YASKAWA E-7S SERVOPACK SGD7S Product Manual
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YASKAWA E-7S SERVOPACK SGD7S Product Manual

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

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-7-Series AC Servo Drive
-7S SERVOPACK
Command Option Attachable Type
with INDEXER Module
Product Manual
SERVOPACK Model: SGD7S
Option Module Model: SGDV-OCA03A
MANUAL NO. SIEP S800001 64E
Basic Information
Selecting a SERVOPACK
Installation
Wiring and Connecting
Basic Functions That Require
Setting before Operation
Application Functions
Trial Operation
Monitoring
Fully-Closed Loop Control
Safety Functions
Settings for the INDEXER Module
Operation with Digital I/O
Operation with Serial Command
Communications
Maintenance
Parameter Lists
Appendices
1
2
3
4
5
6
7
8
Tuning
9
10
11
12
13
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15
16
17

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Summary of Contents for YASKAWA E-7S SERVOPACK SGD7S

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK Command Option Attachable Type with INDEXER Module Product Manual SERVOPACK Model: SGD7S Option Module Model: SGDV-OCA03A Basic Information Selecting a SERVOPACK Installation Wiring and Connecting Basic Functions That Require Setting before Operation Application Functions Trial Operation Tuning Monitoring...
  • 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 INDEXER 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 and AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- 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 Provides detailed information for Σ-7S and Σ-7W SERVOPACK the safe usage of Σ-7-Series TOMP C710828 00 Safety Precautions SERVOPACKs. Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Provides detailed information for Σ-7-Series TOBP C720829 00 the safe usage of Option Modules.
  • Page 7 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 8 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Index- SIEP S800001 84 ing Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Track- SIEP S800001 89 ing Application Product Manual Σ-7-Series AC Servo Drive...
  • Page 9 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Rotary Servomotor SIEP S800001 36 Product Manual Σ-7-Series AC Servo Drive Provide detailed information on Σ-7-Series Linear Servomotor SIEP S800001 37 selecting, installing, and connecting Servomotor the Σ-7-Series Servomotors.
  • Page 10 Continued from previous page. Classification Document Name Document No. Description Machine Controller MP2000/MP3000 Series Describes in detail how to operate Engineering Tool SIEP C880761 03 MPE720 version 7. MPE720 Version 7 User’s Manual Σ-7-Series AC Servo Drive Describes the operating proce- Σ-7-Series Digital Operator SIEP S800001 33...
  • Page 11 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 (SGMMV, SGM7J, SGM7A, SGM7P, Rotary Servomotor or SGM7G) or a Direct Drive Servomotor (SGM7E, SGM7F, SGMCV, or SGMCS).
  • Page 12  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 13  Trademarks • QR code is a trademark of Denso Wave Inc. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
  • Page 14 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 15  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 16 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 17 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 18 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 19  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 20  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 21 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 22  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 23 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.
  • Page 24 • 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 25 • 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 26 Compliance with UL Standards, EU Directives, and Other Safety Standards Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards. ...
  • Page 27 Continued from previous page. Product Model EU Directive Harmonized Standards EN 55011 group 1, class A • SGM7E EN 61000-6-2 • SGM7F EMC Directive 2004/108/EC EN 61000-6-4 • SGMCV Direct Drive • SGMCS- EN 61800-3 Servomotors     Low Voltage Directive EN 60034-1 (Small-Capacity, Coreless...

  • Page 28: Table Of Contents

    Contents About this Manual ..........iii Outline of Manual .
  • Page 29 Block Diagrams ........2-11 2.2.1 SGD7S-R70A, -R90A, and -1R6A .

  • Page 30: Setting Before Operation

    Wiring the Power Supply to the SERVOPACK ... . . 4-12 4.3.1 Terminal Symbols and Terminal Names ......4-12 4.3.2 Wiring Procedure for Main Circuit Connector .
  • Page 31 Selecting the Phase Sequence for a Linear Servomotor ..5-21 Polarity Sensor Setting....... 5-23 Polarity Detection .
  • Page 32 Setting the Motor Maximum Speed ..... 6-14 Encoder Divided Pulse Output ......6-15 6.5.1 Encoder Divided Pulse Output Signals .
  • Page 33 Convenient Function to Use during Trial Operation ..7-14 7.6.1 Program Jog Operation ........7-14 7.6.2 Origin Search.
  • Page 34 Custom Tuning ........8-41 8.8.1 Outline .
  • Page 35 Monitoring Monitoring Product Information ......9-2 9.1.1 Items That You Can Monitor ........9-2 9.1.2 Operating Procedures .
  • Page 36 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 37 Operation with Digital I/O 13.1 Operation Functions ....... . . 13-3 13.2 Homing .
  • Page 38 14.7 Response Data Details ......14-10 14.7.1 Positive Responses ......... 14-10 14.7.2 Negative Responses.
  • Page 39 Appendices 17.1 Corresponding SERVOPACK and SigmaWin+ Function Names . . 17-2 17.1.1 Corresponding SERVOPACK Utility Function Names ....17-2 17.1.2 Corresponding SERVOPACK Monitor Display Function Names ..17-4 17.2 Operation of Digital Operator .

  • Page 40: Basic Information

    Basic Information This chapter provides basic information, including an intro- duction to the INDEXER Module, the names of parts, and combinations with Servomotors. The Σ-7 Series ..... . . 1-3 Introduction to the INDEXER Module .
  • Page 41 Combinations of SERVOPACKs and Servomotors . . 1-15 1.7.1 Combinations of Rotary Servomotors and SERVOPACKs ......1-15 1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs .

  • Page 42: The Σ-7 Series

    1.1 The Σ-7 Series Σ -7 Series The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed and high-precision positioning. The SERVOPACK will make the most of machine performance in the shortest time possible, thus contributing to improving productivity. The Σ-7-Series Command Option Attachable-Type SERVOPACKs can be combined with Σ-V- Series Option Modules to achieve the required control capabilities.

  • Page 43: Introduction To The Indexer Module

    1.2 Introduction to the INDEXER Module 1.2.1 Digital I/O Introduction to the INDEXER Module • An INDEXER Module with a firmware version of 3 or higher is required to use the INDEXER Module with a Σ-7-Series SERVOPACK. • An INDEXER Module can be attached only to a Command Option Attachable-type SERVO- Note PACK.
  • Page 44 1.2 Introduction to the INDEXER Module 1.2.1 Digital I/O • Jog Speed Table JSPD JOG3 JOG2 JOG1 JOG0 Jog Speed 1000 2000 4000 combi- nations 5500 Note: 1: Signal is ON (active), 0: Signal is OFF (inactive). JSPD4 JSPD12 JSPD5 JSPD13 JSPD7 JSPD15...

  • Page 45: Serial Commands

    1.2 Introduction to the INDEXER Module 1.2.2 Serial Commands 1.2.2 Serial Commands With serial commands, ASCII command strings are sent to the INDEXER Module through RS- 422 or RS-485 communications and these commands are interpreted and executed immedi- ately. You can use general-purpose serial communications (RS422/RS485) to perform indepen- dent control of up to 16 axes from one host controller (e.g., PC or HMI).

  • Page 46: 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 SERVOPACK model Degree of protection Surrounding air temperature BTO information Order number Serial number 1.3.2 INDEXER Module Nameplate Name Option Module model number Manufacturing number...

  • Page 47: Part Names

    1.4 Part Names Part Names With Front Cover Open Main circuit terminals (on side of SERVOPACK) Motor terminals Name Description Reference  − − Front Cover  − − Input Voltage  Nameplate Indicates the SERVOPACK model and ratings. page 1-5 ...
  • Page 48 1.4 Part Names Continued from previous page. Name Description Reference − DIP Switch Not used. − Rotary Switch Not used. − Lights when the control power is being supplied. − Not used. (Always not lit.) Analog Monitor Connector You can use a special cable (peripheral device) to monitor page 4-48 (CN5) the motor speed, torque reference, or other values.

  • Page 49: Interpreting Panel Displays

    1.5 Interpreting Panel Displays 1.5.1 Panel Display Interpreting Panel Displays 1.5.1 Panel Display 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. However, if -...

  • Page 50: Indicators

    1.5 Interpreting Panel Displays 1.5.2 Indicators 1.5.2 Indicators This section describes the indicator status on the INDEXER Module. Red indicator Green indicator Status Red indicator Green indicator Control Power Supply OFF Not lit Not lit Control Power Supply ON Not lit Flashing Normal Not lit...

  • Page 51: Model Designations

    1.6 Model Designations 1.6.1 Interpreting SERVOPACK Model Numbers Model Designations 1.6.1 Interpreting SERVOPACK Model Numbers SGD7S - R70 14th 1st+2nd+3rd 5th+6th 8th+9th+10th 11th+12th+13th Σ-7-Series digit digit digit digits digits digits digits Σ-7S SERVOPACKs Maximum Applicable Hardware Options 1st+2nd+3rd digits 4th digit 8th+9th+10th digits Voltage Motor Capacity...

  • Page 52: Interpreting Indexer Module Model Numbers

    1.6 Model Designations 1.6.2 Interpreting INDEXER Module Model Numbers 1.6.2 Interpreting INDEXER Module Model Numbers SGDV - OC A03 1st+2nd 3rd+4th+5th Σ-V-Series digit digits digits 1st+2nd digits Module Type Code Specification Command option module 3rd+4th+5th digits Interface Code Specification INDEXER 6th digit Design Revision Order Σ-V-Series Modules are used with Σ-7-Series SERVOPACKs.

  • Page 53: 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 54: Combinations Of Servopacks And Servomotors

    1.7 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 SGMMV-A1A 10 W R90A or R90F (Low Inertia, Ultra- SGMMV-A2A 20 W small Capacity),...

  • Page 55: Combinations Of Direct Drive Servomotors And Servopacks

    1.7 Combinations of SERVOPACKs and Servomotors 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] SGM7E-02B SGM7E-05B 2R8A or 2R1F SGM7E-07B SGM7E-04C SGM7E...

  • Page 56: Combinations Of Direct Drive Servomotors And Servopacks

    1.7 Combinations of SERVOPACKs and Servomotors 1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs Continued from previous page. 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 SGMCS-10C (Small Capacity, SGMCS-14C...

  • Page 57: 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 Force Linear Servomotor Model Maximum Force SGD7S- SGLGW-30A050C 12.5 R70A or R70F SGLGW-30A080C R90A or R90F SGLGW-40A140C SGLGW-40A253C 1R6A or 2R1F...

  • Page 58: Combinations Of Linear Servomotors And Servopacks

    1.7 Combinations of SERVOPACKs and Servomotors 1.7.3 Combinations of Linear Servomotors and SERVOPACKs Continued from previous page. Instantaneous SERVOPACK Model Rated Force Linear Servomotor Model Maximum Force SGD7S- SGLTW-20A170A 3R8A SGLTW-20A320A 7R6A SGLTW-20A460A 1140 120A SGLTW-35A170A 5R5A SGLTW-35A170H SGLTW-35A320A 1320 120A SGLT SGLTW-35A320H...

  • Page 59: 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 5-12 and Control Circuit Automatic Detection of Connected Motor page 5-14 Motor Direction Setting...
  • Page 60 1.8 Functions • Functions to Achieve Optimum Motions Function Reference Tuning-less Function page 8-11 Autotuning without a Host Reference page 8-23 Autotuning with a Host Reference page 8-34 Custom Tuning page 8-41 Anti-Resonance Control Adjustment page 8-49 Vibration Suppression page 8-54 Gain Selection page 8-64 Friction Compensation...
  • Page 61 1.8 Functions • Operations with Serial Command Communications Function Reference Homing page 14-12 Positioning, Jog Operation, and Registration with page 14-15 Serial Commands Positioning with a Program Table page 14-24 Editing a Jog Speed Table page 14-29 Editing a ZONE Table page 14-29 Editing Parameters, Monitoring, and Utility Func- page 14-30...

  • Page 62: Selecting A Servopack

    Selecting a SERVOPACK This chapter provides information required to select SERVOPACKs, such as specifications, block diagrams, dimensional drawings, and connection examples. Ratings and Specifications ... . . 2-2 2.1.1 Ratings ....... . 2-2 2.1.2 Power Loss in the INDEXER Module .

  • Page 63: Ratings And Specifications

    2.1 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...
  • Page 64 2.1 Ratings and Specifications 2.1.1 Ratings Model SGD7S- 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 46.9 54.7 58.6 78.0 Instantaneous Maximum Output Current [Arms] Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz Main Circuit Input Current [Arms]...
  • Page 65 2.1 Ratings and Specifications 2.1.1 Ratings 270 VDC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A Maximum Applicable Motor Capacity [kW] 0.05 0.75 Continuous Output Current [Arms] 0.66 0.91 11.6 Instantaneous Maximum Output Current 11.0 16.9 17.0 28.0 [Arms] Power Supply 270 VDC to 324 VDC, -15% to +10%...

  • Page 66: Power Loss In The Indexer Module

    2.1 Ratings and Specifications 2.1.2 Power Loss in the INDEXER Module 2.1.2 Power Loss in the INDEXER Module Power is supplied to the INDEXER Module from the control power supply of the SERVOPACK. The power loss is given in the following table. Item Specifications Min.

  • Page 67: 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 68: Specifications

    2.1 Ratings and Specifications 2.1.4 Specifications 2.1.4 Specifications The specifications when the INDEXER Module is combined with a Command Option Attach- able-type SERVOPACK are given in the following table. Item Specification Control Method IGBT-based PWM control, sine wave current drive Serial encoder: 17 bits (absolute encoder) 20 bits or 24 bits (incremental encoder/absolute With Rotary...
  • Page 69 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. Number of input points: 1 Overheat Protection Input Input voltage range: 0 V to +5 V Allowable voltage range: 24 VDC ±20%...
  • Page 70 2.1 Ratings and Specifications 2.1.4 Specifications Continued from previous page. Item Specification Fixed Allowable voltage range: 5 VDC to 30 VDC Out- Number of output points: 1 puts Output signal: ALM (Servo Alarm Output) signal Allowable voltage range: 5 VDC to 30 VDC Number of output points: 3 (A photocoupler output (isolated) is used.) Output signals:...
  • Page 71 2.1 Ratings and Specifications 2.1.4 Specifications Continued from previous page. Item Specification • Program table positioning in which steps are executed sequentially by Program Table commands given through contact input or serial communications • Positioning in which station numbers are specified by commands Method given through contact input or serial communications Max.

  • Page 72: 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 drive Varistor Control...

  • Page 73: 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 Control Control power...

  • Page 74: 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 Voltage Temperature Current Gate drive Gate drive sensor drive sensor sensor sensor Varistor...
  • Page 75 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 Voltage Current Voltage Temperature Relay Gate drive sensor sensor sensor sensor drive Varistor Control...

  • Page 76: 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 sensor drive sensor sensor sensor Varistor Control Analog Analog monitor Control voltage power...

  • Page 77: 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 Control voltage power...

  • Page 78: 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 sensor Varistor Control...

  • Page 79: 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 drive sensor Voltage Temperature Current Gate drive sensor sensor sensor...

  • Page 80: Sgd7S-R70F, -R90F, And -2R1F

    2.2 Block Diagrams 2.2.9 SGD7S-R70F, -R90F, and -2R1F 2.2.9 SGD7S-R70F, -R90F, and -2R1F Servomotor Main Varistor circuit − power supply − Dynamic brake circuit Gate drive overcurrent Temperature Current Voltage Relay Voltage Gate sensor sensor protection sensor sensor drive drive Varistor Analog monitor Control...

  • Page 81: External Dimensions

    2.3 External Dimensions 2.3.1 Front Cover Dimensions and Connector Specifications External Dimensions 2.3.1 Front Cover Dimensions and Connector Specifications The front cover dimensions and panel connector section are the same for all models. Refer to the following figures and table. •...
  • Page 82 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 83 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 84 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-590A and -780A 4 × M6 Terminals 4 × M6 Exterior Terminals 8 × M6 200 ± 0.5 Ground (mounting pitch) terminals 2 × M6 (75) Mounting Hole Diagram Approx.

  • Page 85: Servopack External Dimensions

    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 86 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-330A 4 × M5 Exterior 50±0.5 (2.5) (2.5) 24.5 (mounting pitch) 30.5 (75) Ground terminals 2 × M4 Mounting Hole Diagram Approx. mass: 4.9 kg Unit: mm Duct-ventilated SERVOPACKs Hardware Option Code: 001 •...

