions ..........11-2 11.1.2 Precautions for Safety Functions .
  • Page 34 DeviceNet Communications 13.1 DeviceNet Communications Settings....13-3 13.1.1 Setting the Node Address........13-3 13.1.2 Setting the Baud Rate .
  • Page 35 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor. . . 14-54 Parameter Lists 15.1 List of Parameters ........15-2 15.1.1 Interpreting the Parameter Lists .

  • Page 36: Basic Information

    Basic Information This chapter provides basic information, including an intro- duction to the DeviceNet Modules, the names of parts, and combinations with Servomotors. The Σ-7 Series ..... . . 1-3 Introduction to the DeviceNet Module .
  • Page 37 Combinations of SERVOPACKs and Servomotors . . 1-13 1.7.1 Combinations of Rotary Servomotors and SERVOPACKs ......1-13 1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs .

  • Page 38: The Σ-7 Series

    1.1 The Σ-7 Series The 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 Command Option Attachable-Type SERVOPACKs can be combined with Σ-V- Series Option Modules to achieve the required control capabilities.

  • Page 39: Introduction To The Devicenet Module

    1.2 Introduction to the DeviceNet Module 1.2.1 DeviceNet Terminology Introduction to the DeviceNet Module A DeviceNet Module can be attached only to a Command Option Attachable-Type SERVOPACK. Note You can attach the DeviceNet Module to a Command Option Attachable-Type SERVOPACK to use the SERVOPACK as a slave in DeviceNet communications.* This will allow you to send positioning references and origin return commands from the host device that functions as the DeviceNet master.

  • Page 40: Interpreting The Nameplate

    1.3 Interpreting the Nameplate 1.3.1 SERVOPACK Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. 1.3.1 SERVOPACK Nameplate Degree of protection SERVOPACK model Surrounding air temperature BTO information Order number Serial number 1.3.2 DeviceNet Module Nameplate Name Option Module model Serial number...

  • Page 41: Part Names

    1.4 Part Names Part Names (on side of SERVOPACK) Main circuit terminals Motor terminals Name Description Reference  − − Front Cover  − − Input Voltage  Nameplate Indicates the SERVOPACK model and ratings. page 1-5  Model The model of the SERVOPACK. page 1-10 −...
  • Page 42 1.4 Part Names Continued from previous page. Name Description Reference − Serial Number – − DIP Switch Not used. − Rotary Switch Not used. − Lights when the control power is being supplied. − Not used. (Never lit.) Analog Monitor Connector You can use a special cable (peripheral device) to monitor page 4-46 (CN5)

  • Page 43: Interpreting Panel Displays

    1.5 Interpreting Panel Displays 1.5.1 Panel Displays Interpreting Panel Displays 1.5.1 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. Interpreting Status Displays The status is displayed as described below.

  • Page 44: Led Indicators

    1.5 Interpreting Panel Displays 1.5.2 LED Indicators 1.5.2 LED Indicators The DeviceNet Module is equipped with two LED indicators: a Module status indicator to indi- cate the status of the DeviceNet Module, and a network status indicator to indicate the status of DeviceNet communications.

  • Page 45: Model Designations

    BTO specification You can use these models with either a single-phase or three-phase input. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S- 120A00A008). The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.

  • Page 46: Interpreting Devicenet Module Model Numbers

    1.6 Model Designations 1.6.2 Interpreting DeviceNet Module Model Numbers 1.6.2 Interpreting DeviceNet Module Model Numbers SGDV - 1st+2nd 3th+4th+5th Σ-V Series digit digits digits 1st+2nd digits Board Type Code Specification Command Option Module 3th+4th+5th digits Interface Code Specification DeviceNet driven by control power supply DeviceNet driven by external power supply 6th digit Design Revision Order...

  • Page 47: Interpreting Servomotor Model Numbers

    1.6 Model Designations 1.6.3 Interpreting Servomotor Model Numbers 1.6.3 Interpreting Servomotor Model Numbers This section outlines the model numbers of Σ-7-series Servomotors. Refer to the relevant man- ual in the following list for details. Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36) Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37) Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38) Rotary Servomotors...

  • Page 48: Combinations Of Servopacks And Servomotors

    1.7.1 Combinations of Rotary Servomotors and SERVOPACKs Combinations of SERVOPACKs and Servomotors 1.7.1 Combinations of Rotary Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGMMV Models SGMMV-A1A 10 W R90A or R90F (Low Inertia, Ultra- SGMMV-A2A 20 W...

  • Page 49: Combinations Of Direct Drive Servomotors And Servopacks

    1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs 1.7.2 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 2R8A or 2R1F SGMCS-07B SGMCS-04C SGMCS-10C Small Capacity, Coreless...

  • Page 50: Combinations Of Linear Servomotors And Servopacks

    1.7 Combinations of SERVOPACKs and Servomotors 1.7.3 Combinations of Linear Servomotors and SERVOPACKs 1.7.3 Combinations of Linear Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Linear Servomotor Model Maximum Torque SGD7S- SGLGW-30A050C 12.5 R70A or R70F SGLGW-30A080C R90A or R90F SGLGW-40A140C SGLGW-40A253C 1R6A or 2R1F...
  • Page 51 1.7 Combinations of SERVOPACKs and Servomotors 1.7.3 Combinations of Linear Servomotors and SERVOPACKs Continued from previous page. Instantaneous SERVOPACK Model Rated Torque Linear Servomotor Model Maximum Torque SGD7S- SGLTW-20A170A 3R8A SGLTW-20A320A 7R6A SGLTW-20A460A 1140 120A SGLTW-35A170A 5R5A SGLTW-35A170H SGLTW-35A320A 1320...

  • Page 52: Functions

    1.8 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 5-14 and Control Circuit Automatic Detection of Connected Motor page 5-16 Motor Direction Setting...
  • Page 53 1.8 Functions • 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 8-34 Custom Adjustment page 8-42 Anti-Resonance Control Adjustment page 8-51 Vibration Suppression page 8-56 Gain Selection page 8-66...

  • Page 54: Selecting A Servopack

    SGD7S-R70F, -R90F, and -1R6F ... . 2-18 2.2.10 SGD7S-2R8F ......2-18 External Dimensions .

  • Page 55: Ratings And Specifications

    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 330A Maximum Applicable Motor 0.05 0.75 Capacity [kW] Continuous Output 0.66...
  • Page 56 2.1 Ratings and Specifications 2.1.1 Ratings Continued from previous page. Model SGD7S- 470A 550A 590A 780A External Resistance [Ω] 6.25 3.13 3.13 3.13 Regenerative Regenerative Capacity [W] 1760 1760 1760 Resistor Resistor Minimum Allowable External Resistance [Ω] Overvoltage Category This is the net value at the rated load.

  • Page 57: Devicenet Module Power Loss

    2.1 Ratings and Specifications 2.1.2 DeviceNet Module Power Loss Model SGD7S- 180A 200A 330A 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] 11.0 15.0 Continuous Output Current [Arms] 18.5 19.6 32.9 46.9 54.7 58.6 78.0 Instantaneous Maximum Output Current 42.0...

  • Page 58: Servopack Overload Protection Characteristics

    Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.

  • Page 59: Specifications

    Storage Humidity 90% relative humidity max. (with no freezing or condensation) Vibration Resistance 4.9 m/s Shock Resistance 19.6 m/s Degree SERVOPACK Model: SGD7S- Environ- R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, mental IP20 Degree of Protection R70F, R90F, 2R1F, 2R8F...
  • Page 60 2.1 Ratings and Specifications 2.1.4 Specifications Continued from previous page. Item Specification Phase A, phase B, phase C: Line-driver output Encoder Divided Pulse Output Number of divided output pulses: Any setting is allowed. Linear Servomotor Number of input points: 1 Overheat Protection Input voltage range: 0 V to +5 V Signal Input...
  • Page 61 Activated when a servo alarm or overtravel (OT) occurs, or when the Dynamic Brake (DB) power supply to the main circuit or servo is OFF. Built-in (An external resistor must be connected to the SGD7S-470A to -780A.) Regenerative Processing Refer to the following manuals for details.
  • Page 62 2.1 Ratings and Specifications 2.1.4 Specifications Continued from previous page. Item Specification Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules Output EDM1: Monitors the status of built-in safety circuit (fixed output). Safety Functions Applicable ISO13849-1 PLe (Category 3), IEC61508 SIL3 Standards Fully-Closed Module Applicable Option Modules...

  • Page 63: 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 sensor...

  • Page 64: 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 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 Varistor...

  • Page 65: Sgd7S-120A

    2.2 Block Diagrams 2.2.4 SGD7S-120A 2.2.4 SGD7S-120A • Standard Specifications: Three-Phase, 200-VAC Power Supply Input Servomotor Varistor Main circuit − power supply Overheat/ overcurrent Dynamic protection brake circuit Voltage Relay Temperature Current Voltage Gate drive Gate drive drive sensor sensor...
  • Page 66 2.2 Block Diagrams 2.2.4 SGD7S-120A • Optional Specifications: Single-Phase, 200-VAC Power Supply Input (SERVOPACK Model: SGD7S-120AE0A008) Servomotor Varistor Main circuit power − supply Overheat/overcurrent Dynamic protection brake circuit Relay Temperature Current Voltage Voltage Gate drive drive sensor sensor sensor sensor...

  • Page 67: Sgd7S-180A And -200A

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

  • Page 68: Sgd7S-330A

    2.2 Block Diagrams 2.2.6 SGD7S-330A 2.2.6 SGD7S-330A Fan 1 Fan 2 Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyristor sensor drive Voltage Temperature Current Gate drive sensor sensor sensor Varistor Control Analog Analog monitor...

  • Page 69: Sgd7S-470A And -550A

    2.2 Block Diagrams 2.2.7 SGD7S-470A and -550A 2.2.7 SGD7S-470A and -550A Fan 1 Fan 2 Fan 3 Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyristor sensor drive Voltage Temperature Current Gate drive sensor sensor...

  • Page 70: Sgd7S-590A And -780A

    2.2 Block Diagrams 2.2.8 SGD7S-590A and -780A 2.2.8 SGD7S-590A and -780A Fan 1 Fan 2 Fan 3 Fan 4 Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyristor sensor drive Voltage Temperature Current Gate drive...

  • Page 71: Sgd7S-R70F, -R90F, And -1R6F

    2.2 Block Diagrams 2.2.9 SGD7S-R70F, -R90F, and -1R6F 2.2.9 SGD7S-R70F, -R90F, and -1R6F Servomotor Main Varistor circuit − power supply − Dynamic brake circuit Gate drive overcurrent Temperature Current Voltage Voltage Relay Gate protection sensor sensor sensor sensor drive drive...

  • Page 72: 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 Base-mounted SERVOPACKs • Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A 2×M4 Exterior (25) 10 ±0.5 (mounting pitch) Ground terminals 2 ×...
  • Page 73 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-2R8A; Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -2R1F 2×M4 Exterior (25) Ground 20 ±0.5 (mounting pitch) terminals 2 × M4 (75) Mounting Hole Diagram Approx. mass: 1.0 kg Unit: mm •...
  • Page 74 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-180A and -200A; Single-phase, 200 VAC: SGD7S-120AE0A008 3×M4 Exterior 75 ±0.5 (mounting pitch) Terminals Ground 14 × M4 12.5 82.5 ±0.5 (mounting pitch) terminals (75) 2 × M4 Terminal Details Mounting Hole Diagram Approx.
  • Page 75 (25) 24.5 terminals 2 × M4 (75) Mounting Hole Diagram Approx. mass: 0.8 kg Unit: mm • Three-phase, 200 VAC: SGD7S-2R8A; Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -2R1F 2 × M4 Exterior Ground (25) 18 24.5 terminals 2 × M4...
  • Page 76 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A; Single-phase, 100 VAC: SGD7S-2R8F 18.5 2 × M4 Exterior Ground 36.5 terminals (25) 18 24.5 × (75) Mounting Hole Diagram Approx. mass:1.6 kg Unit: mm •...
  • Page 77 Ground terminals 2 × M4 Mounting Hole Diagram Approx. mass: 4.9 kg Unit: mm Duct-ventilated SERVOPACKs Hardware Option Code: 001 • Three-phase, 200 VAC: SGD7S-470A and -550A 4 × M6 Through hole Exterior Terminals 4 × M5 Terminals (71) 8 × M5...

