Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual Model: SGD7S-20A Basic Information on SERVOPACKs Selecting a SERVOPACK SERVOPACK Installation Wiring and Connecting SERVOPACKs Basic Functions That Require Setting before Operation Application Functions Trial Operation and Actual Operation Tuning Monitoring...
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 SERVOPACKs with MECHATROLINK-III Communications References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.
Page 4 Related Documents 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. y tem Component Machine Controller...
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 This manual 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...
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. • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
Page 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 manual number of the manual 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  European Directives Product Model EU Directive Harmonized Standards Machinery Directive EN ISO13849-1: 2015 2006/42/EC EN 55011 group 1, class A EN 61000-6-2 EMC Directive SERVOPACKs SGD7S EN 61000-6-4 2014/30/EU EN 61800-3(Category C2, Second envi- ronment) Low Voltage Directive EN 50178 2014/35/EU EN 61800-5-1 EN 55011 group 1, class A...
Page 28  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061 SILCL3 IEC 61508 PFH = 4.04×10 [1/h] Probability of Dangerous Failure per Hour IEC 62061 (4.04% of SIL3) Performance Level EN ISO 13849-1 PLe (Category 3) Mean Time to Dangerous Failure of Each Channel EN ISO 13849-1 MTTFd: High Average Diagnostic Coverage...
Page 29: Table Of Contents
Contents About this Manual..........iii Outline of Manual .
Page 30 Examples of Standard Connections between SERVOPACKs and Peripheral Devices . . 2-25 SERVOPACK Installation Installation Precautions ....... 3-2 Mounting Types and Orientation .
Page 31 Connecting MECHATROLINK Communications Cables..4-43 Connecting the Other Connectors ..... . 4-44 4.8.1 Serial Communications Connector (CN3) ......4-44 4.8.2 Computer Connector (CN7) .
Page 32 5.13 Motor Stopping Methods for Servo OFF and Alarms..5-37 5.13.1 Stopping Method for Servo OFF ....... . .5-38 5.13.2 Servomotor Stopping Method for Alarms .
Page 33 Software Limits........6-27 6.6.1 Setting to Enable/Disable Software Limits .
Page 34: Actual Operation
Trial Operation and Actual Operation Flow of Trial Operation ....... . 7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .
Page 35 Estimating the Moment of Inertia ..... . . 8-16 8.5.1 Outline........... . 8-16 8.5.2 Restrictions .
Page 36 8.12 Additional Adjustment Functions ..... . . 8-66 8.12.1 Gain Switching ..........8-66 8.12.2 Friction Compensation .
Page 37 10.3 Parameter Settings for Fully-Closed Loop Control ..10-5 10.3.1 Control Block Diagram for Fully-Closed Loop Control ....10-5 10.3.2 Setting the Motor Direction and the Machine Movement Direction .
Page 38 12.2 Alarm Displays ........12-5 12.2.1 List of Alarms .
Page 39 Basic Information on SERVOPACKs This chapter provides information required to select SERVOPACKs, such as SERVOPACK models and combi- nations with Servomotors. The Σ-7 Series ..... . . 1-2 Interpreting the Nameplate .
Page 40: The Σ-7 Series
1.1 The Σ-7 Series Σ -7 Series The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed and high-precision positioning. The SERVOPACK will make the most of machine performance in the shortest time possible, thus contributing to improving productivity. The Σ-7-series SERVOPACKs include Σ-7S SERVOPACKs for single-axis control and Σ-7W SERVOPACKs for two-axis control.
Page 41: Interpreting The Nameplate
1.2 Interpreting the Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. Degree of protection ERVOPACK model urrounding air temperature BTO information Order number erial number...
Page 42: Part Names
1.3 Part Names Part Names With Front Cover Open (on ide of Main circuit ERVOPACK) terminal Motor terminal...
Page 43 1.3 Part Names Name Description Reference  Front Cover – –  Input Voltage – –  Nameplate Indicates the SERVOPACK model and ratings. page 1-3  Model The model of the SERVOPACK. page 1-6  QR Code The QR code that is used by the MechatroCloud service. –...
Page 44: Model Designations
1.4 Model Designations 1.4.1 Interpreting SERVOPACK Model Numbers Model Designations 1.4.1 Interpreting SERVOPACK Model Numbers - R70 14th 5th+6th 11th+12th+1 th 1 t+2nd+ rd 8th+9th+10th Σ-7- erie digit digit digit digit digit digit digit Σ-7 ERVOPACK Hardware Option Maximum Applicable 1 t+2nd+ rd digit 4th digit 8th+9th+10th digit...