  • Page 87: Indexer Module Dimensions And Connector Specifications

    2.3 External Dimensions 2.3.3 INDEXER Module Dimensions and Connector Specifications • Three-phase, 200 VAC: SGD7S-590A and -780A 4 × M6 Exterior Through hole Terminals 4 × M6 Terminals 235±0.5 (75) (75) 8 × M6 244 min. Ground (mounting pitch) terminals 2 ×...

  • Page 88: 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 89 Linear Encoder Cables 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. 2-28...

  • Page 90: Installation

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

  • Page 91: Installation Precautions

    3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.4 Specifications on page 2-7  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 92: Attaching The Indexer Module To The Servopack

    3.2 Attaching the INDEXER Module to the SERVOPACK Attaching the INDEXER Module to the SERVOPACK Install the INDEXER Module correctly according to the installation procedures that are included with it. Σ Σ Σ -V-Series/ -V-Series for Large-Capacity Models/ -7-Series Installation Guide Command Option Module (TOBP C720829 01).

  • Page 93: 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 94: Mounting Hole Dimensions

    3.4 Mounting Hole Dimensions Mounting Hole Dimensions Use mounting holes to securely mount the SERVOPACK to the mounting surface. Note: To mount the SERVOPACK, you will need to prepare a screwdriver that is longer than the depth of the SER- VOPACK.
  • Page 95 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 96: Mounting Interval

    3.5 Mounting Interval 3.5.1 Installing One SERVOPACK in a Control Panel Mounting Interval 3.5.1 Installing One SERVOPACK in a Control Panel Provide the following spaces around the SERVOPACK. 40 mm min. 30 mm min. 30 mm min. 40 mm min. For this dimension, ignore items protruding from the main body of the SERVOPACK.

  • Page 97: 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 98: 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 99 3.7 EMC Installation Conditions • Single-Phase, 200 VAC Shield box Brake power supply SERVOPACK Brake U, V, and W Power supply: Noise L1 and L2 Single-phase, 200 VAC filter Servomotor L1C and L2C L1C, L2C Surge absorber Encoder Clamp INDEXER Module Host controller CN12...
  • Page 100 3.7 EMC Installation Conditions • Single-Phase, 100 VAC Shield box Brake power supply SERVOPACK Brake U, V, and W Power supply: Noise L1 and L2 Single-phase, 100 VAC filter Servomotor L1C and L2C Surge absorber Encoder Clamp INDEXER Module Host controller CN12 CN11 Clamp...

  • Page 101: Wiring And Connecting

    Wiring and Connecting This chapter provides information on wiring and connecting SERVOPACKs and INDEXER 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 102 Serial Command Communications Connector (CN12) . . . 4-43 4.6.1 Connector Mode ......4-43 4.6.2 Connector Signal Names .

  • Page 103: 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 104  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 105 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 or catalog for information on the specified cables.

  • Page 106: 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 107 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 108 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 109: 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 110: Basic Wiring Diagrams

    4.2 Basic Wiring Diagrams Basic Wiring Diagrams This section provide the basic wiring diagrams. Refer to the reference sections given in the diagrams for details. SERVOPACK/INDEXER Module R S T Main circuit Motor terminals terminals 1FLT 4.4 Wiring Servomotors on page 4-26 PG5V PG0V (For servo...
  • Page 111 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 112: Wiring The Power Supply To The Servopack

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.1 Terminal Symbols and Terminal Names Wiring the Power Supply to the SERVOPACK Refer to the following manual or catalog for information on cables and peripheral devices. AC Servo Drives Σ-7 Series (Catalog No.: KAEP S800001 23) Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32) 4.3.1 Terminal Symbols and Terminal Names...
  • Page 113 4.3 Wiring the Power Supply to the SERVOPACK 4.3.1 Terminal Symbols and Terminal Names • Single-Phase, 200-VAC Power Supply Input Terminal Terminal Name Specifications and Reference Symbols Main circuit power supply Single-phase, 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 L1, L2 input terminals for AC power supply input...

  • Page 114: Wiring Procedure For Main Circuit Connector

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.2 Wiring Procedure for Main Circuit Connector • Single-Phase, 100-VAC Power Supply Input Terminal Terminal Name Specifications and Reference Symbols Main circuit power supply Single-phase, 100 VAC to 120 VAC, -15% to +10%, L1, L2 input terminals for AC 50 Hz/60 Hz...

  • Page 115: Power On Sequence

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.3 Power ON Sequence Open the wire insertion hole on the terminal connector with the tool. There are the fol- lowing two ways to open the insertion hole. Use either method.  ...
  • Page 116 4.3 Wiring the Power Supply to the SERVOPACK 4.3.3 Power ON Sequence • 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 Inrush current suppression...

  • Page 117: Power Supply Wiring Diagrams

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams 4.3.4 Power Supply Wiring Diagrams Using Only One SERVOPACK • Wiring Example for Three-Phase, 200-VAC Power Supply Input: SGD7S-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A, -200A, and -330A R S T SERVOPACK 1FLT...
  • Page 118 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for Single-Phase, 200-VAC Power Supply Input SERVOPACK 1FLT +24 V (For servo alarm display) − Servo power Servo power 1QF: Molded-case circuit breaker 1Ry: Relay 1FLT: Noise Filter 1PL: Indicator lamp 1KM: Magnetic Contactor...
  • Page 119 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for DC Power Supply Input: SGD7S-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A, and -200A R S T SERVOPACK 1FLT AC/DC AC/DC +24 V (For servo alarm display) Servo power...
  • Page 120 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 121 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 1Ry: Relay 1QF:...
  • Page 122 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 123: Wiring Regenerative Resistors

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.5 Wiring Regenerative Resistors 4.3.5 Wiring Regenerative Resistors This section describes how to connect External Regenerative Resistors. Refer to the following manual to select the capacity of a Regenerative Resistor. Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32) WARNING ...
  • Page 124 Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistor Resis- tance) 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 125: 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 reactors for har- monic suppression.

  • Page 126: 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 127: 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 128 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 129 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Absolute Linear Encoder from Renishaw PLC Absolute linear encoder from SERVOPACK Renishaw PLC PG5V PG0V Connector shell Connector shell Shield represents a shielded twisted-pair cable.  Connections to Absolute Linear Encoder from Magnescale Co., Ltd. ...
  • Page 130 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 131 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 132 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  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 133: Wiring The Servopack To The Holding Brake

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

  • Page 134: I/O Signal Connections

    Sequence Input Signal Allowable voltage range: 24 VDC ±20% − +24VIN Power Supply Input The 24-VDC power supply is not provided by Yaskawa. Battery for Absolute These are the pins to connect the abso- BAT+ Encoder (+) lute encoder backup battery.
  • Page 135 4.5 I/O Signal Connections 4.5.1 I/O Signal Connector (CN1) Continued from previous page. Signal Pin No. Name Function Reference /SO2+ You can allocate the output signal to use with (/BK+) a parameter. Brake Output page 6-8 (Controls the brake. The brake is released /SO2- when the signal turns ON (closes).) (/BK-)
  • Page 136 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 137 Connect shield to connector shell. Frame ground represents twisted-pair wires. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Always use line receivers to receive the output signals. Note: 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 138: Input Signal Connector (Cn11)

    4.5 I/O Signal Connections 4.5.2 Input Signal Connector (CN11) 4.5.2 Input Signal Connector (CN11) This section describes the I/O signals of the INDEXER Module. Names and Functions  Input Signals Ensure that the following condition does not last longer than 5 minutes. Otherwise the product life may be shortened.
  • Page 139 4.5 I/O Signal Connections 4.5.2 Input Signal Connector (CN11) Continued from previous page. Signal Name Pin No. Function Mode 0: Program table selection 4 /SEL4; /JOG3 Mode 1: JOG speed table selection 3 Mode 0: Program table selection 5 /SEL5 Mode 1: –...
  • Page 140 4.5 I/O Signal Connections 4.5.2 Input Signal Connector (CN11) Connection Example SERVOPACK CN10 CN11 (Sinking or sourcing) CN11 3.3 k Ω ON: Mode 0 /INPOSITION+ OFF: Mode 1 /INPOSITION- /MODE 0/1 /POUT0+ /START-STOP ; /POUT0- /HOME /POUT1+ /POUT1- /PGMRES ; /JOGP /POUT2+ /POUT2-...

  • Page 141: I/O Circuits

    4.5 I/O Signal Connections 4.5.3 I/O Circuits 4.5.3 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 142 4.5 I/O Signal Connections 4.5.3 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 143: Serial Command Communications Connector (Cn12)

    4.6 Serial Command Communications Connector (CN12) 4.6.1 Connector Mode Serial Command Communications Connector (CN12) The CN12 connector on the INDEXER Module is used for serial command communications. RS422/RS485 Host controller 4.6.1 Connector Mode INDEXER Applicable Receptacles Module-end Solder Type Case Manufacturer Connector 10214-52A2PL...

  • Page 144: Connection Examples

    4.6 Serial Command Communications Connector (CN12) 4.6.3 Connection Examples 4.6.3 Connection Examples Full-duplex Wiring RS-422 or RS-485 port INDEXER Module Signal Signal Pin No. Name Name /TXD /RXD /RXD /TXD /RXD /TXD Case FG To next axis Pin No. 5 FG Connect (short) the RT and /RXD pins in the last axis.

  • Page 145: Wiring Precautions

    4.6 Serial Command Communications Connector (CN12) 4.6.4 Wiring Precautions 4.6.4 Wiring Precautions • The maximum total length for RS-422 or RS-485 cable is 50 m. Use the minimum length of cable that is needed. • The INDEXER Module’s communications circuits are not insulated. If communications errors occur because of noise, use noise suppression methods such as shielded cable or ferrite cores.

  • Page 146: Connecting Safety Function Signals

    4.7 Connecting Safety Function Signals 4.7.1 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 4.7.1 Pin Arrangement of Safety Function Signals (CN8) Pin No.
  • Page 147 4.7 Connecting Safety Function Signals 4.7.2 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 148: Connecting The Other Connectors

    Refer to the following manual for the operating procedures for the SigmaWin+. Engineering Tool SigmaWin+ Online Manual (Manual No.: SIEP S800001 48) Use the Yaskawa-specified cables. Operation will not be dependable due to low noise resistance with any other cable.

  • Page 149: 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 150 Polarity Detection ....5-24 5.9.1 Restrictions ......5-24 5.9.2 Using the /S-ON (Servo ON) Signal to Perform Polarity Detection .

  • Page 151: 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 152: 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 8-41...

  • Page 153: 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+ Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Edit Parameters in the Menu Dialog Box.

  • Page 154: Write Prohibition Setting For Parameters

    5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Select Edited Parameters in the Write to Servo Group. The edited parameters are written to the SERVOPACK and the backgrounds of the cells change to white. Click the OK Button. To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.
  • Page 155 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Applicable Tools The following table lists the tools that you can use to change the Write Prohibition Setting and the applicable tool functions. Tool Function Reference Σ-7-Series Digital Operator Operating Digital Operator Fn010 Manual (Manual No.: SIEP S800001...
  • Page 156 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Restrictions If you prohibit writing parameter settings, you will no longer be able to execute some functions. Refer to the following table. SigmaWin+ Digital Operator Button in When Writing Reference Menu SigmaWin+ Function Is Prohibited...
  • Page 157 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Continued from previous page. SigmaWin+ Digital Operator Button in When Writing Reference Menu SigmaWin+ Function Is Prohibited Fn No. Utility Function Name Dialog Name Can be Fn011 Display Servomotor Model executed.

  • Page 158: Initializing Parameter Settings

    5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings 5.1.5 Initializing Parameter Settings You can return the parameters to their default settings. This function restores the factory set- tings and initializes the parameters of both the SERVOPACK and the INDEXER Module. This function will not initialize the settings of the parameters that are adjusted for the Fn00C, Fn00D, Fn00E, and Fn00F utility functions.
  • Page 159 5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Click the Initialize Button. Click the OK 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 160: 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 161: Single-Phase Ac Power Supply Input/Three-Phase Ac Power Supply Input Setting

    5.2 Power Supply Type Settings for the Main Circuit and Control Circuit 5.2.2 Single-phase AC Power Supply Input/Three-phase AC Power Supply Input Setting 5.2.2 Single-phase AC Power Supply Input/Three-phase AC Power Supply Input Setting Some models of Three-phase 200-VAC SERVOPACKs can also operate on a single-phase 200-VAC power supply.

  • Page 162: 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 163: 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 Servomotor to change, but the polarity of the signals, such as encoder output pulses, output from the SERVOPACK do not change.

  • Page 164: 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 165: 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 166 5.6 Writing Linear Servomotor Parameters Operating Procedure Use the following procedure to write the motor parameters to the Linear Encoder. Prepare the motor parameter file to write to the linear encoder. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
  • Page 167 5.6 Writing Linear Servomotor Parameters Confirm that the motor parameter file information that is displayed is suitable for your Servomotor, and then click the Next Button. Displays an exterior view of the Servomotor. 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 168 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 169: 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 170 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 171: 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 172: 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 173: Using The /S-On (Servo On) Signal To Perform Polarity Detection

    5.9 Polarity Detection 5.9.2 Using the /S-ON (Servo ON) Signal 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 174: 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 175: Overtravel And Related Settings

    5.10 Overtravel and Related Settings 5.10.1 Overtravel Signals 5.10 Overtravel and Related Settings Overtravel is a 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 176: Overtravel Settings

    5.10 Overtravel and Related Settings 5.10.2 Overtravel Settings 5.10.2 Overtravel Settings You can use the following parameters to set the input signals for overtravel. When Parameter Meaning Enabled 0000h When input signal is OFF (open), forward run is prohibited (forward overtravel). (default setting) When input signal is ON (closed), forward run is prohibited 0001h...

  • Page 177: Overtravel Warnings

    5.10 Overtravel and Related Settings 5.10.4 Overtravel Warnings Set the deceleration rate when decelerating to a stop in PnB2B. Deceleration Setting Range Setting Unit Default Setting When Enabled PnB2B 1000 1 to 99999999* (Reference units/min) 1000 Immediately If you set PnB54 to 1 (Enable Expansion Mode), the range will be 1 to 199,999,999. Refer to the following section for details.
  • Page 178 5.10 Overtravel and Related Settings 5.10.4 Overtravel Warnings 1. Warnings are detected for overtravel in the same direction as the reference. Information 2. Warnings are not detected for overtravel in the opposite direction from the reference. Example: A warning will not be output for a forward reference even if the N-OT signal turns 3.

  • Page 179: 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 180: Allocating The /Bk (Brake) Signal

    5.11 Holding Brake 5.11.2 Allocating the /BK (Brake) Signal Brake Release Brake Operation Model Voltage Delay Time [ms] Delay Time [ms] SGM7J-A5 to -04 SGM7J-06 and -08 SGM7A-A5 to -04 SGM7A-06 to -10 SGM7A-15 to -25 SGM7A-30 to -50 SGM7P-01 24 VDC SGM7P-02 and -04 SGM7P-08 and -15...

  • Page 181: 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 Inverting the polarity of the brake output signal (/BK), i.e. positive logic, will prevent the holding brake from working in case of its signal line disconnection. If this setting is absolutely necessary, check the operation and confirm that there are no safety Important problems.
  • Page 182 5.11 Holding Brake 5.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating • Linear Servomotors Brake Reference Output Speed Level Pn583 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10,000 1 mm/s Immediately Setup Servo OFF-Brake Reference Waiting Time Pn508 Setting Range...

  • Page 183: Motor Stopping Methods For Servo Off And Alarms

    5.12 Motor Stopping Methods for Servo OFF and Alarms 5.12 Motor Stopping Methods for Servo OFF and Alarms You can use the following methods to stop the Servomotor when the servo is turned OFF or an alarm occurs. There are the following four stopping methods. Motor Stopping Method Meaning Stopping by Applying the...

  • Page 184: Stopping Method For Servo Off

    5.12 Motor Stopping Methods 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 185 5.12 Motor Stopping Methods 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 186 5.12 Motor Stopping Methods for Servo OFF and Alarms 5.12.2 Servomotor Stopping Method for Alarms Stopping the Servomotor by Setting the Deceleration Time To specify the Servomotor deceleration time and use it to stop the Servomotor, set Pn30A (Deceleration Time for Servo OFF and Forced Stops). Deceleration Time for Servo OFF and Forced Stops Pn30A Setting Range...