  • Page 78: Devicenet Module External Dimensions And Connector Specifications

    2.3 External Dimensions 2.3.3 DeviceNet Module External Dimensions and Connector Specifications • Three-phase, 200 VAC: SGD7S-590A and -780A 4 × M6 Exterior Through hole Terminals 4 × M6 Terminals (75) (75) 235±0.5 8 × M6 (mounting pitch) Ground 244 min.

  • Page 79: Examples Of Standard Connections Between Servopacks And Peripheral Devices

    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 80 Linear Encoder Cable Linear Encoder Linear Servomotor This example is for a SERVOPACK with a three-phase, 200-VAC power supply input. The pin layout of the main circuit connector depends on the voltage. External Regenerative Resistors are not provided by Yaskawa. 2-27...

  • Page 81: Installation

    Installation This chapter provides information on installing SERVO- PACKs and DeviceNet Modules in the required locations. Installation Precautions ....3-2 Mounting the DeviceNet Module to the SERVOPACK . .3-3 Mounting Types and Orientation .

  • Page 82: Installation Precautions

    3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.4 Specifications on page 2-6  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 83: Mounting The Devicenet Module To The Servopack

    3.2 Mounting the DeviceNet Module to the SERVOPACK Mounting the DeviceNet Module to the SERVOPACK Install the DeviceNet Module correctly according to the installation procedures that are included with it. Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series Installation Guide Command Option Module (Manual No.: TOBP C720829 01)

  • Page 84: Mounting Types And Orientation

    3.3 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 85: Mounting Hole Dimensions

    7R6A, 2R8F SGD7S- 150 ±0.5 80 ±0.5 − 120A 180A, 200A, 170 ±0.5 − 90 ±0.5 120AE0A008 238.5 ±0.5 110 330A 100 ±0.5 100 ±0.5 470A, 550A, A special attachment is required. Contact your Yaskawa representative for details. 590A, 780A...

  • Page 86: Mounting Interval

    10 mm above SERVOPACK’s Top Surface R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, R70F, 1 mm min. Air speed: 0.5 m/s min. R90F, 2R1F, 2R8F SGD7S- 120A, 180A, 200A, 330A, 10 mm min. Air speed: 0.5 m/s min. 470A, 550A, 590A, 780A...

  • Page 87: Monitoring The Installation Environment

    3.6 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 88: 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 89: Wiring And Connections

    Wiring and Connections This chapter provides information on wiring and connecting SERVOPACKs and DeviceNet Modules 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 90 Connecting Safety Function Signals ..4-37 4.6.1 Pin Arrangement of Safety Function Signals (CN8) ........4-37 4.6.2 I/O Circuits .

  • Page 91: 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 92  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 93 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 94: 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 95 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 96 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 97: 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 98: 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 99: Wiring The Power Supply To The Servopack

    Regenerative Resistor between B1/ and B2. The External Regenerative Resistor is not included. Obtain it separately.  For SGD7S-3R8A,- 5R5A, -7R6A, -120A, -180A, -200A, and -330A Regenerative Resistor termi- B1/ , B2, B3 If the internal regenerative resistor is insufficient, remove the...
  • Page 100 Terminal Name Specifications and Reference Symbols 4.3.5 Wiring Regenerative Resistors on page 4-21  For SGD7S-R70A, -R90A, -1R6A, and -2R8A If the regenerative capacity is insufficient, connect an External Regenerative Resistor between B1/ and B2. The External Regenerative Resistor is not included. Obtain it separately.

  • Page 101: Wiring Procedure For Main Circuit Connector

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.2 Wiring Procedure for Main Circuit Connector 4.3.2 Wiring Procedure for Main Circuit Connector • Required Items Required Item Remarks • Spring Opener SERVOPACK accessory Spring Opener or Flat- (You can also use model 1981045-1 from Tyco Electronics Japan G.K.) blade Screwdriver •...

  • Page 102: Power On Sequence

    Up to 5.0 s • If you use a DC power supply input with any of the following SERVOPACKs, use the power ON sequence shown below: SGD7S-330A, -470A, -550A, -590A, or -780A. Control power supply Main circuit power supply...

  • Page 103: Power Supply Wiring Diagrams

    (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 Three-Phase, 200-VAC Power Supply Input: SGD7S-470A, -550A,...
  • Page 104 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. 4-16...
  • Page 105 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. 4-17...
  • Page 106 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for DC Power Supply Input: SGD7S-330A, -470A, -550A, -590A, and -780A R S T SERVOPACK 1FLT AC/DC 1TRy AC/DC +24 V (For servo alarm display) −...
  • Page 107 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for Single-Phase, 100-VAC Power Supply Input: SGD7S-R70F, -R90F, -2R1F, or -2R8F SERVOPACK 1FLT +24 V (For servo alarm display) − Servo power Servo power...
  • Page 108 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 109: Wiring Regenerative Resistors

     Be sure to wire Regenerative Resistors correctly. Do not connect B1/⊕ and B2. Doing so may result in fire or damage to the Regenerative Resistor or SERVOPACK. Connecting Regenerative Resistors  SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F Connect the External Regenerative Resistor between the B1/ and B2 terminals on the SERVOPACK.
  • Page 110 SERVOPACK. Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistor Resistance) as required. • When using the Yaskawa-recommended Regenerative Resistor Unit, use the default settings for Pn600 and Pn603. • If you use any other external regenerative resistor, set Pn600 and Pn603 according to the specifica- tions of the regenerative resistor.

  • Page 111: Wiring Reactors For Harmonic Suppression

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.6 Wiring Reactors for Harmonic Suppression 4.3.6 Wiring Reactors for Harmonic Suppression You can connect a reactor for harmonic suppression to the SERVOPACK when power supply harmonic suppression is required. Refer to the following manual for details on harmonic reac- tors.

  • Page 112: 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 113: 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 114 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder • When Installing a Battery on the Encoder Cable Use the Encoder Cable with a Battery Case that is specified by Yaskawa. Refer to the following manual for details. Σ...
  • Page 115 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. 4-27...
  • Page 116 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Incremental Linear Encoder The wiring depends on the manufacturer of the linear encoder.  Connections to Linear Encoder from Heidenhain Corporation Linear encoder from Serial Converter Unit Heidenhain Corporation SERVOPACK /COS...
  • Page 117 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Linear Encoder from Magnescale Co., Ltd. If you use a linear encoder from Magnescale Co., Ltd., the wiring will depend on the model of the linear encoder. ...

  • Page 118: Wiring The Servopack To The Holding Brake

    4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake  SL700, SL710, SL720, and SL730 • MJ620-T13 Interpolator Linear encoder Interpolator SERVOPACK Head Cable from Magnescale Co., Ltd. 12, 14, 16 PG0V +5 V Connector Connector External power supply shell shell Shield...
  • Page 119 4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake Servomotor with Holding Brake SERVOPACK Power supply +24 V BK-RY Surge Absorber (/BK+) (/BK-) DC side Brake power supply BK-RY BK-RY: Brake control relay 1D: Flywheel diode Install the surge absorber near the brake terminals on the Servomotor. 4-31...

  • Page 120: I/O Signal Connections

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

  • Page 121: I/O Signal Connector (Cn1) Pin Arrangement

    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 122 FG 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.

  • Page 123: 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 124 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 125: 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 126 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 127: Devicenet System Configuration

    4.7 DeviceNet System Configuration 4.7.1 System Configuration Example for DeviceNet Communications DeviceNet System Configuration 4.7.1 System Configuration Example for DeviceNet Communications A system configuration example for DeviceNet communications is provided below. A maximum of 63 slave devices, such as SERVOPACKs, can be connected to one host con- troller (DeviceNet master).

  • Page 128: Connection Examples For Devicenet Communications Cable

    4.7 DeviceNet System Configuration 4.7.2 Connection Examples for DeviceNet Communications Cable 4.7.2 Connection Examples for DeviceNet Communications Cable The following diagram shows an example of the connections between the host controller and the DeviceNet communications connector (CN6) on the SERVOPACK. T (with terminating resistance) Terminating resistance Node...

  • Page 129: Precautions For Connecting Devicenet Communications Cables

    4.7 DeviceNet System Configuration 4.7.3 Precautions for Connecting DeviceNet Communications Cables Branching from a Drop Line There are three methods that you can use to branch from a drop line. Connecting Nodes One Branch Line The Maximum of Three Branch Lines Directly Drop Drop...
  • Page 130 4.7 DeviceNet System Configuration 4.7.3 Precautions for Connecting DeviceNet Communications Cables The maximum network length is determined by the type of cable, as shown in the following table. Maximum Network Length (Unit: m) Baud Rate (Kbps) Thick Cable Thin Cable You can use both thick cables and thin cables to connect different nodes in the same net- Information work.
  • Page 131 4.7 DeviceNet System Configuration 4.7.3 Precautions for Connecting DeviceNet Communications Cables  Configuration Example The following diagram shows the suggested configuration if the baud rate is 500 Kbps. T (with terminating resistance) Terminating resistance Node Node Node Node Node Node : Trunk line : Drop line : T-branch adapter...

  • Page 132: Signal Names And Functions Of The Devicenet Communications Connector (Cn6)

    4.7 DeviceNet System Configuration 4.7.4 Signal Names and Functions of the DeviceNet Communications Connector (CN6) Location of Power Supply The following two types of configuration are possible for the location of the power supply. We recommend that you place nodes on both sides of the power supply if a single power Information supply is connected to many nodes.

  • Page 133: Network Connection Methods

    4.7 DeviceNet System Configuration 4.7.5 Network Connection Methods Pin Arrangement and Connector CAN H CAN L SHIELD 24 V Name Model Micro-style Connector (FEMALE) OMRON DCA1-5CN02F1 Cable with Connectors or the equivalent. 4.7.5 Network Connection Methods Connect the shield wire of the cable to the FG terminal of the communications power supply and ground the shield wire.

  • Page 134: 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 4-46...

  • Page 135: Basic Functions That Require Setting Before Operation

    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 136 Polarity Detection ....5-26 5.9.1 Restrictions ......5-26 5.9.2 Using the Servo ON Command to Perform Polarity Detection .

  • Page 137: 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 138: 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 139: 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. Use the following procedure to set the parameters. Setting Parameters with the SigmaWin+ Select Parameters - Edit Parameters from the menu bar of the Main Window of the Sig- maWin+.
  • Page 140 5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods Click the Write Button. Click the OK Button. The following dialog box will be displayed if the settings of hidden SERVOPACK parame- Information ters disagree with the current SERVOPACK parameters. Note: Click the OK Button to write the parameters. Writing will continue. Click the Cancel Button to not write the parameters.
  • Page 141 5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods Click the OK Button. If DeviceNet Module parameters are displayed, go to step 9. If only SERVOPACK param- Information eters are displayed, go to step 11. DANGER  Write data to flash memory only when the mechanical system is stopped. If you write data to flash memory while the mechanical system is operating, processing that is being executed will be interrupted and the mechanical system may stop.