Page 45: Interpreting Servomotor Model Numbers
1.4 Model Designations 1.4.2 Interpreting Servomotor Model Numbers 1.4.2 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 46 1.4 Model Designations 1.4.2 Interpreting Servomotor Model Numbers Linear Servomotors 0 A 050 C P rd digit on erie digit digit Σ-7 erie erie 2nd digit Moving Coil/Magnetic Way ervomotor Code pecification 1 t digit ervomotor Type Moving Coil Code pecification Corele model...
Page 47: Combinations Of Servopacks And Servomotors
1.5 Combinations of SERVOPACKs and Servomotors 1.5.1 Combinations of Rotary Servomotors and SERVOPACKs Combinations of SERVOPACKs and Servomotors 1.5.1 Combinations of Rotary Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGMMV SGMMV-A1A 10 W R90A or R90F (Low Inertia, Ultra- SGMMV-A2A 20 W small Capacity),...
Page 48: Combinations Of Direct Drive Servomotors And Servopacks
1.5 Combinations of SERVOPACKs and Servomotors 1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs 1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Direct Drive Servomotor Model Maximum Torque [N·m] SGD7S- [N·m] SGM7E-02B SGM7E-05B 2R8A or 2R1F SGM7E-07B SGM7E-04C SGM7E...
Page 49: Combinations Of Linear Servomotors And Servopacks
1.5 Combinations of SERVOPACKs and Servomotors 1.5.3 Combinations of Linear 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 Coreless,...
Page 50: Combinations Of Linear Servomotors And Servopacks
1.5 Combinations of SERVOPACKs and Servomotors 1.5.3 Combinations of Linear Servomotors and SERVOPACKs Continued from previous page. Instantaneous SERVOPACK Model Rated Force Linear Servomotor Model Maximum Force SGD7S- SGLFW-20A090A SGLFW-20A120A 1R6A or 2R1F SGLFW-35A120A SGLFW-35A230A 3R8A SGLFW-50A200B 5R5A SGLFW-50A380B 1200 120A SGLFW-1ZA200B SGLFW-1ZA380B...
Page 51: Functions
1.6 Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the reference pages for details on the functions. • Functions Related to the Machine Function Reference Power Supply Type Settings for the Main Circuit page 5-13 and Control Circuit Automatic Detection of Connected Motor page 5-15 Motor Direction Setting...
Page 52 1.6 Functions • Functions Related to the Host Controller Function Reference Electronic Gear Settings page 5-42 I/O Signal Allocations page 6-4 Σ-V Compatible Function page 5-55 ALM (Servo Alarm) Signal page 6-8 /WARN (Warning) Signal page 6-9 /TGON (Rotation Detection) Signal page 6-9 /S-RDY (Servo Ready) Signal page 6-10...
Page 53 1.6 Functions • Functions for Inspection and Maintenance Function Reference Write Prohibition Setting for Parameters page 5-7 Initializing Parameter Settings page 5-10 Automatic Detection of Connected Motor page 5-15 Monitoring Product Information page 9-2 Monitoring Product Life page 9-2 Alarm History Display page 12-44 Alarm Tracing page 9-16...
Page 54: 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 SERVOPACK Overload Protection Characteristics .
Page 55: 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 Capac- 0.05 0.75 ity [kW]...
Page 56 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] Power Supply...
Page 57 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 [Arms] 11.0 16.9 17.0 28.0 Power Supply 270 VDC to 324 VDC, -15% to +10%...
Page 58: Servopack Overload Protection Characteristics
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.
Page 59: Specifications
2.1 Ratings and Specifications 2.1.3 Specifications 2.1.3 Specifications Item Specification Drive Method IGBT-based PWM control, sine wave current drive Serial encoder: 17 bits (absolute encoder) With Rotary 20 bits or 24 bits (incremental encoder/absolute Servomotor encoder) 22 bits (absolute encoder) Feedback •...
Page 60 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification 1:5000 (At the rated torque, the lower limit of the speed control range Speed Control Range must not cause the Servomotor to stop.) ±0.01% of rated speed max. (for a load fluctuation of 0% to 100%) 0% of rated speed max.
Page 61: Functions
2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification CHARGE, PWR, CN, L1, and L2 indicators, and one-digit seven-seg- Displays/Indicators ment display Communications Pro- MECHATROLINK-III tocol 03h to EFh (maximum number of slaves: 62) Station Address MECHA- Settings The rotary switches (S1 and S2) are used to set the station address.
Page 62: Block Diagrams
2.2 Block Diagrams 2.2.1 SGD7S-R70A, -R90A, and -1R6A Block Diagrams 2.2.1 SGD7S-R70A, -R90A, and -1R6A ervomotor B2 B Vari tor Main circuit − power upply Dynamic brake circuit Voltage Relay Temperature Gate drive Current Voltage Gate drive en or drive en or overcurrent protection en or...