  • Page 187: 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 188: 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 189: 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 190: 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 191 5.14 Electronic Gear Settings 5.14.1 Electronic Gear Ratio Settings  Encoder Resolution You can check the encoder resolution in the Servomotor model number. SGM7J, SGM7A, SGM7P, SGM7G - Specification Code Encoder Resolution 24-bit batteryless multiturn absolute encoder 16,777,216 24-bit multiturn absolute encoder 16,777,216 24-bit incremental encoder 16,777,216...
  • Page 192 5.14 Electronic Gear Settings 5.14.1 Electronic Gear Ratio Settings  Feedback Resolution of Linear Encoder The linear encoder pitches and resolutions are given in the following table. Calculate the electronic gear ratio using the values in the following table. Linear Model of Serial Type of Linear Encoder...

  • Page 193: Electronic Gear Ratio Setting Examples

    5.14 Electronic Gear Settings 5.14.2 Electronic Gear Ratio Setting Examples These are reference values for setting SERVOPACK parameters. Contact the manufacturer for actual linear encoder scale pitches. This is the model of the Serial Converter Unit. This is the model of the Head with Interpolator. This is the model of the Interpolator.

  • Page 194: Electronic Gear Ratio Setting Examples

    5.14 Electronic Gear Settings 5.14.2 Electronic Gear Ratio Setting Examples • Linear Servomotors A setting example for a Serial Converter Unit resolution of 256 is given below. Machine Configuration Reference unit: 0.02 mm (20 m) Step Description Forward direction 0.02 mm (20 μm) Linear encoder pitch 0.001 mm (1 μm) Reference Unit...

  • Page 195: 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 196: 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 33) SigmaWin+...
  • Page 197 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 198: Setting The Origin Of The Absolute Linear Encoder

    5.16 Setting the Origin of the Absolute Linear Encoder 5.16.1 Preparations 5.16 Setting the Origin of the Absolute Linear Encoder You can set any position as the origin in the following Linear Encoders. • Mitutoyo Corporation ABS ST780A Series or ST1300 Series Models: ABS ST78A/ST78AL/ST13...
  • Page 199 5.16 Setting the Origin of the Absolute Linear Encoder 5.16.3 Operating Procedure Click the Continue Button. Click the Execute Button. 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.
  • Page 200 5.16 Setting the Origin of the Absolute Linear Encoder 5.16.3 Operating Procedure Turn the power supply to the SERVOPACK OFF and ON again. If you use a Linear Servomotor that does not have a polarity sensor, perform polarity detection. Refer to the following section for details on the polarity detection. 5.9 Polarity Detection on page 5-24 This concludes the procedure to set the origin of the absolute linear encoder.

  • Page 201: 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 202: 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 Signals ......6-3 6.1.1 Input Signals .
  • Page 203 Software Reset ..... 6-30 6.9.1 Preparations ......6-30 6.9.2 Applicable Tools .

  • Page 204: I/O Signals

    6.1 I/O Signals 6.1.1 Input Signals I/O Signals 6.1.1 Input Signals /S-ON (Servo ON) Signal This signal enables operation of the Servomotor. Type Signal Connector Pin No. Signal Status Function Power is supplied to the Servomo- ON (closed) tor to enable operation. Input /S-ON CN1-13...
  • Page 205 6.1 I/O Signals 6.1.1 Input Signals Parameter Meaning When Enabled Classification 0000h Starts deceleration during homing when the (default setting) /DEC signal turns ON (closes). Starts deceleration during homing when the 0001h /DEC signal turns OFF (opens). PnB11 After restart Setup Sets the homing limit switch so that it is always 0002h...
  • Page 206 6.1 I/O Signals 6.1.1 Input Signals You can change the setting for the /START-STOP signal with PnB04. If you change the setting for the /START-STOP signal, set the /MODE 0/1 signal to ON (closed) (Mode 0). Parameter Meaning When Enabled Classification Starts program table operation when the 0000h /START-STOP signal turns ON (closes).
  • Page 207 6.1 I/O Signals 6.1.1 Input Signals /JOGP (Forward Jog Input) Signal This signal functions as the forward jog operation command. Type Signal Pin No. Signal Status Meaning Forward jog operation is performed. Jog opera- ON (closed) tion is performed as long as the signal is ON. Input /JOGP CN11-7...

  • Page 208: Output Signals

    6.1 I/O Signals 6.1.2 Output Signals /SEL0 to /SEL7 (Program Step Selection Inputs) Signals These signals specify the program step. Type Signal Pin No. Signal Status Meaning These signals specify the program step number ON (closed) /SEL0 at which to start program table operation. Refer CN11-9, -11, Input to the following section for details.
  • Page 209 6.1 I/O Signals 6.1.2 Output Signals Select whether /ALO1 to /ALO3 are used or /WARN, /BK and /S-RDY are used with the param- eter below. Parameter Meaning When Enabled Does not output /ALO1 to /ALO3. (/WARN, /BK, and /S-RDY (default setting) are output.) PnB51 After restart...
  • Page 210 6.1 I/O Signals 6.1.2 Output Signals The /S-RDY signal is allocated to CN1-25 and CN1-26 by default. Type Signal Connector Pin No. Signal Status Meaning ON (closed) Ready to receive the /S-ON (Servo ON) signal. CN1-25 and CN1- Output /S-RDY Not ready to receive the /S-ON (Servo ON) sig- 26 (default setting) OFF (open)
  • Page 211 6.1 I/O Signals 6.1.2 Output Signals  Notes when the Positioning Completed State is Established while Canceling a Motion Command When the SERVOPACK enters any of the following states during execution of a motion com- mand, it may cancel the execution of the motion command and establish the positioning com- pleted state.

  • Page 212: 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 213: 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 214 6.3 SEMI F47 Function  Execution with the SERVOPACK (Pn008 = n.2) The torque is limited in the SERVOPACK in response to an Undervoltage warning. The SERVOPACK controls the torque limit for the set time after the Undervoltage warning is cleared.

  • Page 215: 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 216: 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 217 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals • Linear Servomotors SERVOPACK Host controller Linear encoder Serial data Conversion of Dividing Serial serial data to circuit Converter Unit pulses (Pn281) Output Phase Forms Forward rotation or movement Reverse rotation or movement (phase B leads by 90°) (phase A leads by 90°)
  • Page 218 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Passing the First Origin Signal (Ref) in the Reverse Direction and Returning after Turning ON the Power Supply Machine position (forward) No origin signal (Ref) is output by the incremental linear encoder.
  • Page 219 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals When a linear incremental encoder from Magnescale Co., Ltd. is used, the count direction of the encoder determines how the phase-C pulse (CN1-21 and CN1-22) is output. Note: The count direction (up or down) of the linear encoder determines whether a phase-C pulse is output. The output of the pulse does not depend on the setting of the movement direction (Pn000 = n.1).
  • Page 220 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 Forward Direction and Returning after Turning ON the Power Supply The encoder’s phase-C pulse is output when the origin detection position is passed for the first time in the forward direction after the power supply is turned ON.

  • Page 221: 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 222 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 223: Internal Torque Limits

    6.6 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 224: Absolute Encoders

    6.7 Absolute Encoders 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 homing when the power supply to the system is turned ON. There are four types of encoders for Rotary Servomotors.

  • Page 225: Connecting An Absolute Encoder

    6.7 Absolute Encoders 6.7.1 Connecting an Absolute Encoder 6.7.1 Connecting an Absolute Encoder If you use an absolute encoder, the encoder divided pulse output signals (PAO, PBO, and PCO) are output only once when the power supply turns ON. Normally, do not use these signals. You can get the position data from the absolute encoder with MECHATROLINK communications.

  • Page 226: Multiturn Limit Setting

    6.7 Absolute Encoders 6.7.2 Multiturn Limit Setting 6.7.2 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 227: Multiturn Limit Disagreement Alarm (A.cc0)

    6.7 Absolute Encoders 6.7.3 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 228 6.7 Absolute Encoders 6.7.3 Multiturn Limit Disagreement Alarm (A.CC0) Click the Continue Button. Click the Cancel Button to cancel setting the multiturn limit. The Main Window will return. Change the setting. Click the Writing into the Servopack Button. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again.
  • Page 229 6.7 Absolute Encoders 6.7.3 Multiturn Limit Disagreement Alarm (A.CC0) Click the Continue Button. Click the Writing into the Motor Button. Click the Re-change Button to change the setting. Click the OK Button. This concludes the procedure to set the multiturn limit. 6-28...

  • Page 230: Absolute Linear Encoders

    6.8 Absolute Linear Encoders 6.8.1 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 231: Software Reset

    6.9 Software Reset 6.9.1 Preparations 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 232 6.9 Software Reset 6.9.3 Operating Procedure Click the Execute Button. Click the Cancel Button to cancel the software reset. The Main Window will return. Click the Execute Button. Click the OK Button to end the software reset operation. All settings including parameters will have been re-calculated. When you finish this operation, discon- nect the SigmaWin+ from the SERVOPACK, and then connect it again.

  • Page 233: Initializing The Vibration Detection Level

    6.10 Initializing the Vibration Detection Level 6.10.1 Preparations 6.10 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 234: Applicable Tools

    6.10 Initializing the Vibration Detection Level 6.10.2 Applicable Tools 6.10.2 Applicable Tools The following table lists the tools that you can use to initialize the vibration detection level and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn01B (Manual No.: SIEP S800001 33)
  • Page 235 6.10 Initializing the Vibration Detection Level 6.10.3 Operating Procedure Click the Execute Button. 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. 6-34...

  • Page 236: Related Parameters

    6.10 Initializing the Vibration Detection Level 6.10.4 Related Parameters 6.10.4 Related Parameters The following three items are given in the following table. • Parameters Related to this Function These are the parameters that are used or referenced when this function is executed. •...

  • Page 237: Adjusting The Motor Current Detection Signal Offset

    6.11 Adjusting the Motor Current Detection Signal Offset 6.11.1 Automatic Adjustment 6.11 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. 6.11.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
  • Page 238 6.11 Adjusting the Motor Current Detection Signal Offset 6.11.1 Automatic Adjustment Click the Continue Button. Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets 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 239: Manual Adjustment

    6.11 Adjusting the Motor Current Detection Signal Offset 6.11.2 Manual Adjustment 6.11.2 Manual Adjustment You can use this function if you automatically adjust the motor current detection signal offset and the torque ripple is still too large. If the offset is incorrectly adjusted with this function, the Servomotor characteristics may be adversely affected.
  • Page 240 6.11 Adjusting the Motor Current Detection Signal Offset 6.11.2 Manual Adjustment Click the Manual Adjustment Tab in the Adjust the Motor Current Detection Signal Off- sets Dialog Box. Set the Channel Box in the Motor Current Detection Offset Area to U-phase. Use the +1 and -1 Buttons to adjust the offset for phase U.

  • Page 241: Overheat Protection

    Overheat Protection Overheat protection detects an A.93B warning (Overheat Warning) and an A.862 alarm (Over- heat Alarm) by monitoring the overheat protection input signal from a Yaskawa SGLFW2 Linear Servomotor or from a sensor attached to the machine. SERVOPACKs with software version 0023 or higher support overheat protection.

  • Page 242: Overheat Protection Selection

    • If the overheat protection input signal line is disconnected or short-circuited, an A.862 alarm will occur. • If you set Pn61A to n.1 (Use overheat protection in the Yaskawa Linear Servomotor), the Important parameters in the Servomotor are enabled and the following parameters are disabled.

  • Page 243: Trial Operation

    Trial 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 244: 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 245: Flow Of Trial Operation For Linear Servomotors

    7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Trial Operation with the Servomotor Con- nected to the Machine To power supply To host controller 7.5 Trial Operation with the Servomotor Connected to the Secure the motor flange to the Machine on page 7-12 machine, and connect the...
  • Page 246 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Setting the Origin of the Absolute Linear Encoder This step is necessary only for the following Absolute Linear Encoders. • Mitutoyo Corporation ABS ST780A Series or ST1300 Series 5.16 Setting the Origin of the Absolute Linear Encoder on Models: ABS ST78A/ST78AL/ST13...
  • Page 247 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Trial Operation with the Servomotor Con- nected to the Machine To power CN1, to supply host controller 7.5 Trial Operation with the Servomotor Connected to the Machine on page 7-12...

  • Page 248: 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 249: 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 jog operation for trial operation of the Servomotor without a load. Jog operation is used to check the operation of the Servomotor without connecting the SERVO- PACK to the host controller.

  • Page 250: 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 jog operation 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 251 7.3 Trial Operation for the Servomotor without a Load 7.3.3 Operating Procedure Click the Forward Button or the Reverse Button. Jog operation will be performed only while you hold down the mouse button. After you finish jog operation, turn the power supply to the SERVOPACK OFF and ON again.

  • Page 252: Trial Operation With Digital I/O And Serial Communications

    7.4 Trial Operation with Digital I/O and Serial Communications Trial Operation with Digital I/O and Serial Communications This section provides an example of trial operation with digital I/O and serial command commu- nications. Refer to the following sections for information on operation with digital I/O and oper- ation with serial command communications.
  • Page 253 7.4 Trial Operation with Digital I/O and Serial Communications Operate the Servomotor at low speed. Program Table Operation PGM- RDST RSPD POUT EVENT LOOP NEXT STEP I+10000 1000 1000 ::::::: Serial Command Communications SPD1000: Positioning speed specification of 1,000 [1,000 reference units/min] STI+10000: Target position specification and starting positioning, Target position of +10,000 [refer- ence units] While operation is in progress for step 6, confirm the following items.

  • Page 254: 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 255: 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 Overtravel Settings on page 5-28 Make the settings for the protective functions, such as the safety function, overtravel, and the brake. 4.7 Connecting Safety Function Signals on page 4-46 5.10 Overtravel and Related Settings on page 5-27 5.11 Holding Brake on page 5-31...

  • Page 256: Convenient Function To Use During Trial Operation

    7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jog Operation 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 Jog Operation You can use program jog operation to perform continuous operation with a preset operation pattern, travel distance, movement speed, acceleration/deceleration time, waiting time, and number of movements.
  • Page 257 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jog Operation 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...
  • Page 258 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jog Operation If Pn530 is set to n.0, n.1, n.4, or n.5, you can set Pn536 (Program Information Jog Operation 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.
  • Page 259 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jog Operation • Linear Servomotors Program Jog Operation-Related Selections Pn530 Setting Range Setting Unit Default Setting When Enabled Classification − 0000 to 0005 0000 Immediately Setup Program Jog Operation Travel Distance Pn531 Setting Range Setting Unit...
  • Page 260 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jog Operation Read the warnings and then click the OK Button. Set the operating conditions, click the Apply Button, and then click the Run Button. A graph of the operation pattern will be displayed. 7-18...
  • Page 261 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jog Operation Click the Servo ON Button and then the Execute Button. The program jog operation will be executed. CAUTION  Be aware of the following points if you cancel the program jog operation while the Servomo- tor is operating.

  • Page 262: Origin Search

    7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search 7.6.2 Origin Search The origin search operation positions the motor to the origin within one rotation and the clamps it there. CAUTION  Make sure that the load is not coupled when you execute an origin search. The Forward Drive Prohibit (P-OT) signal and Reverse Drive Prohibit (N-OT) signal are disabled during an origin search.
  • Page 263 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. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Search Origin in the Menu Dialog Box. The Origin Search Dialog Box will be displayed.

  • Page 264: 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 265 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor External Encoder Connection Information That Is Source of Information Status Used Information in the external encoder that is con- External encoder infor- Connected nected mation • Resolution •...

  • Page 266: Tuning

    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 9-6 •...
  • Page 267 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 268 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 269 Autotuning without Host Reference ..8-23 8.6.1 Outline ....... .8-23 8.6.2 Restrictions .
  • Page 270 8.12 Additional Adjustment Functions ... 8-64 8.12.1 Automatic Gain Switching ....8-64 8.12.2 Friction Compensation ....8-67 8.12.3 Gravity Compensation .

  • Page 271: 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 272: 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 273: 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 274: 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 275 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 276: 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 277 8.3 Precautions to Ensure Safe Tuning 8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON Related Warning 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 278: 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 Servomotor may momentarily emit a sound the first time the servo is turned ON after the Servomotor is connected to the machine.