  • Page 142: Write Prohibition Setting For Parameters

    5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Click the OK Button. If you click the Cancel Button, you will return to the status before flash memory was writ- Information ten. To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.
  • Page 143 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 144: Initializing Parameter Settings

    5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Continued from previous page. 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...

  • Page 145: Initializing Parameter Settings

    5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Applicable Tools The following table lists the tools that you can use to initialize the parameter settings and the applicable tool functions. Tool Function Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn005 (Manual No.: SIEP S800001 33) SigmaWin+...

  • Page 146: Managing Parameters (Pn)

    5.1 Manipulating Parameters (Pn) 5.1.6 Managing Parameters (Pn) Click the Initialize Button. Click the Cancel Button to cancel initialization. The Parameter Editing Dialog Box will return. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again after the parameter set- tings have been initialized.
  • Page 147 5.1 Manipulating Parameters (Pn) 5.1.6 Managing Parameters (Pn) Resetting the Module The following operations will be performed when the Module is reset. • All parameters are saved in non-volatile memory. • The parameters that require turning the power supply OFF and ON again are enabled. Refer to the following section for a detailed operating procedure.

  • Page 148: Power Supply Type Settings For The Main Circuit And Control Circuit

     If you use a DC power supply input with any of the following SERVOPACKs, externally con- nect an inrush current limiting circuit and use the power ON and OFF sequences recom- mended by Yaskawa: SGD7S-330A, -470A, -550A, -590A, or -780A. There is a risk of equipment damage.

  • Page 149: Single-Phase Ac Power Supply Input/Three-Phase Ac Power Supply Input Setting

    You do not need to change the setting of Pn00B to n.1 (Use a three-phase power sup- Information ply input as a single-phase power supply input) for a SERVOPACK with a single-phase 200- VAC power supply input (model numbers: SGD7S-120AE0A008) or for a SERVOPACK with a single-phase 100-VAC power supply input. Parameter...

  • Page 150: Automatic Detection Of Connected Motor

    5.3 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 151: Motor Direction Setting

    5.4 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 152: Setting The Linear Encoder Pitch

    5.5 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 153: Writing Linear Servomotor Parameters

    5.6 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 154 5.6 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 155 5.6 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 156 5.6 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 157: Selecting The Phase Sequence For A Linear Servomotor

    5.7 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 158 5.7 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 159: Polarity Sensor Setting

    5.8 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 160: Polarity Detection

    5.9 Polarity Detection 5.9.1 Restrictions 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 161: Using The Servo On Command To Perform Polarity Detection

    5.9 Polarity Detection 5.9.2 Using the 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 162: Using A Tool Function To Perform Polarity Detection

    5.9 Polarity Detection 5.9.3 Using a Tool Function to Perform Polarity Detection 5.9.3 Using a Tool Function to Perform Polarity Detection Applicable Tools The following table lists the tools that you can use to perform polarity detection and the appli- cable tool functions.

  • Page 163: Overtravel And Related Settings

    5.10 Overtravel and Related Settings 5.10.1 Overtravel Signals 5.10 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 164: Setting To Enable/Disable Overtravel

    5.10 Overtravel and Related Settings 5.10.2 Setting to Enable/Disable Overtravel 5.10.2 Setting to Enable/Disable Overtravel Use PnBA4 (Input Signal Settings) to enable/disable the overtravel function. You do not need to wire the overtravel input signals if you are not going to use the overtravel function.

  • Page 165: Holding Brake

    5.11 Holding Brake 5.11.1 Brake Operating Sequence 5.11 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 166: Bk (Brake) Signal

    5.11 Holding Brake 5.11.2 /BK (Brake) Signal Rotary Servomotors: The brake delay times for Servomotors with Holding Brakes are given in the following table. The operation delay times in the following table are examples for when the power supply is switched on the DC side.

  • Page 167: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped

    5.11 Holding Brake 5.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped 5.11.3 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 Servo OFF com- mand (Enable = 0) is received.
  • Page 168 5.11 Holding Brake 5.11.4 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 Servo OFF command (Enable = 0), alarm,...

  • Page 169: Motor Stopping Method For Servo Off And Alarms

    • If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor stopping method depends on the SERVOPACK model as shown in the following table. Servomotor Stopping Method SGD7S-R70A, -1R6A, -2R8A, Condition -3R8A, -5R5A, -7R6A, -120A, SGD7S-330A, -470A, -550A,...

  • Page 170: Stopping Method For Servo Off

    5.12 Motor Stopping Method for Servo OFF and Alarms 5.12.1 Stopping Method for Servo OFF 5.12.1 Stopping Method for Servo OFF Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method). Servomotor Stop- Status after Servo- Classifi-...
  • Page 171 5.12 Motor Stopping Method for Servo OFF and Alarms 5.12.2 Servomotor Stopping Method for Alarms Parameter Status after Servomotor When Servomotor Classification Stopping Method Enabled Pn00B Pn00A Pn001 Stops  Dynamic   brake (default setting) Zero-speed stop- (default – ...
  • Page 172 5.12 Motor Stopping Method for Servo OFF and Alarms 5.12.2 Servomotor Stopping Method for Alarms If you set Pn30A to 0, the Servomotor will be stopped with a zero speed. The deceleration time that you set in Pn30A is the time to decelerate the motor from the maxi- mum motor speed.

  • Page 173: Motor Overload Detection Level

    5.13 Motor Overload Detection Level 5.13.1 Detection Timing for Overload Warnings (A.910) 5.13 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 174: Detection Timing For Overload Alarms (A.720)

    5.13 Motor Overload Detection Level 5.13.2 Detection Timing for Overload Alarms (A.720) 5.13.2 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 175: Electronic Gear Settings

    5.14 Electronic Gear Settings 5.14 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 176: Electronic Gear Ratio Settings

    5.14 Electronic Gear Settings 5.14.1 Electronic Gear Ratio Settings 5.14.1 Electronic Gear Ratio Settings Set the electronic gear ratio using Pn20E and Pn210. The setting range of the electronic gear depends on the setting of Pn040 = n.X (Encoder Resolution Compatibility Selection). •...

  • Page 177: Electronic Gear Ratio Settings

    5.14 Electronic Gear Settings 5.14.1 Electronic Gear Ratio Settings SGM7J, SGM7A, SGM7P, or SGM7G - Specification Code Encoder Resolution 24-bit multiturn absolute encoder 16,777,216 24-bit incremental encoder 16,777,216 SGMCS - Specification Encoder Resolution Code 20-bit single-turn absolute encoder 1,048,576 20-bit incremental encoder 1,048,576 SGMCV - Specification...
  • Page 178 5.14 Electronic Gear Settings 5.14.1 Electronic Gear Ratio Settings Continued from previous page. Linear Type of Model of Serial Linear Encoder Encoder Linear Manufacturer Converter Unit or Resolution Resolution Model Pitch Encoder Model of Interpolator [μm] 0.005 μm LIC4100 Series 20.48 4,096 EIB3391Y...

  • Page 179: Electronic Gear Ratio Setting Examples

    5.14 Electronic Gear Settings 5.14.2 Electronic Gear Ratio Setting Examples 5.14.2 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 180: Resetting The Absolute Encoder

    5.15 Resetting the Absolute Encoder 5.15.1 Precautions on Resetting 5.15 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 181: Applicable Tools

    5.15 Resetting the Absolute Encoder 5.15.3 Applicable Tools 5.15.3 Applicable Tools The following table lists the tools that you can use to reset the absolute encoder and the appli- cable tool functions. Tool Function Reference Σ-7-Series Digital Operator Operating Digital Operator Fn008 Manual (Manual No.: SIEP S800001 5.15.4 Operating Procedure on page...
  • Page 182 5.15 Resetting the Absolute Encoder 5.15.4 Operating Procedure Click the Continue Button. Click the Cancel Button to cancel resetting the absolute encoder. The previous dialog box will return. 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 canceled.

  • Page 183: Setting The Origin Of The Absolute Encoder

    5.16 Setting the Origin of the Absolute Encoder 5.16.1 Absolute Encoder Origin Offset 5.16 Setting the Origin of the Absolute Encoder 5.16.1 Absolute Encoder Origin Offset Refer to the following section for details. Origin Offset on page 12-4 5.16.2 Setting the Origin of the Absolute Linear Encoder You can set any position as the origin in the following Linear Encoders.
  • Page 184 5.16 Setting the Origin of the Absolute Encoder 5.16.2 Setting the Origin of the Absolute Linear Encoder Operating Procedure Use the following procedure to set the origin of an absolute linear encoder. Select Setup - Set Origin from the menu bar of the Main Window of the SigmaWin+. Click the Cancel Button to cancel setting the origin of the absolute linear encoder.
  • Page 185 5.16 Setting the Origin of the Absolute Encoder 5.16.2 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 186: 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 187: 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 Descriptions ....6-3 6.1.1 Input Signals .
  • Page 188 Absolute Linear Encoders ... . . 6-23 6.9.1 Connecting an Absolute Linear Encoder ..6-23 6.10 Software Reset ..... 6-24 6.10.1 Preparations .

  • Page 189: I/O Signal Descriptions

    6.1 I/O Signal Descriptions 6.1.1 Input Signals I/O Signal Descriptions This section describes the I/O signals. You can confirm the status of I/O signals on the I/O signal monitor. Refer to the following sec- tion for information on the I/O signal monitor. 9.2.3 I/O Signal Monitor on page 9-5 6.1.1 Input Signals...

  • Page 190: I/O Signal Descriptions

    6.1 I/O Signal Descriptions 6.1.2 Output Signals /BK (Brake) Signal Refer to the following section for details. 5.11.2 /BK (Brake) Signal on page 5-32 /S-RDY (Servo Ready) Signal The /S-RDY (Servo Ready) signal turns ON when the SERVOPACK is ready to accept the Servo ON (Enable = 1) command.

  • Page 191: 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 192: 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 193 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 194: 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 Maximum Motor Speed Setting Range Setting Unit Default Setting When Enabled Classification Pn316 0 to 65,535 10,000 After restart...

  • Page 195: 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 196 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 197 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 198 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 199 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 200: 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 201: Setting For The Encoder Divided Pulse Output

    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). Encoder Output Resolution Pn281 Setting Range Setting Unit Default Setting When Enabled...

  • Page 202: 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 (CCW-OT and CW-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.

  • Page 203: Internal Torque Limits

    6.7 Internal Torque Limits Internal Torque Limits You can limit the torque that is output by the Servomotor. If you use internal torque limits, the maximum output torque will always be limited to the speci- fied forward torque limit (Pn402) and reverse torque limit (Pn403). Note: If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the maxi- mum torque of the Servomotor.

  • Page 204: 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 205: Multiturn Limit Setting

    6.8 Absolute Encoders 6.8.2 Multiturn Limit Setting 6.8.2 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 206: Multiturn Limit Disagreement Alarm (A.cc0)

    6.8 Absolute Encoders 6.8.3 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 207 6.8 Absolute Encoders 6.8.3 Multiturn Limit Disagreement Alarm (A.CC0) Operating Procedure Use the following procedure to adjust the multiturn limit setting. 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.
  • Page 208 6.8 Absolute Encoders 6.8.3 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 209: 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 210: 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 211 6.10 Software Reset 6.10.3 Operating Procedure 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. This concludes the procedure to reset the software.

  • Page 212: 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 213: 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 6-27 tion Detection Level 6.11.3 Operating Procedure Use the following procedure to initialize the vibration detection level. Select Setup - Initialize Vibration Detection Level from the menu bar of the Main Win- dow of the SigmaWin+.