  • Page 279: 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 280: 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 281: 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 282: 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 283: 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 284: 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 Servomotor and therefore presents hazards. Observe the following precautions. •...
  • Page 285 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 286 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 Servomotor to measure the load moment of inertia of the machine in com- parison with the rotor moment of inertia.
  • Page 287 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 288 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Reverse Button. The Servomotor 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 9 to 11 until the Next Button is enabled.
  • Page 289 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 290: 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 291: Restrictions

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

  • Page 292: 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 293 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Execute Button. Select the No Reference Input Option in the Autotuning Area and then click the Auto- tuning Button. 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).
  • Page 294 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure • Switching the load moment of inertia (load mass) identification Box Specify whether to estimate the moment of inertia. 0: A moment of inertia is presumed. (default setting) 1: A moment of inertia is not presumed. •...
  • Page 295 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. The Servomotor 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 296: 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 When tuning has been completed, click the Finish Button. The results of tuning will be set in the parameters and you will return to the Tuning Dialog Box. This concludes the procedure to perform autotuning without a host reference.
  • Page 297 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 298: 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 299 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 300: 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 301: 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 302: 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 303: 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. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
  • Page 304 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 305 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. Confirm safety around moving parts and click the Yes Button. The Servomotor will start operating and tuning will be executed.

  • Page 306: 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 When tuning has been completed, click the Finish Button. The results of tuning will be set in the parameters and you will return to the Tuning Dialog Box. This concludes the procedure to perform autotuning with a host reference.

  • Page 307: 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 308: Custom Tuning

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

  • Page 309: 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 310 8.8 Custom Tuning 8.8.4 Operating Procedure Click the Advanced adjustment Button. 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 Custom tuning Button.
  • Page 311 8.8 Custom Tuning 8.8.4 Operating Procedure Set the Tuning mode Box and Mechanism selection Box, and then click the Next But- ton. Tuning mode Box Mode Selection Description This setting gives priority to stability and preventing overshooting. In addi- 0: Set servo gains tion to gain adjustment, notch filters with priority given and anti-resonance control (except...
  • Page 312 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 0 or 1 Tuning Mode 2 or 3 Use the Buttons to change the tuning level. Click the Back Button during tuning to restore the setting to its original value.
  • Page 313 8.8 Custom Tuning 8.8.4 Operating Procedure When tuning has been completed, click the Completed 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 custom tuning. Vibration Suppression Functions ...

  • Page 314: Automatically Adjusted Function Settings

    8.8 Custom Tuning 8.8.5 Automatically Adjusted Function Settings • Vib Detect Button While the notch filter or anti-resonance control adjustment automatic setting function is enabled, you can click the Vib Detect Button to manually detect vibration. When you click the Vib Detect Button, the SERVOPACK will detect vibration at that time, and set the notch filter frequency (stage 1 or 2) or anti-resonance control frequency that is effective for the detected vibration.

  • Page 315: Related Parameters

    8.8 Custom Tuning 8.8.7 Related Parameters Continued from previous page. Step Measurement Display Examples Operation The graph shows overshooting that occurred when the feed- forward level was increased even more after step 3. In this state, overshooting occurs, but the positioning settling time is shorter.

  • Page 316: 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 317: 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 318 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 319: 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 320 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 321: 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 322: Preparations

    8.10 Vibration Suppression 8.10.2 Preparations The vibration frequencies that are automatically detected may vary somewhat with each posi- Information tioning. Perform positioning several times and make adjustments while checking the effect of vibration suppression. 8.10.2 Preparations Always check the following before you execute vibration suppression. •...
  • Page 323 8.10 Vibration Suppression 8.10.4 Operating Procedure Click the Import Button or click Button to manually adjust the set frequency. When you click the Import Button, the residual vibration frequency in the Servomotor is read as the set frequency. (The frequency can be read only when the residual vibration frequency is between 1.0 and 100.0.) Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies.

  • Page 324: Related Parameters

    8.10 Vibration Suppression 8.10.5 Related Parameters When the vibration has been eliminated, click the Finish Button. The updated value will be saved in the SERVOPACK. Vibration suppression will be enabled in step 5. The Servomotor response, however, will change when the Servomotor comes to a stop with no reference input. Important This concludes the procedure to set up vibration suppression.

  • Page 325: 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 326 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 327 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Edit Button. Enter the jog operation speed in the Input Value Box and click the OK Button. Click the Servo ON Button. 8-60...
  • Page 328 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 Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or Reverse Button and the speed ripple will be measured. The feedback speed and torque reference graph will be displayed in the Ripple Compensation Dialog Box during jog operation.

  • Page 329: 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 Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or Reverse Button. The waveform with speed ripple compensation applied to it will be displayed. If the verification results are OK, click the Finish Button.
  • Page 330 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 331 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 Automatic Gain Switching...

  • Page 332: Additional Adjustment Functions

    8.12 Additional Adjustment Functions 8.12.1 Automatic Gain Switching For Control Methods Position Control Gain When Parameter Other Than Position Classification Switching Condition A Enabled Control (No Switching)   /COIN (Positioning Comple- Gain settings 1 used. tion Output) signal turns ON. (default setting) /COIN (Positioning Comple- ...
  • Page 333 8.12 Additional Adjustment Functions 8.12.1 Automatic Gain Switching Related Parameters Speed Loop Gain Pn100 Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20,000 0.1 Hz Immediately Tuning Speed Loop Integral Time Constant Pn101 Setting Range Setting Unit Default Setting When Enabled Classification...

  • Page 334: Friction Compensation

    8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Related Monitoring • SigmaWin+ You can monitor gain switching with the status monitor or with tracing. • Analog Monitors Parameter Analog Monitor Monitor Name Output Value Description Gain settings 1 are enabled. Pn006 ...
  • Page 335 8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Step Operation Set the following parameters related to friction compensation to their default settings. Friction compensation gain (Pn121): 100 Second friction compensation gain (Pn122): 100 Friction compensation coefficient (Pn123): 0 Friction compensation frequency correction (Pn124): 0 Friction compensation gain correction (Pn125): 100 Note: Always use the default settings for the friction compensation frequency correction (Pn124) and friction com- pensation gain correction (Pn125).

  • Page 336: Gravity Compensation

    8.12 Additional Adjustment Functions 8.12.3 Gravity Compensation 8.12.3 Gravity Compensation When the Servomotor is used with a vertical axis, gravity compensation prevents the moving part from falling due to the machine’s own weight when the brake is released. SERVOPACKs with software version 0023 or higher support gravity compensation. Servomotor Holding brake When the brake is released, the gravity...

  • Page 337: Current Control Mode Selection

    8.12 Additional Adjustment Functions 8.12.4 Current Control Mode Selection Operating Procedure for Gravity Compensation Use the following procedure to perform gravity compensation. Set Pn475 to n.1 (Enable gravity compensation). To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.

  • Page 338: Speed Detection Method Selection

    8.12 Additional Adjustment Functions 8.12.6 Speed Detection Method Selection If the current gain level is changed, the response characteristic of the speed loop will also change. Servo tuning must therefore be performed again. Important 8.12.6 Speed Detection Method Selection You can use the speed detection method selection to ensure smooth Servomotor speed changes during operation.
  • Page 339 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation This parameter can be set to compensate for positioning offset caused by the backlash of gears. Backlash Compensation PnB50 Setting Range Setting Unit Default Setting When Enabled -1000 to 1000 1 reference unit Immediately Specify the direction for compensation with the sign and the quantity of the compensation with a numeric value.

  • Page 340: Manual Tuning

    Encoder SERVOPACK Kp: Position loop gain (Pn102) Host controller (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) In order to manually tune the servo gains, you must understand the configuration and charac- teristic of the SERVOPACK and adjust the servo gains individually.
  • Page 341 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 342 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 343 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 344 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 345 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 346 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 347 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains • Speed Loop Gain (Pn100 [Hz]) and Second Stage Second Torque Reference Filter Frequency (Pn40F [Hz]) Critical gain: Pn40F [Hz] > 4 × Pn100 [Hz] Note: Set the second stage second torque reference filter Q value (Pn410) to 0.70. •...
  • Page 348 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Model Following Control You can use model following control to improve response characteristic and shorten position- ing time. You can use model following control only with position control. Normally, the parameters that are used for model following control are automatically set along with the servo gains by executing autotuning or custom tuning.
  • Page 349 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Related Parameters Next we will describe the following parameters that are used for model following control. • Pn140 (Model Following Control-Related Selections) • Pn141 (Model Following Control Gain) • Pn143 (Model Following Control Bias in the Forward Direction) •...
  • Page 350 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Model Following Control Bias in the Forward Direction and Model Following Control Bias in the Reverse Direction If the response is different for forward and reverse operation, use the following parameters for fine-tuning.

  • Page 351: Compatible Adjustment Functions

    8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions 8.13.2 Compatible Adjustment Functions The compatible adjustment functions are used together with manual tuning. You can use these functions to improve adjustment results. These functions allow you to use the same functions as for Σ-III-Series SERVOPACKs to adjust Σ-7-Series SERVOPACKs. Feedforward The feedforward function applies feedforward compensation to position control to shorten the positioning time.
  • Page 352 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Related Parameters Select the switching condition for mode switching with Pn10B = n.X. Parameter That Sets the Level Mode Switching When Parameter Classification Selection Enabled Rotary Linear Servomotor Servomotor Use the internal ...
  • Page 353 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Using the Torque Reference as the Mode Switching Condition (Default Setting) When the torque reference equals or exceeds the torque set for the mode switching level for torque reference (Pn10C), the speed loop is changed to P control. The default setting for the torque reference level is 200%.
  • Page 354 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 355: 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 356: Easy Fft

    8.14 Diagnostic Tools 8.14.2 Easy FFT Frequency Characteristics The Servomotor 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 normal machine, the resonance frequencies are clear when the frequency characteristics are plotted on graphs with the gain and phase (Bode plots).
  • Page 357 8.14 Diagnostic Tools 8.14.2 Easy FFT WARNING  Never touch the Servomotor or machine during execution of Easy FFT. Doing so may result in injury. CAUTION  Use Easy FFT when the servo gain is low, such as in the initial stage of servo tuning. If you execute Easy FFT after you increase the gain, the machine may vibrate depending on the machine characteristics or gain balance.
  • Page 358 8.14 Diagnostic Tools 8.14.2 Easy FFT Operating Procedure Use the following procedure for Easy FFT. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Easy FFT in the Menu Dialog Box. The Easy FFT Dialog Box will be displayed. Click the Cancel Button to cancel Easy FFT.
  • Page 359 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 Servomotor 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 360 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 361: Monitoring

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

  • Page 362: 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 • Model/Type • Serial Number • Manufacturing Date Information on SERVOPACKs • Software version (SW Ver.) • Remarks • Model/Type •...

  • Page 363: Monitoring Servopack Status

    9.2 Monitoring SERVOPACK Status 9.2.1 Servo Drive Status Monitoring SERVOPACK Status 9.2.1 Servo Drive Status Use the following procedure to display the Servo Drive status. • Start the SigmaWin+. The Servo Drive status will be automatically displayed when you go online with a SERVOPACK.

  • Page 364: Monitoring Status And Operations

    9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations 9.2.2 Monitoring Status and Operations Items That You Can Monitor The items that you can monitor on the Status Monitor Window and Motion Monitor Window are listed below. • Status Monitor Window Monitor Items •...
  • Page 365 9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations • Motion Monitor Window Monitor Items • Current Alarm State • Error Monitor • Current issue position • Current motor position • Target position • Target distance • Registration target position •...

  • Page 366: 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. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Wiring Check in the Menu Dialog Box. The Wiring Check Dialog Box will be displayed.

  • Page 367: 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 368: 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+. Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Click the Servo Drive Button in the workspace of the Main Window of the Sig-...
  • Page 369 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.2 Using the SigmaWin+ • I/O Tracing Trace Objects • /S-ON (Servo ON Input Signal) • ALM (Servo Alarm Output Signal) • P-OT (Forward Drive Prohibit Input Signal) • /S-RDY (Servo Ready Output Signal) •...

  • Page 370: Using The Analog Monitors

    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 371 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using the Analog Monitors 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 372 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using the Analog Monitors  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 373 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using the Analog Monitors • Gain Adjustment Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn00D (Manual No.: SIEP S800001 33) Setup - Analog Monitor Out-  SigmaWin+ Operating Procedure on page 9-13 put Adjustment...

  • Page 374: 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 environment is displayed. Implement one or more of the following actions if the monitor value SERVOPACK Installation exceeds 100%.

  • Page 375: 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. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.

  • Page 376: 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 SERVO- PACK 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 377: 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 378: 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 379: 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 380: 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 381 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 jog operation operation. 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 382: 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 383: 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 • Phase B leads in the divided pulses for a forward reference regardless of the setting of Pn000 = n.X. • Forward direction: The direction in which the pulses are counted up. •...

  • Page 384: Setting The Pao, Pbo, And Pco (Encoder Divided Pulse Output) Signals

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.4 Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals Related Parameter Number of External Scale Pitches Setting Range Setting Unit Default Setting When Enabled Classification Pn20A 1 scale pitch/revo- 4 to 1,048,576 32,768 After restart Setup...

  • Page 385: Electronic Gear Setting

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.5 Electronic Gear Setting 10.3.5 Electronic Gear Setting Refer to the following section for details. 5.14 Electronic Gear Settings on page 5-41 With fully-closed loop control, the same setting as for a Linear Servomotor is used. 10-8...

  • Page 386: Alarm Detection Settings

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.6 Alarm Detection Settings 10.3.6 Alarm Detection Settings This section describes the alarm detection settings (Pn51B and Pn52A). Pn51B (Motor-Load Position Deviation Overflow Detection Level) This setting is used to detect the difference between the feedback position of the Servomotor encoder and the feedback load position of the external encoder for fully-closed loop control.

  • Page 387: Analog Monitor Signal Settings

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.7 Analog Monitor Signal Settings 10.3.7 Analog Monitor Signal Settings You can monitor the position deviation between the Servomotor and load with an analog moni- tor. When Classifi- Parameter Name Meaning Enabled cation Analog Monitor 1 Position deviation between motor and load ...
  • Page 388 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 389: 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 390: 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 Servomotor 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 391: 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 392: Detecting Errors In Hwbb Signal

    11.2 Hard Wire Base Block (HWBB) 11.2.4 Detecting Errors in HWBB Signal 11.2.4 Detecting Errors in HWBB Signal If only the /HWBB1 or the /HWBB2 signal is input, an A.Eb1 alarm (Safety Function Signal Input Timing Error) will occur unless the other signal is input within 10 seconds. This makes it possi- ble to detect failures, such as disconnection of an HWBB signal.

  • Page 393: S-Rdy (Servo Ready Output) Signal

    11.2 Hard Wire Base Block (HWBB) 11.2.7 /S-RDY (Servo Ready Output) Signal 11.2.7 /S-RDY (Servo Ready Output) Signal The /S-ON (Servo ON) signal will not be acknowledged in the HWBB state. Therefore, the Servo Ready Output Signal will turn OFF. The Servo Ready Output Signal will turn ON if both the /HWBB1 and /HWBB2 signals are ON and the /S-ON signal is turned OFF (BB state).

  • Page 394: 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 395: 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 396: 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 397: 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 Servomotor is operating, a stop command is received from the host controller, the Servomotor stops, and the servo is turned OFF. The guard is opened.

  • Page 398: 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 399: 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 400: Settings For The Indexer Module

    Settings for the INDEXER Module This chapter provides detailed information on the moving mode and coordinate settings, reference settings, and ori- gin settings. 12.1 Moving Mode and Coordinate Settings . . 12-2 12.1.1 When the Coordinates are the Linear Type ..12-2 12.1.2 When the Coordinates are the Rotary Type .

  • Page 401: Moving Mode And Coordinate Settings

    12.1 Moving Mode and Coordinate Settings 12.1.1 When the Coordinates are the Linear Type 12.1 Moving Mode and Coordinate Settings Use the following parameters to set the moving mode and the coordinates. When Classifica- Parameter Meaning Enabled tion 0000h (default Sets coordinates to linear type.

  • Page 402: When The Coordinates Are The Rotary Type

    12.1 Moving Mode and Coordinate Settings 12.1.2 When the Coordinates are the Rotary Type 12.1.2 When the Coordinates are the Rotary Type When using a rotary type coordinates such as with a rotary table, set PnB20 to 0001h (shortest path), to 0002h (forward), or to 0003h (reverse). Then set the end point of rotational coordi- nates in PnB21 and the starting point of rotational coordinates in PnB23.

  • Page 403: Settings For References

    12.2 Settings for References 12.2.1 Motor Speed 12.2 Settings for References 12.2.1 Motor Speed For program table operation, the positioning speed is registered in SPD and the registration speed is registered in RSPD. For jog speed table operation, the jog speed is registered in JSPD.