  • Page 214: 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. This concludes the procedure to initialize the vibration detection level. 6.11.4 Related Parameters The following three items are given in the following table.

  • Page 215: 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 216: 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. This concludes the procedure to automatically adjust the motor current detection signal offset.
  • Page 217 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment Preparations Always check the following before you 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 218 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 8 until the torque ripple cannot be improved any further regardless of whether you increase or decrease the offsets.

  • Page 219: External Stop Function

    6.13 External Stop Function 6.13.1 EXSTOP (External Stop Input) Signal 6.13 External Stop Function The external stop function forces the Servomotor to stop when an external switch that is con- nected to the SERVOPACK operates. The EXSTOP (External Stop Input) signal is used for the external stop function.

  • Page 220: 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 221: 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. • Preparations for Trial Operation Step Meaning Reference Installation Install the Servomotor and SERVOPACK...

  • Page 222: 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 Connected to the Machine To power supply To host controller 7.5 Trial Operation with the Servomotor Connected to the Machine on page 7- Secure the motor flange to the machine, and connect the...
  • Page 223 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power supply 7.3 Trial Operation for the Servomotor without a Load on page 7-6 Trial Operation with DeviceNet Communica- tions To power...

  • Page 224: 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 225: 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 226: 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 227 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 228: Trial Operation With Devicenet Communications

    7.4 Trial Operation with DeviceNet Communications Trial Operation with DeviceNet Communications A trial operation example for DeviceNet communications is given below. Refer to the following chapter for details on commands. Chapter 12 DeviceNet Functions Connect the DeviceNet communications connector (CN6 connector). Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 con- nector).

  • Page 229: 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 230: 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. 5.10.2 Setting to Enable/Disable Overtravel on page 5-30 Make the settings for the protective functions, such as the safety function, overtravel, and the brake.

  • Page 231: 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 232 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 233 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 234 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging • Linear Servomotors Program Jogging-Related Selections Pn530 Setting Range Setting Unit Default Setting When Enabled Classification − 0000 to 0005 0000 Immediately Setup Program Jogging Travel Distance Pn531 Setting Range Setting Unit Default Setting When Enabled...
  • Page 235 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 236: 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 CCW Drive Prohibit (CCW-OT) signal and CW Drive Prohibit (CW-OT) signal are disabled during an origin search.
  • Page 237 7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Operating Procedure Use the following procedure to perform an origin search. 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 238: 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 239 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor If you use fully-closed loop control, the external encoder information is also used. External Encoder Connection Information That Is Source of Information Status Used Information in the external encoder that is con- External encoder infor- Connected nected...
  • Page 240 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 241: Monitoring

    7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Continued from previous page. SigmaWin+ Digital Operator Executable? Reference Menu Bar SigmaWin+ Function Motor Not Motor Fn No. Utility Function Name Button Name Connected Connected Display Servomotor ...

  • Page 242: 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 243 Autotuning without Host Reference ..8-23 8.6.1 Outline ....... .8-23 8.6.2 Restrictions .
  • Page 244 8.12 Additional Adjustment Functions ..8-66 8.12.1 Automatic Gain Switching ....8-66 8.12.2 Friction Compensation ....8-69 8.12.3 Current Control Mode Selection .

  • Page 245: 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 246: 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. Tuning Function Outline Reference This automatic adjustment function is designed to enable stable opera- tion without servo tuning. This function can be used to obtain a stable Tuning-less Function page 8-11 response regardless of the type of machine or changes in the load.

  • Page 247: 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 248: 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 249 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 250: 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 251 8.3 Precautions to Ensure Safe Tuning 8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON Related Warnings Warning Number Warning Name Meaning Position Deviation This warning occurs if the servo is turned ON while the position A.901 Overflow Warning deviation exceeds the specified percentage (Pn526 ×...

  • Page 252: 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 253: 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 254: 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 255: 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 256: 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 257: 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 258: Operating Procedure

    8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure 8.5.4 Operating Procedure Use the following procedure to estimate 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 259 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 260 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 261 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 262 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 263 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 264: 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 265: Restrictions

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

  • Page 266: Applicable Tools

    8.6 Autotuning without Host Reference 8.6.3 Applicable Tools Preparations Always check the following 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 267 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 268 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 269 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 270: 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 271 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 272: 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 273 8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings  Vibration Suppression You can use vibration suppression to suppress transitional vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. Normally, set Pn140 to n.1...

  • Page 274: 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 275: 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 276: 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 277: 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. Confirm that the moment of inertia ratio (Pn103) is set correctly. Select Tuning - Tuning from the menu bar of the Main Window of the SigmaWin+. The Tuning Dialog Box will be displayed.
  • Page 278 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 279 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 280 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 281: 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 282: 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 283: 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 with a reference from the host controller. You can use it to fine-tune adjustments that were made with autotuning. The following items are adjusted automatically.

  • Page 284: 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) SigmaWin+ Tuning - Tuning...
  • Page 285 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 286 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 0: Set servo gains and preventing overshooting. In addi- with priority given tion to gain adjustment, notch filters to stability.
  • Page 287 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 288 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 289 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 290: 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 291: 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 292: 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 293: 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 294 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 295: 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 to set up anti-resonance control. 8.9.5 Related Parameters The following parameters are automatically adjusted or used as reference when you execute...
  • Page 296 8.9 Anti-Resonance Control Adjustment 8.9.6 Suppressing Different Vibration Frequencies with Anti-resonance Control Required Parameter Settings The following parameter settings are required to use anti-resonance control for more than one vibration frequency. When Classifi- Parameter Description Enabled cation  Do not use anti-resonance control. After (default setting) Pn160...

  • Page 297: 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 298: Preparations

    8.10 Vibration Suppression 8.10.2 Preparations 8.10.2 Preparations Always check the following before you execute vibration suppression. • The tuning-less function must be disabled (Pn170 = n.0). • The test without a motor function must be disabled (Pn00C = n.0). • The parameters must not be write prohibited. 8.10.3 Applicable Tools The following table lists the tools that you can use to perform vibration suppression and the...
  • Page 299 8.10 Vibration Suppression 8.10.4 Operating Procedure Click the Set Button. No settings related to vibration suppression are changed during operation. If the Servomotor does not stop within approximately 10 seconds after changing the setting, an update timeout will occur. The setting will be automatically returned to the previous value. Important If the vibration is not eliminated, use the Buttons for the set frequency to fine-tune the...

  • Page 300: Related Parameters

    8.10 Vibration Suppression 8.10.5 Related Parameters 8.10.5 Related Parameters The following parameters are automatically adjusted or used as reference when you execute vibration suppression. Do not change the settings while vibration suppression is being executed. Parameter Name Automatic Changes Pn140 Model Following Control-Related Selections Pn141 Model Following Control Gain...

  • Page 301: Speed Ripple Compensation

    8.11 Speed Ripple Compensation 8.11.1 Outline 8.11 Speed Ripple Compensation This section describes speed ripple compensation. 8.11.1 Outline Speed ripple compensation reduces the amount of ripple in the motor speed due to torque rip- ple or cogging torque. You can enable speed ripple compensation to achieve smoother opera- tion.
  • Page 302 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Applicable Tools The following table lists the tools that you can use to set up speed ripple compensation and the applicable tool functions. Tool Function Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator. −...
  • Page 303 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Edit Button. Enter the jogging speed in the Input Value Box and click the OK Button. Click the Servo ON Button. 8-62...
  • Page 304 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Forward Button or the Reverse Button. Measurement operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton and the speed ripple will be measured.

  • Page 305: Setting Parameters

    8.11 Speed Ripple Compensation 8.11.3 Setting Parameters Click the Forward Button or the Reverse Button. Verification operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton. The waveform with speed ripple compensation applied to it will be displayed. If the verification results are OK, click the Finish Button.
  • Page 306 8.11 Speed Ripple Compensation 8.11.3 Setting Parameters Speed reference/ feedback speed Setting of Pn427 or Pn49F (Ripple Compensation Time Enable Speed) Ripple Disabled Enabled Disabled Enabled Disabled compensation Speed Ripple Compensation Warnings The speed ripple compensation value is specific to each Servomotor. If you replace the Servo- motor while speed ripple compensation is enabled, an A.942 warning (Speed Ripple Compen- sation Information Disagreement) will occur to warn you.
  • Page 307 8.12 Additional Adjustment Functions 8.12.1 Automatic Gain Switching 8.12 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 Reference Gain Switching...

  • Page 308: Additional Adjustment Functions

    8.12 Additional Adjustment Functions 8.12.1 Automatic Gain Switching Select one of the following settings for switching condition A. For Control Methods Position Control Gain When Parameter Other Than Position Classification Switching Condition A Enabled Control (No Switching) /COIN (Positioning Com- ...

  • Page 309: Additional Adjustment Functions

    8.12 Additional Adjustment Functions 8.12.1 Automatic 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 Loop Gain...

  • Page 310: Friction Compensation

    8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Parameters Related to Automatic Gain Switching Gain Switching Time 1 Pn131 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65,535 1 ms Immediately Tuning Gain Switching Time 2 Pn132 Setting Range Setting Unit Default Setting When Enabled...
  • Page 311 8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Operating Procedure for Friction Compensation Use the following procedure to perform friction compensation. CAUTION  Before you execute friction compensation, set the moment of inertia ratio (Pn103) as accu- rately as possible. If the setting greatly differs from the actual moment of inertia, vibration may occur.

  • Page 312: Current Control Mode Selection

    Use current control mode 1. Pn009 After restart Tuning (default setting)   Use current control mode 2 (low noise). • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A Parameter Meaning When Enabled Classification   Use current control mode 1.

  • Page 313: Speed Feedback Filter

    8.12 Additional Adjustment Functions 8.12.6 Speed Feedback Filter Parameter Meaning When Enabled Classification   Use speed detection 1. (default setting) Pn009 After restart Tuning   Use speed detection 2. If the speed detection method is changed, the response characteristic of the speed loop will also change.
  • Page 314 8.12 Additional Adjustment Functions 8.12.7 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 315 8.12 Additional Adjustment Functions 8.12.7 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 316 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Operation When the Servo Is ON The backlash compensation value (Pn231) is added in the backlash compensation direction when the servo is ON (i.e., while power is supplied to the motor) and a reference is input in the same direction as the backlash compensation direction (Pn230.0 = n.X).
  • Page 317 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Operation When the Servo Is OFF Backlash compensation is not applied when the servo is OFF (i.e., when power is not supplied to motor). Therefore, the reference position POS is moved by only the backlash compensation value.

  • Page 318: Manual Tuning

    8.13 Manual Tuning 8.13.1 Tuning the Servo Gains 8.13 Manual Tuning This section describes manual tuning. 8.13.1 Tuning the Servo Gains Servo Gains Position control loop Speed control loop Speed Speed Speed pattern Movement Servomotor reference reference Speed control Current Deviation Position Power...
  • Page 319 8.13 Manual Tuning 8.13.1 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 320 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can Information occur during high-speed operation. If that is the case, you can increase the setting of the fol- lowing parameter to increase the level for alarm detection.
  • Page 321 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Torque Reference Filter As shown in the following diagram, the torque reference filter contains a first order lag filter and notch filters arranged in series, and each filter operates independently. The notch filters can be enabled and disabled with Pn408 = n.XX and Pn416 = n.XXX. Torque-Related Torque-Related Function...
  • Page 322 8.13 Manual Tuning 8.13.1 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 323 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains 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 First Stage Notch Filter Q Value Pn40A Setting Range Setting Unit Default Setting When Enabled...
  • Page 324 8.13 Manual Tuning 8.13.1 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 325 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 326 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains The block diagram for model following control is provided below. Speed Movement Model following Speed pattern reference control mKp, mVFF, mTFF Time Speed Torque feedforward feedforward Position control loop Speed control loop Speed Servomotor reference...
  • Page 327 8.13 Manual Tuning 8.13.1 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 328: Compatible Adjustment Functions

    8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions 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 329 8.13 Manual Tuning 8.13.2 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 330 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions • Linear Servomotors Mode Switching Level for Force Reference Pn10C Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 Immediately Tuning Mode Switching Level for Speed Reference Pn181 Setting Range Setting Unit Default Setting When Enabled...
  • Page 331 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 Integral Time Constant Pn11F...

  • Page 332: Diagnostic Tools

    8.14 Diagnostic Tools 8.14.1 Mechanical Analysis 8.14 Diagnostic Tools 8.14.1 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 333 8.14 Diagnostic Tools 8.14.1 Mechanical Analysis 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 334: Easy Fft

    8.14 Diagnostic Tools 8.14.2 Easy FFT 8.14.2 Easy FFT The machine is made to vibrate and a resonance frequency is detected from the generated vibration to set notch filters according to the detected resonance frequencies. This is used to eliminate high-frequency vibration and noise. During execution of Easy FFT, a frequency waveform reference is sent from the SERVOPACK to the Servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rota- tion, thus causing the machine to vibrate.
  • Page 335 8.14 Diagnostic Tools 8.14.2 Easy FFT Applicable Tools The following table lists the tools that you can use to perform EasyFFT and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Servo Drive Digital Operator Operating Manual Digital Operator Fn206 (Manual No.: SIEP S800001 33) SigmaWin+...
  • Page 336 8.14 Diagnostic Tools 8.14.2 Easy FFT 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. When measurements have been completed, the measurement results will be displayed. Check the results in the Measurement result Area and then click the Measurement complete Button.
  • Page 337 8.14 Diagnostic Tools 8.14.2 Easy FFT Click the Result Writing Button if you want to set the measurement results in the param- eters. This concludes the procedure to set up Easy FFT. Related Parameters The following parameters are automatically adjusted or used as reference when you execute Easy FFT.
  • Page 338 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 339: 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 340: 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 341 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 • Polarity Sensor Signal • /S-ON (Servo ON Input Signal) •...

  • Page 342: 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. Output signal status Input signal status You can also use the above window to check wiring.

  • Page 343: 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 344: 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 345 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 346: 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 347 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 348: 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 349 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 350 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 351: 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 Item Description The operating status of the SERVOPACK in terms of the installation envi- ronment is displayed. Implement one or more of the following actions if the SERVOPACK Installation Envi- monitor value exceeds 100%.

  • Page 352: Operating Procedure

    9.4 Monitoring Product Life 9.4.2 Operating Procedure 9.4.2 Operating Procedure Use the following procedure to display the installation environment and service life prediction monitor dialog boxes. • Select Life Monitor − Installation Environment Monitor or Life Monitor − Service Life Prediction Monitor from the menu bar of the Main Window of the SigmaWin+.

  • Page 353: Preventative Maintenance

    9.4 Monitoring Product Life 9.4.3 Preventative Maintenance 9.4.3 Preventative Maintenance You can use preventative maintenance warnings for preventative maintenance. The SERVOPACK can notify the host controller when it is time to replace any of the main parts. Preventative Maintenance Warning An A.9b0 warning (Preventative Maintenance Warning) is detected when any of the following service life prediction values drops to 10% or less: SERVOPACK built-in fan life, capacitor life, inrush current limiting circuit life, and dynamic brake circuit life.

  • Page 354: Alarm Tracing

    9.5 Alarm Tracing 9.5.1 Data for Which Alarm Tracing Is Performed Alarm Tracing Alarm tracing records data in the SERVOPACK from before and after an alarm occurs. This data helps you to isolate the cause of the alarm. You can display the data recorded in the SERVOPACK as a trace waveform on the SigmaWin+. •...

  • Page 355: Fully-Closed Loop Control

    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 356: 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 357: 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 358 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- Items to Check tance is the same as the reference Pn530 to Pn536 (program SERVO- Does the fully-closed...

  • Page 359: 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. Parameter to Set Setting Reference ...

  • Page 360: 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 361: 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 362: Electronic Gear Setting

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.5 Electronic Gear Setting 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. Related Parameters Encoder Output Resolution Pn281...

  • Page 363: Analog Monitor Signal Settings

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.7 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 364 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 365: 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 366: 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 367: 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 368: 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 Servo OFF (Enable = 0) command is received and power is no longer sup- plied to the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVOPACK will enter the HWBB state.

  • Page 369: Hwbb Input Signal Specifications

    11.2 Hard Wire Base Block (HWBB) 11.2.5 HWBB Input Signal Specifications 11.2.5 HWBB Input Signal Specifications If an HWBB is requested by turning OFF the two HWBB input signal channels (/HWBB1 and /HWBB2), the power supply to the Servomotor will be turned OFF within 8 ms. 8 ms max.

  • Page 370: Servo Ready

    11.2 Hard Wire Base Block (HWBB) 11.2.7 Servo Ready 11.2.7 Servo Ready The Servo ON command (Enable = 1) signal will not be acknowledged in the HWBB state. Therefore, the Servo Ready bit will be 0. The Servo Ready bit will change to 1 when both the /HWBB1 and /HWBB2 signals are ON and the servo is OFF (BB state).

  • Page 371: Stopping Methods

    11.2 Hard Wire Base Block (HWBB) 11.2.9 Stopping Methods 11.2.9 Stopping Methods If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the Servomotor will stop according to the stop mode that is set for stopping the Servomotor when the servo turns OFF (Pn001 = n.X).

  • Page 372: 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 and SIL3 in IEC 61508, the EDM1 signal must be mon- itored by the host controller.

  • Page 373: 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 374: 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 375: 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 function after completing the wiring. (It is recommended that you keep the confirmation results as a record.) •...

  • Page 376: 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 377: Devicenet Functions

    DeviceNet Functions This chapter provides details on settings required to use the DeviceNet functions. 12.1 Setting the Coordinate System ..12-2 12.1.1 Coordinate System Selection ....12-2 12.1.2 Setting the Reference Units per Machine Revolution .

  • Page 378: Setting The Coordinate System

    12.1 Setting the Coordinate System 12.1.1 Coordinate System Selection 12.1 Setting the Coordinate System You must set whether the SERVOPACK is used with a linear machine or a rotary machine. If a rotary system is specified, you can clear the current position to 0 each time the machine revolves one time.

  • Page 379: Origin Returns

    12.2 Origin Returns 12.2.1 Origin Return Type 12.2 Origin Returns An origin return must be performed after the power supply is turned ON to align the position of the motor with the position of the machine. An origin return, however, is not required if an abso- lute encoder is used.
  • Page 380 12.2 Origin Returns 12.2.2 Parameter Settings Setting the Origin Return Direction The following parameter sets the origin return direction. If the origin signal input is active when an origin return starts (i.e., if the machine is near the ori- gin), the machine will first move in the opposite direction from the specified origin return direc- tion.

  • Page 381: Setting The Origin

    12.2 Origin Returns 12.2.3 Setting the Origin 12.2.3 Setting the Origin There are the following two ways to set the origin when an absolute encoder is used. Editing Parameters to Set Origin Use the following procedure to set the origin by editing parameters. Use continuous operation or other means to move the axis to the origin position of the machine.

  • Page 382: Positioning

    12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns The following acceleration/deceleration patterns can be achieved by combining acceleration/ deceleration types with filter selections. Acceleration/Deceleration Type (PnB26) Parameter 0001 hex: 0003 hex: 0000 hex: None. Symmetric Linear Asymmetric Linear Symmetric linear accel- Asymmetric linear accel- eration/deceleration...
  • Page 383 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns Asymmetric Linear Acceleration/Deceleration (Constant Acceleration/Deceleration Rates) With asymmetric linear acceleration/deceleration, the acceleration and deceleration rates can be set separately. For example, for the deceleration rate, the time T that is required to stop during a positioning operation from when the reference is at the feed speed set in PnB21 can be calculated as fol- lows: Feed Speed (PnB21)
  • Page 384 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns Exponential Acceleration/Deceleration with Bias (Constant Acceleration/Deceleration Times) For exponential acceleration/deceleration with a bias, a bias is applied to the acceleration rate and deceleration rate. Set the time that is required for the feed speed to reach the following speed set in PnB40 (Time Constant for Exponential Acceleration/Deceleration).
  • Page 385 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns Symmetric S-Curve Acceleration/Deceleration (Constant Acceleration/Deceleration Rates) First, symmetric S-curve acceleration/deceleration is the same as symmetric linear accelera- tion/deceleration in that the acceleration and deceleration rates are both determined by PnB2A (Acceleration Rate). With an S-curve pattern, however, the corners when starting and just before and after the feed speed set in PnB21 are rounded by using a filter.

  • Page 386: Parameter Settings

    12.3 Positioning 12.3.2 Parameter Settings Asymmetric S-Curve Acceleration/Deceleration (Constant Acceleration/Deceleration Rates) With Asymmetric S-Curve Acceleration/Deceleration, the operation is the same as for symmet- ric S-curve acceleration/deceleration except that the acceleration and deceleration rates can be set separately. First, the operation is the same as for asymmetric linear acceleration/deceleration in that the acceleration and deceleration rates are created from PnB2A (Acceleration Rate) and PnB2B (Deceleration Rate).
  • Page 387 12.3 Positioning 12.3.2 Parameter Settings Setting the Acceleration/Deceleration Pattern The acceleration/deceleration pattern is set in PnB26 (Acceleration/Deceleration Type) and PnB29 (Filter Selection). Parameter Meaning 0000 hex No acceleration/deceleration PnB26 0001 hex Symmetrical linear acceleration/deceleration 0003 hex Asymmetrical linear acceleration/deceleration (Default setting) 0000 hex No filter (Default setting) 0001 hex...
  • Page 388 12.3 Positioning 12.3.2 Parameter Settings Setting the Exponential Acceleration/Deceleration Rate This parameter sets the time constant for the exponential acceleration/deceleration filter when exponential acceleration/deceleration is used. Time Constant for Exponential Acceleration/Deceleration PnB40 Setting Range Setting Unit Default Setting When Enabled 4 to 1,000 1 ms Immediately...

  • Page 389: Positioning After Continuous Operation

    12.4 Positioning after Continuous Operation 12.4.1 Positioning Patterns after Continuous Operation 12.4 Positioning after Continuous Operation 12.4.1 Positioning Patterns after Continuous Operation When the SERVOPACK receives a command to switch to positioning during continuous opera- tion, the following three types of positioning can be performed depending on the parameter settings.

  • Page 390: Parameter Settings

    12.4 Positioning after Continuous Operation 12.4.2 Parameter Settings Positioning by the Near Course For positioning by the near course, the motor rotates in the direction that was specified for continuous operation until a switching command is received. After a switching command is received, the motor decelerates to a stop.
  • Page 391 12.4 Positioning after Continuous Operation 12.4.2 Parameter Settings End Position This parameter sets the target position for positioning when positioning after continuous oper- ation. If bit 15 in PnBA5 (Action Definition Settings) is set to 1, the target position is set in the command message and the Target Position parameter does not need to be set.

  • Page 392: Special Functions

    12.5 Special Functions 12.5.1 Action Definition Settings 12.5 Special Functions 12.5.1 Action Definition Settings The action definition settings define the operation of the SERVOPACK. Automatic Execution for Module Reset You can specify whether to automatically reset the SERVOPACK after attribute 24 (Reference Direction) of object 0x25 is changed.