  • Page 404: Smoothing

    12.2 Settings for References 12.2.3 Smoothing The following calculation applies if the reference unit is 0.01 mm and the acceleration Example time from 0 m/min to 15 m/min is 100 ms. 15,000 mm/min = 1,500,000 reference units/min 0.01 mm 1,500,000 reference units/min = 15,000 [(reference units/min)/ms] 100 ms Thus, the acceleration setting is 15 [1,000 reference units/min].

  • Page 405: Origin Settings

    12.3 Origin Settings 12.3.1 When Using an Absolute Encoder 12.3 Origin Settings It is necessary to define a reference position to operate a device or machine. This is done with origin settings. The origin settings depend on whether an absolute encoder or an incremental encoder is used. 12.3.1 When Using an Absolute Encoder If you use an absolute encoder, it is not necessary to set the origin every time the power supply to the equipment is turned ON.

  • Page 406: When Using An Incremental Encoder

    12.3 Origin Settings 12.3.2 When Using an Incremental Encoder When using the linear type coordinate (PnB20 = 0000h), set the calculated value in PnB25. When using a rotary type coordinate (PnB20 ≠ 0000h), set the results in PnB25 after perform- ing the following calculations so that the following relationships are satisfied: PnB23 ≤...

  • Page 407: Speed/Position Expansion Function Setting

    12.4 Speed/Position Expansion Function Setting 12.4.1 Parameters 12.4 Speed/Position Expansion Function Setting The speed/position expansion function uses a 24-bit encoder to perform optimum positioning. To do so, the setting ranges are expanded for speed parameters, position parameters, and serial command data. This function is supported for INDEXER Modules with software version 0007 or higher.

  • Page 408: Program Tables, Zone Tables, And Jog Speed Tables

    12.4 Speed/Position Expansion Function Setting 12.4.3 Program Tables, ZONE Tables, and JOG Speed Tables Position Commands PnB54 = 0 (Disable Expansion Mode) PnB54 = 1 (Enable Expansion Mode) Serial Command Setting Range Serial Command Setting Range POS (±) -1,073,741,823 ≤ -99,999,999 ≤...
  • Page 409 12.4 Speed/Position Expansion Function Setting 12.4.3 Program Tables, ZONE Tables, and JOG Speed Tables Continued from previous page. PnB54 = 0 (Disable Expansion Mode) PnB54 = 1 (Enable Expansion Mode) Serial Serial Setting Range Setting Range Command Command 1 ≤ nnnnnnnn ≤ 99,999,999 1 ≤...

  • Page 410: Parameter Editing Commands

    12.4 Speed/Position Expansion Function Setting 12.4.4 Parameter Editing Commands JOG Speed Tables  Write Commands PnB54 = 0 (Disable Expansion Mode) PnB54 = 1 (Enable Expansion Mode) Serial Command Setting Range Serial Command Setting Range 1 ≤ nnnnnnnn ≤ 99,999,999 1 ≤...

  • Page 411: Digital Operator Displays

    12.4 Speed/Position Expansion Function Setting 12.4.6 Digital Operator Displays 12.4.6 Digital Operator Displays If the number of display digits is exceeded when Expansion Mode is enabled, the table name will be abbreviated. • POS (Target Position) Display When Expansion Mode Is Disabled Display When Expansion Mode Is Enabled - P G M E d i t -...

  • Page 412: Operation With Digital I/O

    Operation with Digital I/O This chapter provides detailed information on homing, positioning with a program table, registration, constant speed operation with a jog speed table, and ZONE out- puts. 13.1 Operation Functions ....13-3 13.2 Homing .
  • Page 413 13.4 Jog Speed Table Operation ... 13-44 13.4.1 Input Signals Related to Jog Operation ..13-44 13.4.2 Jog Speeds ......13-44 13.4.3 Jog Speed Table and Speed Selection Signals .

  • Page 414: Operation Functions

    13.1 Operation Functions 13.1 Operation Functions The following five operation functions are provided. • Homing Homing is used to define the machine origin when the power supply is turned ON to equip- ment that uses an incremental encoder. Homing is not required for equipment that uses an absolute encoder because the positional relationship between the origin of the absolute encoder and the machine origin is set in a parameter.

  • Page 415: Homing

    13.2 Homing 13.2.1 I/O Signals Related to Homing 13.2 Homing Homing is used to define the machine origin when the power supply is turned ON to equipment that uses an incremental encoder. Turn OFF (mode 1) the /MODE 0/1 (Mode Selection Input) signal to enable performing homing.

  • Page 416: Parameters Related To Homing

    13.2 Homing 13.2.2 Parameters Related to Homing 13.2.2 Parameters Related to Homing  Parameter That Specifies the Homing Method Specify the homing method with PnB31. Classifica- Parameter Meaning When Enabled tion 0000h The current position when the power supply is (default set- turned ON is the origin.
  • Page 417 13.2 Homing 13.2.2 Parameters Related to Homing  Parameter That Specifies the Homing Approach Speed The following parameter sets the homing approach speed for homing. Operation details, such as changing to this speed, depends on the homing method. Homing Approach Speed Default Classifica- Setting Range...

  • Page 418: Homing Procedures

    13.2 Homing 13.2.3 Homing Procedures 13.2.3 Homing Procedures Homing will start when the /HOME signal turns ON. Homing will be stopped if the /HOME sig- nal turns OFF. If the /HOME signal turns ON while homing is stopped, homing will be restarted from where it was stopped.
  • Page 419 13.2 Homing 13.2.3 Homing Procedures Using Only the /DEC Signal for Homing (PnB31 = 0002h)  Turn ON the /HOME signal. Homing starts. The motor will rotate in the direction specified in PnB32 (Homing Direction) at the speed specified in PnB35 (Approach Speed). ...

  • Page 420: Program Table Operation

    13.3 Program Table Operation 13.3.1 Types of Operation 13.3 Program Table Operation With program table operation, you can register (program) positioning patterns in a table in advance and then use commands from the host controller to specify the operation patterns to perform operation.
  • Page 421 13.3 Program Table Operation 13.3.1 Types of Operation Registration Operation If an external trigger signal (/RGRT) is input during travel (i.e., during positioning) toward a tar- get position that is specified as the target position (POS) in the program table, the motor will move the registration distance (RDST) that is specified in the program table.

  • Page 422: I/O Signals Related To Program Table Operation

    13.3 Program Table Operation 13.3.2 I/O Signals Related to Program Table Operation 13.3.2 I/O Signals Related to Program Table Operation The following I/O signals are related to program table operation. Input Signals Related to Program Table Operation Input Signal Description Reference ON: Mode 0 (program table operation) /MODE 0/1...

  • Page 423: Parameter Related To Program Table Operation

    13.3 Program Table Operation 13.3.3 Parameter Related to Program Table Operation The wiring for the signals, and the parameter settings, described in the table above are not Information necessary when program table operations are performed with serial commands. The following serial commands are used instead of the signals. Refer to the following section for details.

  • Page 424: Settings In The Program Table

    13.3 Program Table Operation 13.3.5 Settings in the Program Table 13.3.5 Settings in the Program Table Item Name Meaning Setting Procedure The /SEL0 to /SEL7 signals are Numbers are used to identify the program Program step used to specify the program STEP steps in the program table.

  • Page 425: Sigmawin+ Procedures

    13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures 13.3.6 SigmaWin+ Procedures You use the SigmaWin+ to edit, write, and save the program table. A flowchart is provided below. Editing the Program Table on page 13-14 Editing the Program Table Writing the Program Table on page 13-23 Writing the Program Table Saving the Program Table on page 13-24 Saving the Program Table...
  • Page 426 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  Details on the Program Table Editing Dialog Box           Item Description Saves the program table currently displayed on the SigmaWin+ in a file on the ...
  • Page 427 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  Editing Procedures The following two ways are used to edit the program table. Note: The method that is used depends on the item. • Items That Are Entered Directly Click the cell to edit the item. Enter the setting directly. •...
  • Page 428 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures • Target position Display in Program Selected Item Description Table Absolute position Use this setting to specify the target position directly. A ± Position Use this setting to specify the relative position (travel dis- Relative distance I ±...
  • Page 429 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  RDST Set the registration absolute distance. Note: 1. You cannot use registration in combination with a speed change with an infinite target position setting. 2. You cannot use registration in combination with consecutive stopping. Double-click the cell to edit.
  • Page 430 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  ACC and DEC Set the acceleration rate (ACC) and deceleration rate (DEC) for movement. Double-click a cell under ACC or DEC. The Acceleration/Deceleration Dialog Box will be displayed. Set the acceleration and deceleration rates. The Same as previous step Check Boxes are selected by default.
  • Page 431 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  POUT (Output Signal) Specify the signals to output immediately after program step execution is started. Note: 1. If you want to output the signal at the end of the step, specify POUT as POS = “-” in the next step. 2.
  • Page 432 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  EVENT Specify the conditions to complete execution of the program steps. When the end condition is met and the number of executions specified for LOOP is completed, execution jumps to the program step specified by NEXT. If the number of executions specified for LOOP has not been completed, the step will be executed again.
  • Page 433 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  NEXT Specify the operation to perform after execution of the current program step is completed. Double-click the cell to edit. The Next Step Dialog Box will be displayed. Executing a Next Step Clear the selection of the END Check Box and set a value between 0 and 255 for the next step number.
  • Page 434 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures Writing the Program Table You can write the edited program table to SERVOPACK RAM to operate the SERVOPACK according to the program table. 1. Make sure that the system is in SERVO OFF state when you write the program table. 2.
  • Page 435 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures Saving the Program Table  Saving the Program Table to Flash Memory in the SERVOPACK To prevent the program table from being deleted when the power supply to the SERVOPACK is turned OFF, you must save it to flash memory in the SERVOPACK. The program table that is saved in the flash memory is automatically loaded each time the power supply is turned ON.
  • Page 436 13.3 Program Table Operation 13.3.6 SigmaWin+ Procedures  Saving the Program Table to a Computer File You can save the program table to a file on the computer. Use computer files to back up pro- gram tables. Click the Save Button. The Open Dialog Box will be displayed.

  • Page 437: State Transitions

    13.3 Program Table Operation 13.3.7 State Transitions You can use the Import Button to load the program table saved in a file to the SERVO- Information PACK. This concludes the saving procedure. 13.3.7 State Transitions Program table operation can be in any of three states: Canceled, operating, or stopped. Canceled /PGMRES /START-STOP...

  • Page 438: Program Table Operation Examples

    13.3 Program Table Operation 13.3.8 Program Table Operation Examples 13.3.8 Program Table Operation Examples This section provides the following 12 examples to show the timing of the I/O signals related to program table operation. In the following examples, it is assumed that an homing has been completed to define the ori- gin.
  • Page 439 13.3 Program Table Operation 13.3.8 Program Table Operation Examples • Operating Procedure  Turn ON the /MODE 0/1 signal to change to mode 0.  Set the /SEL0 to /SEL7 signals to 3 (i.e., turn ON /SEL0 and /SEL1) to specify program step 3.
  • Page 440 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Specifying the Next Step to Execute in the NEXT Setting In this example, repeated positioning is performed using program steps 0 and 1. Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000,000 refer- ences units/min.
  • Page 441 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Specifying the Number of Times to Execute a Program Step In this example, program step 0 is executed and then step 1 is executed three times. Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000,000 refer- ences units/min.
  • Page 442 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Pausing Program Table Operation This example shows how to turn OFF the /START-STOP signal to temporarily stop program table operation and then turn ON the /START-STOP signal to execute the remainder of the step.
  • Page 443 13.3 Program Table Operation 13.3.8 Program Table Operation Examples As described below, operation is restarted even when the /START-STOP signal is turned ON even during deceleration after the /START-STOP signal is turned OFF. • Operating Procedure  Turn ON the /MODE 0/1 signal to change to mode 0. ...
  • Page 444 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Outputting POUT Signals for the Specified Time This example shows how to output the POUT signals in the next step for the specified length of time after completing positioning for a program step. Positioning is registered for steps 0, 2, and 4.
  • Page 445 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Specifying SEL Signals as Events In this example, SEL signals are specified as the end conditions for the program steps. Step 0 ends 2 seconds after the /SEL0 signal turns ON after positioning is completed. Step 1 ends 2 seconds after the /SEL1 signal turns ON after positioning is completed.
  • Page 446 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Combining Positioning with Constant-Speed Operation This example shows how to perform operation that combines constant-speed operation and positioning when the target position (POS) is set to INFINITE. Step 0 performs operation for 2 seconds with no target position (infinite length = INFINITE) at a speed of 15,000,000 reference units/min.
  • Page 447 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Performing Registration This example shows how to use the /RGRT signal during execution of a program step to change to the specified speed and perform positioning for the specified distance. When the /RGRT signal turns ON during step 0, positioning is performed for a travel distance (RDST) of 100,000 reference units.
  • Page 448 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Pausing Registration This example shows how to turn OFF the /START-STOP signal to temporarily stop registration operation and then turn ON the /START-STOP signal to restart registration operation. The program table for this positioning is shown below. PGM- RDST RSPD...
  • Page 449 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Turning ON the /RGRT Signal While Program Table Operation Is Stopped This example shows what happens when the /RGRT signal is turned ON while program table operation is stopped after turning OFF the /START-STOP signal. In this case, registration oper- ation is performed when the /START-STOP signal is turned ON.
  • Page 450 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Using Consecutive Stops You can use consecutive stops to set the target position to infinite (+/-INFINITE) and then per- form positioning from constant-speed operation to a specified absolute position within the rota- tional coordinates without stopping.
  • Page 451 13.3 Program Table Operation 13.3.8 Program Table Operation Examples • Operation Pattern and Related Signal Timing Step 0 Step 1 Speed Operation Pattern Time Mode 0 (Program Table Operation) /MODE 0/1 4 ms min. /START-STOP* 2 ms min. /SEL0 to /SEL7* /INPOSITION /POUT0 to /POUT7...
  • Page 452 13.3 Program Table Operation 13.3.8 Program Table Operation Examples Resetting Program Table Operation In this example, program operation is reset during repeated operation of program steps 0 and 1 and then the program step is specified and operation is restarted from the canceled state. Note: “Canceled”...

  • Page 453: Event Examples

    13.3 Program Table Operation 13.3.9 EVENT Examples 13.3.9 EVENT Examples This section provides examples of the settings and operations for the EVENT end conditions for program steps. • I • IT2000 Reference speed Motor speed Speed Speed INPOSITION INPOSITION t = 2000 ms •...

  • Page 454: Output Response Times After /Start-Stop Turns On

    13.3 Program Table Operation 13.3.10 Output Response Times after /START-STOP Turns ON 13.3.10 Output Response Times after /START-STOP Turns ON The response times for starting the Servomotor, the /INPOSITION signal, and the /POUT0 to / POUT7 signals when the /START-STOP signal is turned ON to start program table operation are shown below.

  • Page 455: Jog Speed Table Operation

    13.4 Jog Speed Table Operation 13.4.1 Input Signals Related to Jog Operation 13.4 Jog Speed Table Operation You can perform jog operation from the SigmaWin+, or you can use the /JOGP and /JOGN input signals to perform jog operation. Jog operation is performed at the specified jog speed. 13.4.1 Input Signals Related to Jog Operation The following signals are used for jog operation: /MODE 0/1, /JOGP, /JOGN, and /JOG0 to / JOG3.

  • Page 456: Jog Speed Table And Speed Selection Signals

    13.4 Jog Speed Table Operation 13.4.3 Jog Speed Table and Speed Selection Signals 13.4.3 Jog Speed Table and Speed Selection Signals You can register up to 16 jog speeds in the jog speed table. The /JOG0 to /JOG3 (Jog Speed Selection) signals are used to specify the jog speeds that are registered in the jog speed table.
  • Page 457 13.4 Jog Speed Table Operation 13.4.4 SigmaWin+ Procedures Editing the Jog Speed Table  Displaying the Jog Speed Table Editing Dialog Box Select Edit Jog Speed Table in the Menu Dialog Box of the SigmaWin+.  Details on the Jog Speed Table Editing Dialog Box ...
  • Page 458 13.4 Jog Speed Table Operation 13.4.4 SigmaWin+ Procedures Writing the Jog Speed Table You can write the edited jog speed table to SERVOPACK RAM to operate the SERVOPACK according to the program. 1. Make sure that the system is in SERVO OFF state when you write the jog speed table. 2.
  • Page 459 13.4 Jog Speed Table Operation 13.4.4 SigmaWin+ Procedures This concludes the writing procedure. Saving the Jog Speed Table  Saving the Jog Speed Table to Flash Memory in the SERVOPACK To prevent the jog speed table from being deleted when the power supply to the SERVOPACK is turned OFF, you must save it to flash memory in the SERVOPACK.
  • Page 460 13.4 Jog Speed Table Operation 13.4.4 SigmaWin+ Procedures Click the OK Button. This concludes the saving procedure.  Saving the Jog Speed Table to a Computer File You can save the jog speed table to a file on the computer. Use computer files to back up jog speed tables.

  • Page 461: Jog Speed Table Operation Example

    13.4 Jog Speed Table Operation 13.4.5 Jog Speed Table Operation Example You can use the Import Button to load the jog speed table saved in a file to the SERVO- Information PACK. This concludes the saving procedure. 13.4.5 Jog Speed Table Operation Example This example shows how to perform operation by using the /JOG0 to /JOG3 (Jog Speed Selection) signals to specify the jog speeds that are registered in the jog speed table.

  • Page 462: Timing Of Signal Changes

    13.4 Jog Speed Table Operation 13.4.6 Timing of Signal Changes 13.4.6 Timing of Signal Changes The timing of the /MODE 0/1 and /JOGP signals, the /MODE 0/1 and /JOGN signals, and the /HOME, /JOGP, and /JOGN signals is shown below. To start jog operation, turn OFF the /MODE 0/1 signal, wait for at least 4 ms, and then turn ON /JOGP or /JOGN signal.

  • Page 463: Zone Outputs

    13.5 ZONE Outputs 13.5.1 ZONE Table and ZONE Signals 13.5 ZONE Outputs You can use ZONE signals to output a ZONE number to indicate when the current value is within a registered zone. The ZONE signals (/Z0 to /Z4) are assigned to output signals /POUT0 to /POUT4 on CN11. 13.5.1 ZONE Table and ZONE Signals You can register the desired zones in the ZONE table.
  • Page 464 13.5 ZONE Outputs 13.5.1 ZONE Table and ZONE Signals Continued from previous page. ZONE Table ZONE Signals ZONE N* ZONE P* ZONE Number [Reference [Reference (ID) (/POUT4) (/POUT3) (/POUT2) (/POUT1) (/POUT0) Units] Units] ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn ±nnnnnnnn...

  • Page 465: Parameters Related To Zone Signals

    13.5 ZONE Outputs 13.5.2 Parameters Related to ZONE Signals 13.5.2 Parameters Related to ZONE Signals With the following parameter, the initial status* of the programmable output signals (/POUT0 to /POUT7) can be set to ZONE signals. The initial status is the status that exists after the control power supply is turned ON or after resetting the SERVOPACK.
  • Page 466 13.5 ZONE Outputs 13.5.3 SigmaWin+ Procedures Editing the ZONE Table  Displaying the Zone Table Editing. Select Zone Table Editing in the Menu Dialog Box of the SigmaWin+.  Details on the Zone Table Editing      ...
  • Page 467 13.5 ZONE Outputs 13.5.3 SigmaWin+ Procedures Writing the ZONE Table You can write the edited ZONE table to SERVOPACK RAM to operate the SERVOPACK according to the program. 1. Make sure that the system is in SERVO OFF state when you write the ZONE table. 2.
  • Page 468 13.5 ZONE Outputs 13.5.3 SigmaWin+ Procedures This concludes the writing procedure. 13-57...
  • Page 469 13.5 ZONE Outputs 13.5.3 SigmaWin+ Procedures Saving the ZONE Table  Saving the ZONE Table to Flash Memory in the SERVOPACK To prevent the ZONE table from being deleted when the power supply to the SERVOPACK is turned OFF, you must save it to flash memory in the SERVOPACK. The ZONE table that is saved in the flash memory is automatically loaded each time the power supply is turned ON.
  • Page 470 13.5 ZONE Outputs 13.5.3 SigmaWin+ Procedures  Saving the ZONE Table to a Computer File You can save the ZONE table to a file on the computer. Use computer files to back up ZONE tables. Click the Save Button. The Open Dialog Box will be displayed. Specify the save location and file name.
  • Page 471 13.5 ZONE Outputs 13.5.3 SigmaWin+ Procedures You can use the Import Button to load the program table saved in a file to the SERVO- Information PACK. This concludes the saving procedure. 13-60...

  • Page 472: Zone Output Application Example

    13.5 ZONE Outputs 13.5.4 ZONE Output Application Example 13.5.4 ZONE Output Application Example Using the ZONE Outputs as Zone Signals In this example, the motor is moved with program step operation and ZONE numbers are out- put when the current value enters a registered zone. You can use the ZONE numbers as zone signals for each zone, e.g., to trigger operations related to positioning.
  • Page 473 13.5 ZONE Outputs 13.5.4 ZONE Output Application Example The relationship between the operation pattern, ZONE signals, and /POUT signal is shown in the following figure. Speed Operation Step 0 Step 2 Step 1 Step 3 Step 4 Pattern Time /START-STOP /SEL0 /SEL1 /SEL2...
  • Page 474 13.5 ZONE Outputs 13.5.4 ZONE Output Application Example Using the ZONE Outputs as Passing Signals In this example, the ZONE numbers are output at passing signals as the motor passed through the registered zones. You can use the passing signals as required, e.g., to trigger operations related to positioning.
  • Page 475 13.5 ZONE Outputs 13.5.4 ZONE Output Application Example The relationship between the operation pattern and the ZONE numbers for this example is shown in the following figure. Speed Step 0 Step 0 Step 0 Operation Pattern Time Step 1 Step 1 Step 1 /START-STOP /SEL0 to /SEL7...

  • Page 476: Operation With Serial Command Communications

    Operation with Serial Command Communications This chapter provides information on using serial com- mands to operate the INDEXER Module. 14.1 Introduction to Serial Command Communications . . 14-3 14.2 Communications Specifications for Serial Command Communications . . 14-4 14.3 Settings ......14-5 14.3.1 Block Diagram .
  • Page 477 14.8 Serial Commands ....14-11 14.8.1 Basic Operation Commands ....14-11 14.8.2 Homing .

  • Page 478: Introduction To Serial Command Communications

    14.1 Introduction to Serial Command Communications 14.1 Introduction to Serial Command Communications You can use serial command communications to perform the following functions. • Homing • Positioning, jog operation, and registration with serial commands • Positioning with a program table •...

  • Page 479: Communications Specifications For Serial Command Communications

    14.2 Communications Specifications for Serial Command Communications 14.2 Communications Specifications for Serial Command Communications The communications specifications for serial command communications are given in the fol- lowing table. Item Specifications Full duplex (RS-422 or RS-485) or half duplex (RS-485) Interface (Set the appropriate wiring method with parameter PnB00.) Synchronization Start-stop synchronization (ASYNC)

  • Page 480: Settings

    14.3 Settings 14.3.1 Block Diagram 14.3 Settings This section explains the settings for the INDEXER Module’s serial commands. 14.3.1 Block Diagram The following block diagram shows the basic connections for multi-axis control. Host controller CN12 CN12 Up to 16 axes can be connected. Refer to the following section for information on wiring.

  • Page 481: Parameters Related To Serial Communications

    14.3 Settings 14.3.3 Parameters Related to Serial Communications 14.3.3 Parameters Related to Serial Communications The following table shows the parameters that set the communications protocol, bit rate, and “OK” response. Parameter Meaning When Enabled 0000h Full-duplex wiring is used for communications method. 0001h Full-duplex wiring is used for communications method.

  • Page 482: Command/Response Format

    14.4 Command/Response Format 14.4 Command/Response Format The following diagram shows the command/response format. Command (Host controller → INDEXER Module) Response (Host controller ← INDEXER Module) Axis no. Command character string Delimiter Axis no. Response character string Delimiter Example: Example: 1SVON [CR] [CR] [LF] 2SVON [CR] [CR] [LF]...

  • Page 483: Global Commands

    14.5 Global Commands 14.5 Global Commands Global commands are commands that are sent to all axes at the same time. Command (Host controller → INDEXER Module) Response (Host controller ← INDEXER Module) Command character string Delimiter “*” Example: *SVON [CR] *ST [CR] *PUN [CR] No response returned.

  • Page 484: Echoback Response Time

    14.6 Echoback Response Time 14.6 Echoback Response Time The following diagram shows the response time from the command transmission until the echoback. Stop bit Command High impedance High impedance Echoback Start bit PnB00 (Protocol) Settings Min. Max. 0001h: Bit rate × 2 Full-duplex wiring is used for communica- 100 μs + Bit rate ×...

  • Page 485: Response Data Details

    14.7 Response Data Details 14.7.1 Positive Responses 14.7 Response Data Details There are positive responses and negative responses. The positive response indicates normal operation and the negative response indicates an error. 14.7.1 Positive Responses There two kinds of positive responses, responses that return data (for commands such as PRM) and responses that do not return data (for commands such as SVON).

  • Page 486: Serial Commands

    14.8 Serial Commands 14.8.1 Basic Operation Commands 14.8 Serial Commands The axis number and delimiter are attached to actual serial commands, but are omitted here. Some data in responses (such as parameters, table numbers, and monitored data) is expressed numerically. The presence/absence of the sign and the number of digits are correct in the numerical data shown in these examples, but the sign and numerical value will vary in actual applications.

  • Page 487: Homing

    14.8 Serial Commands 14.8.2 Homing 14.8.2 Homing The following commands are used for homing. Positive Serial Command Function/Description Response Homing Starts homing. When homing has been stopped with the HOLD command, homing will be restarted (the hold will be cleared) when the ZRN command is executed again.
  • Page 488 14.8 Serial Commands 14.8.2 Homing Continued from previous page. Positive Serial Command Function/Description Response • When using an incremental encoder: Origin • When using an absolute encoder: Absolute Encoder Offset Setting Default PnB25 Setting Unit When Enabled Range Setting -99999999 to 1 reference After restart +99999999*...
  • Page 489 14.8 Serial Commands 14.8.2 Homing Continued from previous page. Positive Serial Command Function/Description Response Coordinates Setting Note: It can be dangerous to execute this command carelessly to switch the coor- dinates of the reference position. After executing this command, confirm that the reference position and the new coordinates are in agreement before start- ing operation.

  • Page 490: Positioning, Jog Operation, And Registration With Serial Commands

    14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands The following commands are used for positioning, jog operation, and registration with serial commands. Positive Serial Command Function/Description Response Target Position Specification (Absolute Position) Setting range: −99999999 ≤...
  • Page 491 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response Acceleration Specification Setting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 (reference units/min)/ reference Time ACCnnnnnnnn* V [ × 1000 reference units/min] Acceleration = −...
  • Page 492 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response Positioning Start (Absolute Position) Setting range: -99999999 ≤ nnnnnnnn ≤ +99999999 [1 reference unit] Specifies the absolute position nnnnnnnn as the target position and starts positioning at the same time.
  • Page 493 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response Registration Distance Specification Setting range: 0 ≤ nnnnnnnn ≤ 99999999 [1 reference unit] Specifies the registration distance that is used in the RS, RSnnnnnnnn, RSAnnnnnnnn, and RSInnnnnnnn commands.
  • Page 494 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response Positioning Start with Registration Starts positioning with the speed specified by the SPD command and the target position specified by the POS, POSA, or POSI command. If the /RGRT signal goes ON during positioning, that position is latched and the motor will move the specified relative distance from the latched position.
  • Page 495 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response Positioning Start with Registration (Relative Distance) Setting range: −99999999 ≤ nnnnnnnn ≤ +99999999 [1 reference unit] Specifies the relative distance nnnnnnnn as the target position and starts registration positioning at the same time.
  • Page 496 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response JOG Forward/Reverse with Registration Setting range: 1 ≤ nnnnnnnn ≤ 99999999 [1000 reference units/min] Starts JOG forward or JOG reverse operation at the speed specified in nnnnnnnn.
  • Page 497 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response Positioning Interruption Interrupts the current positioning. The remainder of the positioning is put on hold. When the HOLD command has interrupted a positioning initiated by an ST, STnnnnnnnn, STAnnnnnnnn, or STInnnnnnnn command, the position- ing can be restarted by executing the ST command.
  • Page 498 14.8 Serial Commands 14.8.3 Positioning, Jog Operation, and Registration with Serial Commands Continued from previous page. Positive Serial Command Function/Description Response When the HOLD command is executed after positioning is completed, a remaining distance of zero is put on hold. Speed SPDx POSIy...

  • Page 499: Positioning With A Program Table

    14.8 Serial Commands 14.8.4 Positioning with a Program Table Continued from previous page. Positive Serial Command Function/Description Response Positioning Stop Stops the current positioning. The remaining distance will be canceled. SPDx POSIy SKIP Remaining JOGPx SKIP Speed distance canceled SKIP POUT Specification Specifies the operation of programmable output signals /POUT0 to /POUT7.
  • Page 500 14.8 Serial Commands 14.8.4 Positioning with a Program Table Continued from previous page. Serial Command Function/Description Positive Response Program Table Initialization Resets all values in the program table to their default settings. PGMINIT Note: Do not turn OFF the control power supply while PGMINIT is being executed.
  • Page 501 14.8 Serial Commands 14.8.4 Positioning with a Program Table Continued from previous page. Serial Command Function/Description Positive Response Program Table RSPD Write Sets the RSPD value (registration speed). RSPDTsss = sss: Program step (PGMSTEP) nnnnnnnn* Settings: 1 ≤ nnnnnnnn ≤ +99999999 [1000 reference units/min] Program Table ACC Read ACCT123 = 12345678 [CR] [LF]...
  • Page 502 14.8 Serial Commands 14.8.4 Positioning with a Program Table Continued from previous page. Serial Command Function/Description Positive Response EVENTT123 = T12345 [SP] [SP] [SP] [SP] [CR] [LF] EVENTT123 = IT12345 [SP] [SP] [SP] [CR] [LF] Program Table EVENT Read EVENTT123 = NT12345 [SP] [SP] [SP] [CR] [LF] EVENTTsss Reads the EVENT value (pass condition).
  • Page 503 14.8 Serial Commands 14.8.4 Positioning with a Program Table Program Table Operation Commands The following table shows the Program Table Operation Commands Serial Command Function/Description Positive Response Program Table Operation Start Starts program table operation from pro- gram step sss. sss: Program step (PGMSTEP) STARTsss When program table operation has been...

  • Page 504: Editing A Jog Speed Table

    14.8 Serial Commands 14.8.5 Editing a Jog Speed Table 14.8.5 Editing a Jog Speed Table The following commands are used to edit a jog speed table. Serial Command Function/Description Positive Response JOG Speed Table Save Saves the JOG speed table in flash memory. Once JSPDSTORE is executed, the jog JSPDSTORE speed table will be retained after the control...

  • Page 505: Editing Parameters, Monitoring, And Utility Functions

    14.8 Serial Commands 14.8.7 Editing Parameters, Monitoring, and Utility Functions Continued from previous page. Serial Command Function/Description Positive Response ZONE Table ZONEP Write Sets the ZONEP value (positive side zone boundary position). ZONEPTzz = nnnnnnnn* zz: ZONE number (ZONE ID) Settings: −99999999 ≤...
  • Page 506 14.8 Serial Commands 14.8.7 Editing Parameters, Monitoring, and Utility Functions Continued from previous page. Serial Command Function/Description Positive Response Parameter Write Sets a parameter. ppp: Parameter number (Pn number) Parameters are stored in EEPROM, so the settings will be retained after the control power supply is turned OFF.
  • Page 507 14.8 Serial Commands 14.8.7 Editing Parameters, Monitoring, and Utility Functions Monitor and Utility Function Commands The following table shows the Monitor and Utility Function Commands. Serial Command Function/Description Positive Response One of the following responses is returned depending on the status. •...
  • Page 508 14.8 Serial Commands 14.8.7 Editing Parameters, Monitoring, and Utility Functions Continued from previous page. Serial Command Function/Description Positive Response INDEXER Module Input Signal Specification The actual signal is ignored and the input signal is forcibly set to the specified status. This command is used to test operation when the actual signal line is not connected.
  • Page 509 14.8 Serial Commands 14.8.7 Editing Parameters, Monitoring, and Utility Functions Continued from previous page. Serial Command Function/Description Positive Response OUT2 = 101010101 [CR] [LF] 0: Photocoupler OFF 1: Photocoupler ON Bit 0: /INPOSITION Bit 1: /POUT0 OUT2 INDEXER Module Output Signal Monitor Bit 2: /POUT1 Bit 3: /POUT2 Bit 4: /POUT3...
  • Page 510 14.8 Serial Commands 14.8.7 Editing Parameters, Monitoring, and Utility Functions Continued from previous page. Serial Command Function/Description Positive Response STS = 1010101 [CR] [LF] Bit 0: ON (1) when the /INPOSITION (positioning completed) signal is active. Bit 1: ON (1) when the NEAR (near position) signal is active.
  • Page 511 14.8 Serial Commands 14.8.7 Editing Parameters, Monitoring, and Utility Functions Continued from previous page. Serial Command Function/Description Positive Response Motor Model Code Display 0 1 1 1 Voltage Servomotor model 00 = 100 VAC 11 = SGMMJ 01 = 200 VAC 32 to 39 = SGMCS 02 = 400 VAC 40 = linear motor...
  • Page 512 Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 15.1 Inspections and Part Replacement ..15-2 15.1.1 Inspections ......15-2 15.1.2 Guidelines for Part Replacement .