  • Page 393: Initialization Functions

    12.5 Special Functions 12.5.2 Initialization Functions 12.5.2 Initialization Functions Resetting the Absolute Encoder You can reset the absolute encoder via DeviceNet without using a Digital Operator. This is set with bit 0 of PnBA7. Parameter Meaning Reset the absolute encoder. ...

  • Page 394: Devicenet Communications

    DeviceNet Communications This chapter provides details on DeviceNet communica- tions. 13.1 DeviceNet Communications Settings ..13-3 13.1.1 Setting the Node Address ....13-3 13.1.2 Setting the Baud Rate .
  • Page 395 13.5 Reading and Changing Attributes ... . 13-31 13.5.1 DeviceNet Data Management ... . . 13-31 13.5.2 Reading and Changing Attributes ..13-32 13.5.3 Executing a Module Reset .

  • Page 396: Devicenet Communications Settings

    13.1 DeviceNet Communications Settings 13.1.1 Setting the Node Address 13.1 DeviceNet Communications Settings This section describes the switch settings and indicator operation for DeviceNet communica- tions. 13.1.1 Setting the Node Address Use the NA rotary switches (x1 and x10) on the front panel of the DeviceNet Module to set the DeviceNet node address.

  • Page 397: Setting The Baud Rate

    13.1 DeviceNet Communications Settings 13.1.2 Setting the Baud Rate 13.1.2 Setting the Baud Rate Use the DR rotary switch on the front panel of the DeviceNet Module to set the DeviceNet baud rate. DeviceNet Module Rotary switch (DR) Rotary Switch Baud Rate Setting Setting (DR) 125 kbps...

  • Page 398: Communications Methods

    13.2 Communications Methods 13.2.1 I/O Communications 13.2 Communications Methods The DeviceNet Module supports two types of communications: I/O communications and explicit message communications. 13.2.1 I/O Communications This section describes the command messages that are sent from the master device to the SERVOPACK and the response messages that are returned by the SERVOPACK.
  • Page 399 13.2 Communications Methods 13.2.1 I/O Communications  Absolute/Incremental Use the Absolute/Incremental bit to specify whether the target position data that is stored in bytes 4 to 7 specifies an absolute position or an incremental position. This data is enabled when the Start Trajectory bit changes from 0 to 1. 0: Absolute position 1: Incremental position ...
  • Page 400 13.2 Communications Methods 13.2.1 I/O Communications Continued from previous page. Command Assembly Code Command Data Data Types 0x04 DINT Deceleration rate (reference units/s − 0x05 to 0x10 Reserved. 0x11 Continuous motor speed (reference unit/s) DINT 0x12 Origin return type USINT −...
  • Page 401 13.2 Communications Methods 13.2.1 I/O Communications  Target Speed (Command Assembly Code = 0x02) Set the command data to the target speed for positioning. This data is enabled when the Valid Data bit is set to 1. Make sure that this data is always a positive value. Set the speed in refer- ence units/s.
  • Page 402 13.2 Communications Methods 13.2.1 I/O Communications  Switch to Positioning (Command Assembly Code = 0x1F) This command code switches from continuous operation to positioning. This data is enabled when the Valid Data bit is set to 1. The end position in PnB55 is used as the target position. Set bytes 4 to 7 of the command data to 0x00.
  • Page 403 13.2 Communications Methods 13.2.1 I/O Communications  Home Flag This bit is used to monitor the origin signal input to the SERVOPACK. This bit is set to 1 when the current position is any position other than the origin. This bit is cleared to 0 when the cur- rent position is the origin.

  • Page 404: Explicit Message Communications

    13.2 Communications Methods 13.2.2 Explicit Message Communications  Command Error This bit changes to 1 if an error is found in the command data in a command message. The method to use to clear command errors depends on the setting of the 12th bit of the action definition settings in PnBA5.
  • Page 405 13.2 Communications Methods 13.2.2 Explicit Message Communications  Attribute ID Specify the attribute ID of the object from which to request the service. The following services of the Command Block objects (class ID = 0x27) do not have attribute IDs: Get_Attribute_All (service code = 0x01) and Set_Attribute_All (service code = 0x02). ...

  • Page 406: Controlling Operation From The Host Controller

    13.3 Controlling Operation from the Host Controller 13.3.1 Positioning 13.3 Controlling Operation from the Host Controller This section describes the operation of the SERVOPACK for I/O communications from the host controller. 13.3.1 Positioning Positioning can be performed to specified target positions. The procedure and an example operation are given below.

  • Page 407: Continuous Operation

    13.3 Controlling Operation from the Host Controller 13.3.2 Continuous Operation Motor speed Enable Start Trajectory Trajectory In Progress Command Assembly Code Command Data • If an alarm occurs, the servo is OFF, or another operation command, such as one for continu- ous operation or an origin return, is being executed, the Positioning command will be ignored.

  • Page 408: Origin Returns

    13.3 Controlling Operation from the Host Controller 13.3.3 Origin Returns Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Absolute/ Valid Hard Smooth Direction Start Start Enable Incremen- Data Stop Stop (V mode) Block Trajectory 0x00 Block Number...
  • Page 409 13.3 Controlling Operation from the Host Controller 13.3.3 Origin Returns After the status of the Home Flag changes, the axis will continue to travel until the first phase C is detected. When phase C is detected, the axis will decelerate and travel to the position where phase C was detected.
  • Page 410 13.3 Controlling Operation from the Host Controller 13.3.3 Origin Returns Type 3 Origin returns are based only on the detection of phase C of the encoder. The axis travels at the origin approach speed in the specified origin return direction. When the first phase C is detected, the axis will stop, reverse direction, and travel to the position where phase C was detected.

  • Page 411: Switching To Positioning

    13.3 Controlling Operation from the Host Controller 13.3.4 Switching to Positioning 13.3.4 Switching to Positioning When the SERVOPACK receives a command to switch to positioning during continuous opera- tion, the following three types of positioning can be performed depending on the parameter settings.
  • Page 412 13.3 Controlling Operation from the Host Controller 13.3.4 Switching to Positioning  PnBA5 Bit 15 = 0 (Positioning Command) A Positioning command (command assembly code = 0x01) is used. Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0...

  • Page 413: Hard Stop Operation

    13.3 Controlling Operation from the Host Controller 13.3.5 Hard Stop Operation • Setting the Parameters Make sure that the following parameters are set to the correct values. Important  Parameter Name Value PnB12 Coordinate Type Selection 0001 hex PnB13 Reference Units per Machine Revolution PnB54 Positioning Approach Speed Depends on the...

  • Page 414: Smooth Stop Operation

    13.3 Controlling Operation from the Host Controller 13.3.6 Smooth Stop Operation 13.3.6 Smooth Stop Operation To execute a Smooth Stop command, the deceleration rate that is set for the motor is used to stop the motor. If the Smooth Stop bit is set to 1 while the motor is moving, the motor decelerates to a stop at the specified deceleration rate.

  • Page 415: Hardware Limit Operation

    13.3 Controlling Operation from the Host Controller 13.3.8 Hardware Limit Operation 13.3.8 Hardware Limit Operation The hardware limit operation monitors the CW-OT (CW Drive Prohibit Input) signal and the CCW-OT (CCW Drive Prohibit Input) signal from limit switches. If either signal becomes active, the motor is stopped.

  • Page 416: Programmed Operation

    13.4 Programmed Operation 13.4.1 What Is Programmed Operation? 13.4 Programmed Operation 13.4.1 What Is Programmed Operation? Programmed operation allows you to set the sequential execution of command blocks in advance. You can store up to 255 command blocks and specify the execution flow by specify- ing the next block to execute with the Link Number attribute.

  • Page 417: Block Command Details

    13.4 Programmed Operation 13.4.3 Block Command Details 13.4.3 Block Command Details Attribute Change Command Use the Attribute Change command to change the value of an attribute. You can change the values of only the attributes that are listed in the following table. No other attributes can be changed.
  • Page 418 13.4 Programmed Operation 13.4.3 Block Command Details Conditional Link Greater Than Command If the value of the specified attribute is greater than or equal to the value of the Compare Data attribute, execution will branch to the block that is specified in the Compare Link Number attri- bute.
  • Page 419 13.4 Programmed Operation 13.4.3 Block Command Details Decrement Counter Command The Decrement Counter command decrements by one the counter that is used for loop con- trol. The following table gives the data format for the Decrement Counter command. Attribute Name Data Type Description of Attribute Block Command Code...
  • Page 420 13.4 Programmed Operation 13.4.3 Block Command Details Target Speed Change Command Use the Target Speed Change command to change the target speed. The following table gives the data format for the Target Speed Change command. Attribute Name Data Type Description of Attribute Block Command Code USINT Code = 0x09...

  • Page 421: Command Block Links

    13.4 Programmed Operation 13.4.4 Command Block Links 13.4.4 Command Block Links Command blocks are linked as shown below depending on the link numbers in attribute 2 (Link Number) of the command blocks. Instance 1 Attribute 2 (Link Number) Instance 2 Attribute 2 (Link Number) Instance 3...

  • Page 422: Creating And Changing Command Blocks

    13.4 Programmed Operation 13.4.5 Creating and Changing Command Blocks Continued from previous page. Service Name Meaning Remarks Code Use this service to change only one attribute in a command block. If you change the command assembly code of Changes the value of the command block in attribute 1, all data from 0x10 Set_Attribute_Single...

  • Page 423: Starting Programmed Operation

    13.4 Programmed Operation 13.4.6 Starting Programmed Operation 13.4.6 Starting Programmed Operation To start programmed operation, specify the starting command block number in a command message in I/O communications. When programmed operation starts, the SERVOPACK will continuously execute the command blocks. The host controller does not need to continuously send commands to the SERVOPACK using command messages.

  • Page 424: Reading And Changing Attributes

    13.5 Reading and Changing Attributes 13.5.1 DeviceNet Data Management 13.5 Reading and Changing Attributes 13.5.1 DeviceNet Data Management In DeviceNet, all parameters and command blocks are managed as objects, instances, and attributes. The following diagram illustrates this. Position Controller Command Block objects (0x27) object (0x25) Instance 2 Object (0x27)
  • Page 425 13.5 Reading and Changing Attributes 13.5.2 Reading and Changing Attributes 13.5.2 Reading and Changing Attributes You can use messages with explicit messages communications to read or change attributes.  Basic Format The following table shows the basic format for explicit messages. •...

  • Page 426: Executing A Module Reset

    13.5 Reading and Changing Attributes 13.5.3 Executing a Module Reset 13.5.3 Executing a Module Reset You can use an explicit message to reset the SERVOPACK by executing the Reset service for the Identity object. The following example is for a master device with a MAC ID of 0. Commands (Master Device to SERVOPACK) 0x05 0x01 (Identity object)

  • Page 427: Maintenance

    Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 14.1 Inspections and Part Replacement ..14-2 14.1.1 Inspections ......14-2 14.1.2 Guidelines for Part Replacement .

  • Page 428: 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 429: Replacing The Battery

    14.1 Inspections and Part Replacement 14.1.3 Replacing the Battery 14.1.3 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 430 14.1 Inspections and Part Replacement 14.1.3 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 431: Alarm Displays

    14.2 Alarm Displays 14.2.1 List of Alarms 14.2 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.020 Status Not lit.

  • Page 432: List Of Alarms

    14.2 Alarm Displays 14.2.1 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 433 14.2 Alarm Displays 14.2.1 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 434 14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal program error 4 occurred in the SERVO- A.bF4 System Alarm 4 Gr.1 PACK. Internal program error 5 occurred in the SERVO- A.bF5 System Alarm 5...
  • Page 435 14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method If position deviation remains in the deviation counter, the setting of Pn529 or Pn584 (Speed Position Deviation Over- Limit Level at Servo ON) limits the speed when A.d02...
  • Page 436 14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method FL-1 FL-2 FL-3 An internal program error occurred in the SER- − System Alarm VOPACK.