  • Page 513: 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 default settings before they are returned to you. Always keep a record of the parameter set- tings.

  • Page 514: Replacing The Battery

    15.1 Inspections and Part Replacement 15.1.3 Replacing the Battery 15.1.3 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 515 15.1 Inspections and Part Replacement 15.1.3 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 516: Alarm Displays

    15.2 Alarm Displays 15.2.1 List of Alarms 15.2 Alarm Displays If an error occurs in the SERVOPACK, the status is displayed as described below.  Status Display The alarm number will be displayed. SERVOPACK Panel Display Refer to the following section for details. 1.5.1 Panel Display on page 1-10 Green indicator: Remains unlit Red indicator: Remains lit...

  • Page 517: List Of Alarms

    15.2 Alarm Displays 15.2.1 List of Alarms List of Alarms Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method Parameter Checksum There is an error in the parameter data in A.020 Gr.1 Error...
  • Page 518 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method A.400 Overvoltage The main circuit DC voltage is too high. Gr.1 A.410 Undervoltage...
  • Page 519 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method The internal temperature of motor is too A.861 Motor Overheated Gr.1 high.
  • Page 520 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method Polarity Detection A.C50 The polarity detection failed. Gr.1 Failure Overtravel Detected The overtravel signal was detected during...
  • Page 521 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method There was too much position deviation Motor-Load Position A.d10 between the motor and load during fully- Gr.2...
  • Page 522 15.2 Alarm Displays 15.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Output Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- /ALO1 /ALO2 /ALO3 ping ble? Method The voltage was low for more than one Power Supply Line A.F10 second for phase R, S, or T when the...

  • Page 523: Troubleshooting Alarms

    15.2.2 Troubleshooting Alarms 15.2.2 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...
  • Page 524 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be A failure occurred in (An internal pro- – faulty. Replace the SER- – the SERVOPACK. gram error VOPACK.
  • Page 525 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jog operation went below the setting Check to see if the Decrease the setting of range when the elec- the electronic gear ratio detection conditions page 5-42...
  • Page 526 15.2 Alarm Displays 15.2.2 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 527 15.2 Alarm Displays 15.2.2 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 528 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A heavy load was Check to see if the Reduce the load applied applied while the Ser- operating conditions to the Servomotor. Or, vomotor was stopped –...
  • Page 529 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Pn600 (Regenerative Resistor Capacity) is not set to 0 and an Connect an External External Regenerative Check to see if an Regenerative Resistor, or Resistor is not con- External Regenerative...
  • Page 530 15.2 Alarm Displays 15.2.2 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 531 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name If you are using the regen- The regenerative erative resistor built into resistor was discon- Measure the resistance the SERVOPACK, replace nected when the of the regenerative the SERVOPACK.
  • Page 532 15.2 Alarm Displays 15.2.2 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 533 15.2 Alarm Displays 15.2.2 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 534 15.2 Alarm Displays 15.2.2 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 4-26 contact in the motor correctly wired.
  • Page 535 15.2 Alarm Displays 15.2.2 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 3-8 perature is too high.
  • Page 536 15.2 Alarm Displays 15.2.2 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 537 15.2 Alarm Displays 15.2.2 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 538 15.2 Alarm Displays 15.2.2 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 around the Servomotor.
  • Page 539 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Lower the surrounding Check the surrounding temperature by improving The surrounding tem- temperature using a the installation conditions – perature is too high. thermostat.
  • Page 540 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.8A5: An overspeed error Check the maximum Keep the external was detected in the speed of the external encoder below its maxi- –...
  • Page 541 15.2 Alarm Displays 15.2.2 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.bF7: A failure occurred in ON again. If an alarm still – –...
  • Page 542 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The SERVOPACK A.C22: phase information is Perform polarity detec- Phase Informa- different from the lin- – page 5-26 tion. tion Disagree- ear encoder phase ment information.
  • Page 543 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel detection at a position Overtravel was detected during page 4-36 position.
  • Page 544 15.2 Alarm Displays 15.2.2 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 4-26 the encoder connector.
  • Page 545 15.2 Alarm Displays 15.2.2 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 546 15.2 Alarm Displays 15.2.2 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 4-26 encoder.
  • Page 547 15.2 Alarm Displays 15.2.2 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 4-28 is not wired correctly external encoder.
  • Page 548 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Make sure that there are The Servomotor U, V, Check the wiring of the no faulty contacts in the and W wiring is not Servomotor’s Main Cir- –...
  • Page 549 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Install the external encoder in the opposite The motor direction Check the motor direc- direction, or change the and external encoder tion and the external setting of Pn002 = page 10-5...
  • Page 550 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name An error occurred due to noise in the com- munications between Take measures against – – the SERVOPACK and noise. the command option module.
  • Page 551 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A command option Replace the command module fault – – A.E73: option module. occurred. Unsupported Command Option A unsupported com- Connect a compatible Module mand option module –...
  • Page 552 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.EC8: Gate Drive Error 1 – – (An error Turn the power supply to occurred in the the SERVOPACK OFF and gate drive circuit.) A failure occurred in ON again.
  • Page 553 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name FL-1 – System Alarm FL-2 – System Alarm Turn the power supply to FL-3 the SERVOPACK OFF and – System Alarm A failure occurred in ON again.
  • Page 554 15.2 Alarm Displays 15.2.2 Troubleshooting Alarms • Linear Servomotor If either of the following conditions is detected, an alarm will occur.  1/3 Rated motor speed [mm/s] Resolution of Serial Converter Unit Pn20E   Pn210 Linear encoder pitch [m] Pn385 [100 mm/s] Resolution of Serial Converter Unit Pn20E...

  • Page 555: Indexer Module Alarm Displays And Troubleshooting

    15.2 Alarm Displays 15.2.3 INDEXER Module Alarm Displays and Troubleshooting 15.2.3 INDEXER Module Alarm Displays and Troubleshooting The INDEXER Module alarm list and the corresponding corrective actions are shown below. Serial Servo- motor Command Alarm Alarm Alarm Name Meaning Corrective Action Negative Number Stop...
  • Page 556 15.2 Alarm Displays 15.2.3 INDEXER Module Alarm Displays and Troubleshooting Continued from previous page. Serial Servo- motor Command Alarm Alarm Alarm Name Meaning Corrective Action Negative Number Stop Reset Response Method The INDEXER Module failed in initialization Take steps to reduce of communications noise in the system A.E00...
  • Page 557 15.2 Alarm Displays 15.2.3 INDEXER Module Alarm Displays and Troubleshooting Continued from previous page. Serial Servo- motor Command Alarm Alarm Alarm Name Meaning Corrective Action Negative Number Stop Reset Response Method • Change the firmware Program Out-of- range Alarm A value set in the pro- version.
  • Page 558 15.2 Alarm Displays 15.2.3 INDEXER Module Alarm Displays and Troubleshooting Continued from previous page. Serial Servo- motor Command Alarm Alarm Alarm Name Meaning Corrective Action Negative Number Stop Reset Response Method Either increase the reg- istration distance or reduce the decelera- The registration dis- tion distance (increase tance was shorter...

  • Page 559: Resetting Alarms

    15.2 Alarm Displays 15.2.4 Resetting Alarms 15.2.4 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 560: Clearing The Alarm History

    15.2 Alarm Displays 15.2.6 Clearing the Alarm History Operating Procedure Use the following procedure to display the alarm history. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Display Alarm in the Menu Dialog Box. The Alarm Display Dialog Box will be displayed.

  • Page 561: Resetting Alarms Detected In Option Modules

    15.2 Alarm Displays 15.2.7 Resetting Alarms Detected in Option Modules Select Display Alarm in the Menu Dialog Box. The Alarm Display Dialog Box will be displayed. Click the Alarm History Tab. Click the Clear Button. The alarm history will be cleared. This concludes the procedure to reset the alarm history.
  • Page 562 15.2 Alarm Displays 15.2.7 Resetting Alarms Detected in Option Modules Operating Procedure Use the following procedure to reset alarms detected in Option Modules. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Reset Option Module Configuration Error in the Menu Dialog Box. The Reset Option Module Configuration Error Dialog Box will be displayed.

  • Page 563: Resetting Motor Type Alarms

    15.2 Alarm Displays 15.2.8 Resetting Motor Type Alarms 15.2.8 Resetting Motor Type Alarms The SERVOPACK automatically determines the type of Servomotor that is connected to it. If the type of Servomotor that is connected is changed, an A.070 alarm (Motor Type Change Detected) will occur the next time the SERVOPACK is started.

  • Page 564: Warning Displays

    15.3 Warning Displays 15.3.1 List of Warnings 15.3 Warning Displays Warnings are displayed to warn you before an alarm occurs. If a warning occurs in the SERVO- PACK, the status is displayed as described below.  Status Display The alarm number will be displayed. SERVOPACK Panel Display Refer to the following section for details.

  • Page 565: List Of Warnings

    15.3 Warning Displays 15.3.1 List of Warnings Continued from previous page. Warning Code Output Warning Warning Name Meaning Number /ALO1 /ALO2 /ALO3 Internal Temperature Warning 1 (Control The surrounding temperature of the control PCB is A.912 abnormal. Board Temperature Error) Internal Temperature Warning 2 (Power The surrounding temperature of the power PCB is...

  • Page 566: Troubleshooting Warnings

    15.3.2 Troubleshooting Warnings 15.3.2 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 Confirmation...
  • Page 567 15.3 Warning Displays 15.3.2 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- –...
  • Page 568 15.3 Warning Displays 15.3.2 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 3-7 the SERVOPACK installa- high.
  • Page 569 15.3 Warning Displays 15.3.2 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 570 15.3 Warning Displays 15.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Lower the surrounding tem- The surrounding Check the surrounding perature by improving the temperature is too temperature using a installation conditions of the –...
  • Page 571 • Implement countermea- sures against noise. 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. Use the SigmaWin+ to...

  • Page 572: Indexer Module Error Displays And Troubleshooting

    15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting 15.3.3 INDEXER Module Error Displays and Troubleshooting Negative responses (error responses) to input signals, serial commands, or operations from the Digital Operator are known as errors. The servo will not be turned OFF when an error occurs. ...
  • Page 573 15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting Continued from previous page. Serial Command Alarm Error Name Meaning Corrective Action Negative Number Response While writing data to the flash memory, a failure occurred during one of the following operation.
  • Page 574 15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting Continued from previous page. Serial Command Alarm Error Name Meaning Corrective Action Negative Number Response • Check the serial communica- tions protocol (PnB00) and bit rate (PnB01) A stop bit detection error occurred with the settings.
  • Page 575 15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting Continued from previous page. Serial Command Alarm Error Name Meaning Corrective Action Negative Number Response • Check the tar- get position specification. • Check the for- ward software limit in PnB21. •...
  • Page 576 15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting Continued from previous page. Serial Command Alarm Error Name Meaning Corrective Action Negative Number Response Specify a target position with a Even though the target position was not command such specified even once, there was a request by Target Position as the POS com-...
  • Page 577 15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting Continued from previous page. Serial Command Alarm Error Name Meaning Corrective Action Negative Number Response Send the move reference request only after turning the servo ON by turning ON the /S-ON signal, setting PnB0E = 0002h so that the...
  • Page 578 15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting Continued from previous page. Serial Command Alarm Error Name Meaning Corrective Action Negative Number Response The specified setting was incorrect in a Data Out-of- Check the set- E58E A.A9F parameter or program table write com- ting.
  • Page 579 15.3 Warning Displays 15.3.3 INDEXER Module Error Displays and Troubleshooting Continued from previous page. Serial Command Alarm Error Name Meaning Corrective Action Negative Number Response There was a request that was incompatible with the connected encoder. Examples: • An Absolute Encoder Reset (ABSPGRES command) was requested when an incre- mental encoder is connected.

  • Page 580: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor 15.4 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. Problem Possible Cause Confirmation...
  • Page 581 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn ON the /HWBB1 and /HWBB2 input sig- nals. If you are not The safety input signals Check the /HWBB1 and using the safety func- (/HWBB1 or /HWBB2) were page 9-6...
  • Page 582 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power supply to the servo A failure occurred in the SER- – system. – VOPACK. Replace the SERVO- PACK.
  • Page 583 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Tighten the mounting Check to see if there are –...
  • Page 584 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Rotary Servomotors: The Encoder Cable length must be 50 m max. • Linear Servomotors: Turn OFF the power sup- Noise interference occurred Make sure that the ply to the servo system.
  • Page 585 15.4 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 586 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check the Encoder Cable to see if it satisfies speci- Noise interference occurred fications.
  • Page 587 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Absolute Turn OFF the power supply to the servo Encoder A failure occurred in the – system. – Position encoder.
  • Page 588 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check the Encoder Cable to see if it satisfies speci- Noise interference occurred Use cables that satisfy fications.
  • Page 589 15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check to see if vibration from the machine occurred. Reduce machine vibra- The encoder was subjected Check the Servomotor...

  • Page 590: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. 16.1 Parameter Configurations ... . . 16-2 16.2 List of Parameters ....16-3 16.2.1 Interpreting the Parameter Lists .

  • Page 591: Parameter Configurations

    16.1 Parameter Configurations 16.1 Parameter Configurations Parameters are comprised of the types shown in the following table. Type Parameter No. Parameter No. Function Selection Pn000 to Pn081 Select basic and application functions such as the type of Parameters PnB1F control mode or the stop method when an alarm occurs. Servo Gain and Other Set numerical values such as speed and position loop Pn100 to Pn170...