  • Page 437: Troubleshooting Alarms

    14.2.2 Troubleshooting Alarms 14.2.2 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. Alarm Number: Possible Cause Confirmation...
  • Page 438 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in − − faulty. Replace the SER- the SERVOPACK. gram error VOPACK.
  • Page 439 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name 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 page 5-42 detection conditions...
  • Page 440 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: − alarm.
  • Page 441 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name 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 The cable may be short-...
  • Page 442 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.100: Turn the power supply to Overcurrent Detected the SERVOPACK OFF and A failure occurred in ON again. If an alarm still (An overcurrent –...
  • Page 443 Pn600 (Regenerative nected to one of the tor is connected and Resistor Capacity) to 0 (setting unit: ×10 W) if no following SERVO- check the setting of PACKs: SGD7S- Pn600. Regenerative Resistor is R70A, -R90A,-1R6A, required. page 5-52 -2R8A, -R70F, -R90F, -2R1F, or -2R8F.
  • Page 444 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified – supply voltage. specified range.
  • Page 445 External Regenera- page 5-52 following SERVO- check the setting of tive Resistor is not PACKs: SGD7S- Pn600. required, set Pn600 to 0. R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, or -2R8F. The SERVOPACK may be A failure occurred in –...
  • Page 446 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the – supply voltage. specified range. specified range.
  • Page 447 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- – motor wiring is not Servomotor.
  • Page 448 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are page 4-24 contact in the motor correctly wired.
  • Page 449 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name 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 3-7 perature is too high.
  • Page 450 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
  • Page 451 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- – occurs, the Servomotor or –...
  • Page 452 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature – the Servomotor is too Servomotor to 40°C or A.860: around the Servomotor.
  • Page 453 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter –...
  • Page 454 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and A.bF0: A failure occurred in ON again. If an alarm still – –...
  • Page 455 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the Servomotor Make sure that the Servo- – motor wiring is not wiring.
  • Page 456 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Pitch) Check the linear and Pn080 = n.X The parameter set- encoder specifications page 5-18, (Motor Phase Selection) page 5-23 tings are not correct.
  • Page 457 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON under the follow- ing circumstances. A.C52: • When an absolute Perform polarity detec- Polarity Detec- linear encoder was –...
  • Page 458 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name 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 4-24 the encoder connector.
  • Page 459 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the page 4-6 encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating...
  • Page 460 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly page 4-24 encoder.
  • Page 461 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- page 4-26 is not wired correctly external encoder.
  • Page 462 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name 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 deviation while the tion Overflow...
  • Page 463 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Fluctuations in the communications sys- tem of the host con- troller that is Turn the power supply connected to the OFF and ON again. If the Command Option –...
  • Page 464 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- Check the connection nection between the between the SERVO- Correctly connect the – SERVOPACK and the PACK and the Safety Safety Option Module.
  • Page 465 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.EA0: Initialization Error (Communica- A failure occurred in tions initialization Replace the DeviceNet the DeviceNet Mod- – failed between – Module. ule.
  • Page 466 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name 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. not correct.
  • Page 467 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Disconnect the Digital Operator and then con- nect it again. If an alarm A failure occurred in – still occurs, the Digital –...

  • Page 468: Resetting Alarms

    14.2 Alarm Displays 14.2.3 Resetting Alarms 14.2.3 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 469: Clearing The Alarm History

    14.2 Alarm Displays 14.2.5 Clearing the Alarm History 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. 2. You can clear the alarm history by clicking the Clear Button. The alarm history is not cleared when alarms are reset or when the SERVOPACK main circuit power is turned OFF.

  • Page 470: Resetting Alarms Detected In Option Modules

    14.2 Alarm Displays 14.2.6 Resetting Alarms Detected in Option Modules 14.2.6 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 471 14.2 Alarm Displays 14.2.6 Resetting Alarms Detected in Option Modules Click the OK Button. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to reset alarms detected in Option Modules. 14-45...

  • Page 472: Resetting Motor Type Alarms

    14.2 Alarm Displays 14.2.7 Resetting Motor Type Alarms 14.2.7 Resetting Motor Type Alarms The SERVOPACK automatically determines the type of motor that is connected to it. If the type of motor that is connected is changed, an A.070 alarm (Motor Type Change Detected) will occur the next time the SERVOPACK is started.

  • Page 473: Warning Displays

    14.3 Warning Displays 14.3.1 List of Warnings 14.3 Warning Displays If a warning occurs in the SERVOPACK, a warning 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. 14.3.1 List of Warnings The list of warnings gives the warning name, warning meaning in order of the warning num-...

  • Page 474: Troubleshooting Warnings

    9-14 14.3.2 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 475 14.3 Warning Displays 14.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The wiring is not correct or there is Make sure that the Servo- − a faulty contact in Check the wiring. motor and encoder are cor- the motor or rectly wired.
  • Page 476 14.3 Warning Displays 14.3.2 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 3-6 the SERVOPACK installa- high.
  • Page 477 14.3 Warning Displays 14.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The power supply Set the power supply volt- voltage exceeded Measure the power − age within the specified the specified supply voltage. range.
  • Page 478 Replace the SERVO- PACK. PACK. One of the con- A.9b0: Replace the part. Contact sumable parts has − your Yaskawa representa- Preventative Mainte- page 9-16 reached the end tive for replacement. nance Warning of its service life. The SERVOPACK Check the SERVO- A.A90:...
  • Page 479 14.3 Warning Displays 14.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name A.A97: Control Power Error The control power Turn ON the control power (The control power − − supply is not ON. supply.

  • Page 480: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor 14.4 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 481 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference There is a mistake in the Ser- Wire the Servomotor − Check the wiring. vomotor wiring. correctly. There is a mistake in the wir- Wire the Serial Con- −...
  • Page 482 14.4 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 483 14.4 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 −...
  • Page 484 14.4 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 485 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Noise interference occurred Use a shielded twisted- Use cables that satisfy −...
  • Page 486 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Correct the external Check the external power power supply (+24 V) − supply (+24 V) voltage for voltage for the input the input signals.
  • Page 487 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Use a shielded Noise interference occurred Use cables that satisfy −...
  • Page 488 14.4 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 489: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. 15.1 List of Parameters ....15-2 15.1.1 Interpreting the Parameter Lists ... . 15-2 15.1.2 List of Parameters .

  • Page 490: List Of Parameters

    15.1 List of Parameters 15.1.1 Interpreting the Parameter Lists 15.1 List of Parameters 15.1.1 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 491: List Of Parameters

    15.1 List of Parameters 15.1.2 List of Parameters 15.1.2 List of Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameters • Parameters not given in this manual • Parameters that are not valid for the Servomotor that you are using, as given in the parameter table Parameter Setting Setting...
  • Page 492 15.1 List of Parameters 15.1.2 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 hex to 0000 After − − − Setup Selections 2 4213 hex restart ...
  • Page 493 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Application Function 0000 hex to 0002 Immedi- − Setup Selections 6 105F hex ately Analog Monitor 1 Signal Selection...
  • Page 494 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Application Function 0000 hex to 0000 Immedi- − Setup Selections 7 105F hex ately Analog Monitor 2 Signal Selection...
  • Page 495  Reserved parameter (Do not change.) Current Control Mode Selection Reference Use current control mode 1. • SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A,   -3R8A, -5R5A, and -7R6A: Use current control mode 1. page 8-71 Pn009 • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A: Use current control mode 2.
  • Page 496 15.1 List of Parameters 15.1.2 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 hex to 0001 After − − Setup Selections A 0044 hex restart Motor Stopping Method for Group 2 Alarms...
  • Page 497 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Application Function 0000 hex to 0000 After − − Setup Selections C 0131 hex restart 7-19...
  • Page 498 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Σ-V Compatible Func- 0000 hex to 0000 After − − − Setup tion Switch 2111 hex restart...
  • Page 499 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Second Speed Loop Immedi- Pn105 15 to 51,200 0.01 ms 2000 Tuning Integral Time Constant ately...
  • Page 500 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Immedi- Pn131 Gain Switching Time 1 0 to 65,535 1 ms Tuning ately 8-66...
  • Page 501 15.1 List of Parameters 15.1.2 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- page Immedi- Pn144 trol Bias in the Reverse 0 to 10,000 0.1% 1000 Tuning...
  • Page 502 15.1 List of Parameters 15.1.2 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 page -1,000 to Immedi- Pn164 Time Constant 1 Cor- 0.01 ms Tuning 1,000 ately...
  • Page 503 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Number of Encoder 16 to After Pn212 1,073,741,824 1 P/Rev 2048 Rotary Setup Output Pulses...
  • Page 504 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Vibration Detection 0000 hex to 0000 Immedi- − Setup Selections 0002 hex ately 6-26 Vibration Detection Selection...
  • Page 505 15.1 List of Parameters 15.1.2 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 hex to 0000 − − − Setup tion Selections 1111 hex When Notch Filter Selection 1...
  • Page 506 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Third Stage Notch Filter Immedi- Pn418 50 to 1,000 0.01 Tuning Q Value ately 8-82...
  • Page 507 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 8-11, page Notch Filter Adjustment 0000 hex to 0101 Immedi- − Tuning Selections 1 0101 hex...
  • Page 508 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Brake Reference Out- Immedi- Pn507 0 to 10,000 Rotary Setup 1 min put Speed Level ately 5-31...
  • Page 509 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Program Jogging- 0000 hex to 0000 Immedi- − Setup Related Selections 0005 hex ately 7-12...
  • Page 510 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Reserved parameter − − − − − Pn582 Linear (Do not change.) page Brake Reference Out- Immedi-...
  • Page 511 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence -2,147,483,647 1 refer- 214748 Immedi- PnB16 Forward Software Limit ence Setup 3647 ately 2,147,483,647 unit...
  • Page 512 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 refer- Positioning Completed Immedi- PnB50 0 to 255 ence Setup Width ately page unit...
  • Page 513 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000 hex to 0040 After − Action Definition Setting Setup F800 hex restart 12-16 Bits 0 to 10 Reserved.

  • Page 514: Parameter Recording Table

    15.2 Parameter Recording Table 15.2 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter Default When Name Setting Enabled 0000 Pn000 Basic Function Selections 0 After restart 0000 Application Function Selec- Pn001 After restart tions 1 0000 Application Function Selec-...
  • Page 515 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Mode Switching Level for Pn10E Immediately Acceleration Mode Switching Level for Pn10F Immediately Position Deviation Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately...
  • Page 516 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Anti-Resonance Gain Cor- Pn162 Immediately rection Anti-Resonance Damping Pn163 Immediately Gain Anti-Resonance Filter Time Pn164 Immediately Constant 1 Correction Anti-Resonance Filter Time Pn165 Immediately Constant 2 Correction Anti-Resonance Damping Pn166 Immediately...
  • Page 517 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Moment of Inertia Calcula- Pn324 Immediately tion Starting Level Pn383 Jogging Speed Immediately Pn384 Vibration Detection Level Immediately Pn385 Maximum Motor Speed After restart First Stage First Torque Pn401 Reference Filter Time Con- Immediately...
  • Page 518 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Fifth Stage Notch Filter Pn41F Immediately Depth 0000 Speed Ripple Compensa- Pn423 tion Selections Torque Limit at Main Circuit Pn424 Immediately Voltage Drop Release Time for Torque Pn425 Limit at Main Circuit Voltage Immediately...
  • Page 519 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled 0000 − Pn50E Reserved parameter 0100 − Pn50F Reserved parameter 0000 − Pn510 Reserved parameter 6543 − Pn511 Reserved parameter 0000 − Pn512 Reserved parameter 0000 −...
  • Page 520 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Analog Monitor 2 Offset Pn551 Immediately Voltage Analog Monitor 1 Magnifi- Pn552 Immediately cation Analog Monitor 2 Magnifi- Pn553 Immediately cation Power Consumption Moni- Pn55A Immediately tor Unit Time Residual Vibration Detec- Pn560...
  • Page 521 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled 0003 Acceleration/Deceleration PnB26 Immediately Type 0000 PnB29 Filter Selection Immediately PnB2A 4000000 Acceleration Rate Immediately PnB2B 4000000 Deceleration Rate Immediately Time Constant for Expo- PnB40 nential Acceleration/Decel- Immediately eration Exponential Acceleration/...