  • Page 592: List Of Parameters

    16.2 List of Parameters 16.2.1 Interpreting the Parameter Lists 16.2 List of Parameters 16.2.1 Interpreting the Parameter Lists The types of Servomotors 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 593 16.2 List of Parameters 16.2.2 List of Parameters 16.2.2 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 •...
  • Page 594 16.2 List of Parameters 16.2.2 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 0000h to After – – 0000h Setup Selections 1 1142h restart Motor Stopping Method for Servo OFF and Group 1 Alarms Reference...
  • Page 595 16.2 List of Parameters 16.2.2 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 0000h to Immedi- – 0002h Setup Selections 6 105Fh ately 9-10 Analog Monitor 1 Signal Selection...
  • Page 596 16.2 List of Parameters 16.2.2 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 0000h to Immedi- – 0000h Setup Selections 7 105Fh ately 9-10 Analog Monitor 2 Signal Selection...
  • Page 597 16.2 List of Parameters 16.2.2 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 0000h to After – – 4000h Rotary Setup Selections 8 7121h restart Low Battery Voltage Alarm/Warning Selection...
  • Page 598 16.2 List of Parameters 16.2.2 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 0000h to After – – 0001h Setup Selections A 1044h restart Motor Stopping Method for Group 2 Alarms Reference...
  • Page 599 16.2 List of Parameters 16.2.2 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 0000h to After – – 0000h Setup Selections C 0131h restart 7-22...
  • Page 600 16.2 List of Parameters 16.2.2 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 (Do – – – – – Pn022 0000h not change.) Σ-V Compatible Func- 0000h to After...
  • Page 601 16.2 List of Parameters 16.2.2 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 602 16.2 List of Parameters 16.2.2 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 8-64...
  • Page 603 16.2 List of Parameters 16.2.2 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- Pn143 trol Bias in the Forward 0 to 10,000 0.1% 1000 Tuning...
  • Page 604 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Anti-Resonance Damp- Immedi- Pn163 0 to 300 Tuning ing Gain ately 8-49 Anti-Resonance Filter -1,000 to...
  • Page 605 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Fully-closed Control 0000h to After – 0000h Rotary Setup Selections 1003h restart 10-10 ...
  • Page 606 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Moment of Inertia Cal- Immedi- Pn324 0 to 20,000 Setup culation Starting Level ately 8-30 Immedi-...
  • Page 607 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence First Stage Second page Immedi- Pn412 Torque Reference Filter 0 to 65,535 0.01 ms Tuning ately...
  • Page 608 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Torque Limit at Main Cir- Immedi- Pn424 0 to 100 Setup cuit Voltage Drop ately 6-13...
  • Page 609 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Polarity Detection Refer- Immedi- – Pn486 ence Acceleration/ 0 to 100 1 ms Linear Tuning ately...
  • Page 610 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Deviation Over- 1 refer- page 1 to Immedi- Pn526 flow Alarm Level at ence 5242880 Setup...
  • Page 611 6-41 n.  X Overheat Protection Selection Disable overheat protection. Use overheat protection in the Yaskawa Linear Servomotor. Monitor a negative voltage input from a sensor attached to the machine and use overheat protection. Pn61A Monitor a positive voltage input from a sensor attached to the machine and use overheat protection.
  • Page 612 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Serial Communication 0000h to After – 0001h Setup Protocol 0009h restart 14-6 0000h Full-duplex wiring is used for communications method.
  • Page 613 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000h to After – /PGMRES; /JOGP 0000h Setup 0003h restart • When /MODE signal is ON (closed) (mode 0): Resets and cancels program table opera- tion by switching the /PGMRES signal from OFF (open) to ON (closed).
  • Page 614 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000h to After – /SEL3; /JOG2 0000h Setup 0003h restart • When /MODE signal is ON (closed) (mode 0): The /SEL3 signal is active when ON (closed).
  • Page 615 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000h to After – /S-ON 0000h Setup 0003h restart The system changes to the SERVO ON state (power is supplied) and operation is enabled 0000h when the /S-ON signal turns ON (closes).
  • Page 616 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000h or After – /POUT1 0000h Setup 0001h restart 6-10 0000h The /POUT1 signal turns ON (opens) when programmable output 1 is active.
  • Page 617 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000h or After – /S-RDY 0000h Setup 0001h restart 0000h When the SERVOPACK is ready, the /S-RDY signal turns ON (closes). PnB1E 0001h When the SERVOPACK is ready, the /S-RDY signal turns OFF (opens).
  • Page 618 16.2 List of Parameters 16.2.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000h to After 13-5, – Homing Method 0000h Setup 0003h restart page 14-12 0000h...
  • Page 619 Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Prod- uct Manual (Manual No.: SIEP S800001 73) *13. The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function. *14. Enabled only when Pn61A is set to n.2 or n.3.
  • Page 620 16.2 List of Parameters 16.2.2 List of Parameters *15. If you set PnB54 to 1 (Enable Expansion Mode), the following setting ranges will change. Parameter No. Name Setting Range • Linear coordinates (PnB20 = 0000h): Forward Software Limit (P- PnB21 -536,870,911 to +536,870,911 •...

  • Page 621: Parameter Recording Table

    16.3 Parameter Recording Table 16.3 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter Default When Name Setting Enabled Basic Function Selections Pn000 0000h After restart Application Function Selec- Pn001 0000h After restart tions 1 Application Function Selec- Pn002 After restart...
  • Page 622 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Mode Switching Level for Pn10C Immediately Torque Reference Mode Switching Level for Pn10D Immediately Speed Reference Mode Switching Level for Pn10E Immediately Acceleration Mode Switching Level for Pn10F Immediately Position Deviation...
  • Page 623 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn14F 0011h Control-Related Selections After restart Anti-Resonance Control- Pn160 0010h Immediately Related Selections Pn161 1000 Anti-Resonance Frequency Immediately Anti-Resonance Gain Cor- Pn162 Immediately rection Anti-Resonance Damping Pn163 Immediately Gain...
  • Page 624 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Reserved parameter (Do Pn30C – not change.) Vibration Detection Selec- Pn310 0000h Immediately tions Vibration Detection Sensi- Pn311 Immediately tivity Pn312 Vibration Detection Level Immediately Pn316 10000 Maximum Motor Speed After restart...
  • Page 625 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Fourth Stage Notch Filter Pn41A 5000 Immediately Frequency Fourth Stage Notch Filter Q Pn41B Immediately Value Fourth Stage Notch Filter Pn41C Immediately Depth Fifth Stage Notch Filter Fre- Pn41D 5000 Immediately...
  • Page 626 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn502 Rotation Detection Level Immediately Pn503 Reserved parameter – Brake Reference-Servo Pn506 Immediately OFF Delay Time Brake Reference Output Pn507 Immediately Speed Level Servo OFF-Brake Com- Pn508 Immediately mand Waiting Time...
  • Page 627 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Program Jog Operation Pn536 Immediately Number of Movements Analog Monitor 1 Offset Pn550 Immediately Voltage Analog Monitor 2 Offset Pn551 Immediately Voltage Analog Monitor 1 Magnifi- Pn552 Immediately cation...
  • Page 628 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled PnB0E 0000h /S-ON After restart PnB0F 0000h P-OT After restart PnB10 0000h N-OT After restart PnB11 0000h /DEC After restart PnB12 0000h /RGRT After restart PnB13 0000h /INPOSITION After restart...
  • Page 629 16.3 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled PnB4F 0000h ZONE Signal Setting After restart PnB50 Backlash Compensation Immediately PnB51 /ALO Output Selection After restart PnB52 /ALM-RST After restart Input Signal Monitor IN1 PnB53 0050h After restart Polarity Selection...

  • Page 630: Appendices

    Appendices The appendix provides information on compatibility between SERVOPACK functions and SigmaWin+ functions, Digital Operator procedures, an alphabetized list of serial commands, and a table of corresponding parameter num- bers. 17.1 Corresponding SERVOPACK and SigmaWin+ Function Names . . 17-2 17.1.1 Corresponding SERVOPACK Utility Function Names .

  • Page 631: Corresponding Servopack And Sigmawin+ Function Names

    17.1 Corresponding SERVOPACK and SigmaWin+ Function Names 17.1.1 Corresponding SERVOPACK Utility Function Names 17.1 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+. 17.1.1 Corresponding SERVOPACK Utility Function Names SigmaWin+ SERVOPACK...
  • Page 632 17.1 Corresponding SERVOPACK and SigmaWin+ Function Names 17.1.1 Corresponding SERVOPACK Utility Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Function Name Fn No. Function Name Serial Command Dialog Box MTTYPE, MTSIZE, Display Servomotor Fn011 Model PGTYPE, and SVYSPEC SVVER, PGVER, and Display Software Ver- Fn012...

  • Page 633: Corresponding Servopack Monitor Display Function Names

    17.1 Corresponding SERVOPACK and SigmaWin+ Function Names 17.1.2 Corresponding SERVOPACK Monitor Display Function Names 17.1.2 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Serial Command Dialog Box Un000 Motor Speed [min Motor Speed [min –...
  • Page 634 17.1 Corresponding SERVOPACK and SigmaWin+ Function Names 17.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Serial Command Dialog Box Input Reference Pulse Input Reference Pulse Counter [ref- Un00C Counter [reference erence units]...
  • Page 635 17.1 Corresponding SERVOPACK and SigmaWin+ Function Names 17.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Serial Command Dialog Box Error Monitor Current issue position Current motor position Target position Target distance Registration target position...
  • Page 636 17.1 Corresponding SERVOPACK and SigmaWin+ Function Names 17.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Serial Command Dialog Box SERVOPACK Installa- Installation Environment Monitor − Un025 tion Environment Moni- SERVOPACK tor [%]...

  • Page 637: Operation Of Digital Operator

    17.2 Operation of Digital Operator 17.2.1 Overview 17.2 Operation of Digital Operator 17.2.1 Overview Functions List The table below shows whether functions of the digital operator can or cannot be used when an INDEXER Module is installed. This chapter describes the operating procedures for the functions indicated with the thick-bor- dered frame in the table below.
  • Page 638 17.2 Operation of Digital Operator 17.2.1 Overview Changing the Function Connect the digital operator to the SERVOPACK, and turn ON the power to the SERVOPACK. The initial display appears, and then the Parameter/Monitoring Function screen appears. Press key to change the function. Power ON [Initial Display] Displayed for two seconds...

  • Page 639: Operation Of Utility Functions

    17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions 17.2.2 Operation of Utility Functions Utility Functions The following table shows whether utility functions can be set or not with the digital operator. Possi- Fn No. Function ble/Not Remarks and Reference Possible This utility function cannot be used.
  • Page 640 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Continued from previous page. Possi- Fn No. Function ble/Not Remarks and Reference Possible JOG Speed Table Edit/Save (FnB05) on  FnB05 JOG speed table edit/save page 17-19 Program Table Initialization (FnB06) on ...
  • Page 641 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions  Editing Program Table The operating procedure when setting the acceleration (ACC) in program step 5 is explained here. Step Display after Operation Keys Operation Press the key to open the Utility Function Mode main menu, and move the cursor with the keys to select FnB03.
  • Page 642 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions  Method for Moving the Cursor The values within the frames in the figure below are the articles and steps of the program table displayed at the digital operator. PGMSTEP RDST RSPD POUT...
  • Page 643 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions  Details on How to Set Table Settings Details on the setting method for step 5 in Editing Program Table on page 17-12 are shown below. If the number of display digits is exceeded when Expansion Mode is enabled (PnB54 = 1), the table name will be abbreviated.
  • Page 644 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions  ACC: Acceleration Move cursor Change acceleration If the value becomes less than 1, “:” is displayed. Note: Refer to the following section for details on the acceleration rate. 13.3.5 Settings in the Program Table on page 13-13 ...
  • Page 645 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions  LOOP: Number of Executions Move cursor Change number of executions Note: Refer to the following section for details on the number of executions. 13.3.5 Settings in the Program Table on page 13-13 ...
  • Page 646 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions ZONE Table Edit/Save (FnB04) This function edits and saves ZONE tables. Saving a ZONE table to flash memory after editing it ensures that the data will be retained even after the control power has been turned off. ...
  • Page 647 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions  Method for Moving the Cursor The values within the frames in the figure below are the ZONE table numbers displayed at the digital operator. ZONE Number ZONE P ZONE N ZONE Number ZONE P ZONE N...
  • Page 648 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Continued from previous page. Step Display after Operation Keys Operation When saving to flash memory has been completed – normally, the display returns to the ZONE table editing screen. Press the key to return to the Utility Function Mode main menu.
  • Page 649 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Continued from previous page. Step Display after Operation Keys Operation On pressing the key, the setting is entered and the cursor returns to the JOG speed table number side. Repeat steps 3 to 6 to set the JOG speed table. On completing the setting of all the JOG speed ...
  • Page 650 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Program Table Initialization (FnB06) This function initializes the program tables and restores the settings on shipment from the fac- tory.  Preparation The following conditions must be met to initialize the program table. •...
  • Page 651 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions ZONE Table Initialization (FnB07) This function initializes ZONE tables and restores the settings on shipment from the factory.  Preparation The following conditions must be met to initialize ZONE tables. •...
  • Page 652 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions JOG Speed Table Initialization (FnB08) This function initializes JOG speed tables and restores the default settings.  Preparation The following conditions must be met to initialize JOG speed tables. • The write-prohibited setting (Fn010) must not be set to write-protect parameters. •...
  • Page 653 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Absolute Encoder Origin Setting (FnB09) This utility function replaces the current position with a specified position. Also updates PnB25 with the absolute position offset value to achieve the position specified by this utility function. DANGER ...
  • Page 654 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions INDEXER Status Monitor (FnB0A) This function shows the internal status of the INDEXER Module, such as the current position and input/output signals.  Preparation None  Operating Procedure Step Display after Operation Keys Operation Press the...
  • Page 655 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Continued from previous page. Display Serial Display Content Display Example Units Code Command • ERR = NONE: No error Most Recent (Closest) – • ERR = ExxE: Error code Error IN2 = 1110 9 8 7 6 5 4 3 2 1 digit Upper level: Photocoupler ON...
  • Page 656 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Continued from previous page. Display Serial Display Content Display Example Units Code Command STS = 7 6 5 4 3 2 1 digit Upper level: ON Lower level: OFF Display Digit Status Flag Number...
  • Page 657 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions INDEXER Parameter Setting Initialization (FnB0B) This function restores the default settings and initializes the parameters of both the SERVO- PACK and the INDEXER Module. • Always carry out initialization of the parameter settings in the servo OFF status. It cannot be done in the servo ON status.
  • Page 658 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions INDEXER Alarm Reset (FnB0C) This function resets alarms at both the SERVOPACK and INDEXER Module, and clears the alarm history at the INDEXER Module. • INDEXER Module alarms are not reset by the “ALARM RESET” button of the digital operator. To reset INDEXER Module alarms, execute alarm resetting with FnB0C.
  • Page 659 17.2 Operation of Digital Operator 17.2.2 Operation of Utility Functions Continued from previous page. Step Display after Operation Keys Operation Press the key to return to the Utility Function Mode main menu. If the key is pressed in an operation prohibited state, “Error.” is displayed for approximately 2 seconds and then the ...

  • Page 660: Alphabetical List Of Serial Commands

    17.3 Alphabetical List of Serial Commands 17.3 Alphabetical List of Serial Commands The following table lists the usable serial commands in alphabetical order. Serial Command Function Reference ABSPGRES Absolute Encoder Reset page 14-30 ACCnnnnnnnn Acceleration Specification page 14-15 ACCTsss Program Table ACC Read page 14-24 ACCTsss= Program Table ACC Write...
  • Page 661 17.3 Alphabetical List of Serial Commands Continued from previous page. Serial Command Function Reference PGMRES Program Table Operation Reset page 14-28 PGMSTEP Program Step (PGMSTEP) Monitor page 14-30 PGMSTORE Program Table Save page 14-24 PGTYPE Encoder Model Code Display page 14-30 PGVER Encoder Firmware Version Display page 14-30...
  • Page 662 17.3 Alphabetical List of Serial Commands Continued from previous page. Serial Command Function Reference TRMppp= Temporary Parameter Write page 14-30 TRMS Cumulative Load Ratio Monitor page 14-30 TYPE INDEXER Module Model Code Display page 14-30 INDEXER Module Firmware Version Display page 14-30 YSPEC INDEXER Module Special Specification No.

  • Page 663: Corresponding Parameter Numbers

    17.4 Corresponding Parameter Numbers 17.4 Corresponding Parameter Numbers The following table shows the corresponding parameters between the SGDV-OCA03A INDEXER Module and the INDEXER Module for SGDH SERVOPACKs (JUSP-NS600). SGDV-OCA03A JUSP-NS600 Parameter Name Parameter No. Parameter No. Pn010 Axis Address Selection Rotary Switch (ADRS) (setting range: 1 to F) Serial Communication Protocol...
  • Page 664 17.4 Corresponding Parameter Numbers Continued from previous page. SGDV-OCA03A JUSP-NS600 Parameter Name Parameter No. Parameter No. PnB29 Acceleration rate Pn81F (PnB2A) PnB2B Deceleration rate Pn820 (PnB2C) PnB2D /INPOSITION Width Pn821 (PnB2E) PnB2F /NEAR Width Pn822 (PnB30) Homing Method PnB31 Pn823 Homing Direction PnB32 Pn824...
  • Page 665 Index Index alarms - - - - - - - - - - - - - - - - - - 14-11 , 17-29 alarm reset - - - - - - - - - - - - - - - - - - 15-5 alarm reset possibility - - - - - - - - - - - - - - - - - 15-49 clearing alarm history...
  • Page 666 Index - - - - - - - - - - - - - - - - - -14-6 - - - - - - - - - - - - - - - 5-53 communications protocol External Regenerative Resistor - - - - - - - - - - - - - -8-84 compatible adjustment functions - - - - - - - - - - - - - - - - - - - -4-48...
  • Page 667 Index - - - - - - - - - - - - - - - - - - - -14-14 motor current detection signal incremental encoder - - - - - - - - - - - - - - - - - - 6-36 automatic adjustment INDEXER - - - - - - - - - - - - - - - - - - - 6-38...
  • Page 668 Index , 10-7 - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15 - - - - - - - - - - - - - - - - - - - - - - - - - 13-13 - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-13 RDST PGM STEP...
  • Page 669 Index - - - - - - - - - - - - - - - - - - - - 5-16 Serial Converter Unit - - - - - - - - - - - - - - - - - - - - - 6-7 - - - - - - - - - - - - - - - - - - - - - 7-22 test without a motor Servo Alarm Output...
  • Page 670 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 64B <1> Revision number Published in Japan November 2015 Date of publication Rev. Date of Publication Section Revised Contents March 2017...
  • Page 671 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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