  • Page 522: Appendices

    Appendices The appendix provides corresponding SERVOPACK and SigmaWin+ function names. 16.1 Corresponding SERVOPACK and SigmaWin+ Function Names . . 16-2 16.1.1 Corresponding SERVOPACK Utility Function Names ....... 16-2 16.1.2 Corresponding SERVOPACK Monitor Display Function Names .

  • Page 523: Corresponding Servopack And Sigmawin+ Function Names

    16.1 Corresponding SERVOPACK and SigmaWin+ Function Names 16.1.1 Corresponding SERVOPACK Utility Function Names 16.1 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+. 16.1.1 Corresponding SERVOPACK Utility Function Names SigmaWin+ SERVOPACK...

  • Page 524: Corresponding Servopack Monitor Display Function Names

    16.1 Corresponding SERVOPACK and SigmaWin+ Function Names 16.1.2 Corresponding SERVOPACK Monitor Display Function Names 16.1.2 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 525 16.1 Corresponding SERVOPACK and SigmaWin+ Function Names 16.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Menu Bar Name [Unit] Un No. Name [Unit] Button Lower Bits of Absolute Encoder Position Lower Bits of Absolute Encoder Position Un042 [encoder pulses] [encoder pulses]...

  • Page 526: Devicenet Object Model

    16.2 DeviceNet Object Model 16.2 DeviceNet Object Model Parameter Objects Command Block (Control and Objects (255 max.) SERVOPACK) Block Sequencer Object Axis Position Controller Origin signal and other signals Supervisor Object Identity Object Message Router Object SERVOPACK DeviceNet Object Position Controller Object Assembly Object Explicit Message...
  • Page 527 16.2 DeviceNet Object Model Continued from previous page. Object Class Class ID Instance Function Reference Executes block commands and block Block Sequencer 0x26 16.3.8 sequences. Command Block 0x27 1 to 255 Manages block commands. 16.3.9 Control Manages position controller engine attri- 0x64 16.3.10 Parameter...

  • Page 528: Devicenet Attributes

    16.3 DeviceNet Attributes 16.3.1 Identity Object 16.3 DeviceNet Attributes 16.3.1 Identity Object Class: 0x01 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Gives the identification number of the Vendor ID UINT vendor. Device Type UINT Gives the general type of the product.

  • Page 529: Devicenet Object

    16.3 DeviceNet Attributes 16.3.3 DeviceNet Object 16.3.3 DeviceNet Object Class: 0x03 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value MAC ID USINT Gives the node address. 0 to 63 Baud Rate USINT Gives the baud rate.

  • Page 530: Assembly Objects

    16.3 DeviceNet Attributes 16.3.4 Assembly Objects 16.3.4 Assembly Objects Class: 0x04 Attributes: Not supported. Services: Not supported. Instances 1 and 2  Attributes for Instance 1: Input Access Name Data Type Description Value Gives the input data to the SERVO- Data Array –...
  • Page 531 16.3 DeviceNet Attributes 16.3.5 Connection Objects Continued from previous page. Access Name Data Type Description Value Expected_ Get/Set UINT Defines the timing for this connection. – Packet_Rate Watchdog_ Timeout_ USINT Defines how to handle timeouts. 0x03 Action Produced_ Gives the number of bytes in the Produced Connection_ UINT 0x0000...

  • Page 532: Position Controller Supervisor Object

    16.3 DeviceNet Attributes 16.3.6 Position Controller Supervisor Object  Services Service Code Service Description 0x0E Get_Attribute_Single Returns the value of the specified attribute. 0x10 Set_Attribute_Single Changes the value of the specified attribute. 16.3.6 Position Controller Supervisor Object Class: 0x24 Attributes: Not supported. Services: Not supported.

  • Page 533: Position Controller Object

    16.3 DeviceNet Attributes 16.3.7 Position Controller Object 16.3.7 Position Controller Object Class: 0x25 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Number of Gives the number of attributes contained USINT – Attributes in this object.
  • Page 534 16.3 DeviceNet Attributes 16.3.7 Position Controller Object Continued from previous page. Access Name Data Type Description Value 0: Reverse Get/Set Direction BOOL Specifies the direction. 1: Forward 0: CW is for- Specifies the forward direction when the Reference ward. Get/Set BOOL shaft is viewed from the back of the Direction...

  • Page 535: Block Sequencer Object

    16.3 DeviceNet Attributes 16.3.8 Block Sequencer Object Continued from previous page. Access Name Data Type Description Value 0: Normally Hard Limit Specifies the polarity of the overtravel closed. Get/Set BOOL Input Logic signal. 1: Normally open. External Stop 0: Hard stop Get/Set USINT Specifies the external stop action.

  • Page 536: Command Block Objects

    16.3 DeviceNet Attributes 16.3.9 Command Block Objects  Services Service Code Service Description 0x0E Get_Attribute_Single Returns the value of the specified attribute. 0x10 Set_Attribute_Single Changes the value of the specified attribute. 16.3.9 Command Block Objects Class: 0x27 Attributes: Not supported. Services: Not supported.

  • Page 537: Control Parameter Object

    16.3 DeviceNet Attributes 16.3.10 Control Parameter Object 16.3.10 Control Parameter Object Class: 0x64 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Specifies the final travel distance for origin Final Travel 0 to Get/Set DINT returns.

  • Page 538: Servopack Parameter Object

    16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object 16.3.11 SERVOPACK Parameter Object Class: 0x66 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Basic Function 0x0000 to Get/Set UINT Sets the Basic Function Selections 0. Select Switch 0 0x00B3 Application...
  • Page 539 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value 2nd Position Sets the second position loop gain. Get/Set UINT 10 to 20,000 Loop Gain Unit: 0.1/s Feedforward Sets the feedforward gain. Get/Set UINT 0 to 100 Gain...
  • Page 540 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value Model Follow- Sets the model following control gain. Get/Set ing Control UINT 10 to 20,000 Unit: 0.1/s Gain Model Follow- Sets the model following control gain cor- ing Control Get/Set UINT...
  • Page 541 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value Tuning-less Sets the tuning-less function-related 0x0000 to Get/Set Function UINT selections. 0x2411 Related Switch Multi-turn Limit Sets the multiturn limit setting. Get/Set UINT 0 to 65,535 Setting Unit: rev...
  • Page 542 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value 1st Notch Filter Sets the first stage notch filter frequency. Get/Set UINT 50 to 5,000 Frequency Unit: Hz 1st Notch Filter Sets the first stage notch filter Q value. Get/Set UINT 50 to 1,000...
  • Page 543 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value Excessive Posi- Sets the position deviation overflow alarm tion Error Alarm 1 to Get/Set UDINT level when the servo is turned ON. Level at Servo 1,073,741,823 Unit: Reference units Excessive Posi-...

  • Page 544: Relationship Between Parameters And Attributes

    16.4 Relationship between Parameters and Attributes 16.4 Relationship between Parameters and Attributes Pn No. Object No. Attribute No. Parameter Name Attribute Name Pn000 0x66 Basic Function Selections 0 Basic Function Select Switch 0 Application Function Select Pn001 0x66 Application Function Selections 1 Switch 1 Application Function Select Pn002...
  • Page 545 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name Friction Compensation Gain Cor- Friction Compensation Gain Pn125 0x66 rection Correction Pn131 0x66 Gain Switching Time 1 Gain Switching Time 1 Pn132 0x66 Gain Switching Time 2...
  • Page 546 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name Pn281 0x66 Encoder Output Resolution Encoder Output Resolution Pn304 0x66 Jogging Speed JOG Speed Pn305 0x66 Soft Start Acceleration Time Soft Start Acceleration Time Pn306 0x66...
  • Page 547 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name Multiplier per One Fully-closed Pn52A 0x66 Multiplier per Fully-Closed Rotation Rotation Pn52B 0x66 Overload Warning Level Overload Warning Level Base Current Derating at Motor Derating of Base Current at Pn52C 0x66...
  • Page 548 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name PnB55 0x25 End Position End Position PnB59 0x64 Approach Mode Approach Mode PnBA3 0x64 Input Signal Logic Setting Input Signal Logic Setting PnBA4 0x64 Input Signal Setting...

  • Page 549: Relation Between Alarm Codes And Alarm Numbers

    16.5 Relation between Alarm Codes and Alarm Numbers 16.5 Relation between Alarm Codes and Alarm Numbers Alarm MS Indi- NS Indi- Alarm Alarm Name Description Code cator cator Number A.030 Main Circuit Encoder Error Lights 0x01 – Power Element Error red.
  • Page 550 16.5 Relation between Alarm Codes and Alarm Numbers Continued from previous page. Alarm MS Indi- NS Indi- Alarm Alarm Name Description Code cator cator Number A.bF0 System Alarm 0 A.bF1 System Alarm 1 A.bF2 System Alarm 2 Lights 0x13 – Servo CPU Error red.
  • Page 551 Index Index automatic notch filters - - - - - - - - - - - - - - - - - - - - - - 8-31 autotuning with a host reference - - - - - - - - - - - - - - - 8-34 autotuning without a host reference - - - - - - - - - - - - - 8-23 Average Movement Time Filter Time Constant- - - - - - 12-12 Symbols...
  • Page 552 Index Conditional Link Less Than command - - - - - - - - - - - 13-25 nodes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 pin arrangement and connector - - - - - - - - - - - - - - 4-45 connecting a safety function device - - - - - - - - - - - - - 11-13 signal names and functions of connector (CN6) - - - - 4-44...
  • Page 553 Index explicit message communications - - - - - - - - - - 1-4 13-11 names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-32 exponential acceleration/deceleration wiring example - - - - - - - - - - - - - - - - - - - - - - - - 4-33 (constant acceleration/deceleration times) - - - - - - - - - 12-7...
  • Page 554 Index positioning - - - - - - - - - - - - - - - - - - - - - - - - - 12-6 13-13 Near Output (/NEAR) signal - - - - - - - - - - - - - - - - - - - 8-67 positioning after continuous operation - - - - - - - - - - - 12-13 approach mode - - - - - - - - - - - - - - - - - - - - - - - 12-15 Negative Software Limit - - - - - - - - - - - - - - - 13-10...
  • Page 555 Index Service Code - - - - - - - - - - - - - - - - - - - - - - 13-11 13-12 software reset - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24 Service Data - - - - - - - - - - - - - - - - - - - - - - - - - - - -13-12 source circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35 - - - - - - - - - - - - - - - - - - - - - - - - - - - viii...
  • Page 556 Index Type 0- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-15 Type 1- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-16 Type 3- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-17 UDINT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 UINT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4...
  • Page 557 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 70B <1> Revision number Published in Japan December 2015 Date of publication Date of Rev. Section Revised Contents Publication December 2015...
  • Page 558 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

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