Page 63: 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 ervomotor Vari tor Main circuit − power upply Dynamic brake circuit Relay Gate drive Current Voltage Voltage Temperature Gate drive drive overcurrent protection en or en or en or en or Vari tor...
Page 64: 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 ervomotor Vari tor Main circuit − power upply Overheat/ Dynamic overcurrent brake circuit protection Relay Temperature Current Voltage Voltage Gate drive Gate drive drive en or en or en or en or...
Page 65 2.2 Block Diagrams 2.2.4 SGD7S-120A • Optional Specifications: Single-Phase, 200-VAC Power Supply Input (SERVOPACK Model: SGD7S-120A20A008) ervomotor Vari tor Main circuit − power upply Overheat/overcurrent Dynamic protection brake circuit Relay Voltage Temperature Current Voltage Gate drive en or en or en or en or drive...
Page 66: Sgd7S-180A And -200A
2.2 Block Diagrams 2.2.5 SGD7S-180A and -200A 2.2.5 SGD7S-180A and -200A ervomotor Vari tor Main circuit − power upply Overheat/overcurrent Dynamic protection brake circuit Voltage Voltage Relay Temperature Current Gate drive en or en or en or en or drive Vari tor Control Analog...
Page 67: Sgd7S-330A
2.2 Block Diagrams 2.2.6 SGD7S-330A 2.2.6 SGD7S-330A Fan 1 Fan 2 ervomotor Vari tor Main circuit − power upply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyri tor en or drive Voltage Temperature Current Gate drive en or en or en or Vari tor Control Analog...
Page 68: 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 ervomotor Vari tor Main circuit − power upply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyri tor en or drive Voltage Temperature Current Gate drive en or en or en or Vari tor...
Page 69: 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 4 ervomotor Vari tor Main circuit − power upply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyri tor en or drive Voltage Temperature Current Gate drive en or en or en or...
Page 70: Sgd7S-2R8F
2.2 Block Diagrams 2.2.10 SGD7S-2R8F 2.2.10 SGD7S-2R8F ervomotor Vari tor Main − circuit power − upply Dynamic brake circuit Current Voltage Relay Voltage Gate Temperature Gate drive en or en or drive en or drive en or overcurrent protection Vari tor Control Analog monitor Analog...
Page 71: 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 72: Servopack External Dimensions
2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions 2.3.2 SERVOPACK External Dimensions Base-mounted SERVOPACKs • Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A 2×M4 Exterior 10 ±0.5 (mounting pitch) Ground terminal 2 × M4 Mounting Hole Diagram (75) Approx. ma : 0.8 kg Unit: mm •...
Page 73 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-120A 80 ±0.5 (mounting pitch) ×M4 Exterior 12.5 Ground terminal (75) 2 × M4 Mounting Hole Diagram Approx. ma : 2.2 kg Unit: mm • Three-phase, 200 VAC: SGD7S-180A and -200A; Single-phase, 200 VAC: SGD7S-120A20A008 ×M4 Exterior 75 ±0.5 (mounting pitch)
Page 74 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-470A and -550A 4×M6 Exterior Terminal 4×M5 Terminal Ground 142 ± 0.5 8×M5 (mounting pitch) terminal 2×M5 (75) Mounting Hole Diagram Approx. Ma : 8.2 kg Unit: mm • Three-phase, 200 VAC: SGD7S-590A and -780A 4×M6 Terminal Exterior...
Page 75 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 Ground (25) 24.5 terminal 2 × M4 (75) Mounting Hole Diagram Approx. ma : 1.0 kg Unit: mm •...
Page 76 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-180A and -200A 20.5 × Exterior 50±0.5 (mounting pitch) 24.5 (75) Ground terminal Mounting Hole Diagram 2 × M4 Approx. ma : 2.7 kg Unit: mm • Three-phase, 200 VAC: SGD7S-330A ×...
Page 77 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-590A and -780A × Exterior Cutout Terminal × Terminal ± × (75) (75) (mounting pitch) Ground 244 min terminal × Mounting Hole Diagram Approx. ma : 1 .8 kg Unit: mm 2-24...
Page 78: 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 79 Linear Encoder Cable Linear encoder Linear ervomotor 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. 2-26...
Page 80: Servopack Installation
SERVOPACK Installation This chapter provides information on installing SERVO- PACKs in the required locations. Installation Precautions ....3-2 Mounting Types and Orientation ..3-3 Mounting Hole Dimensions .
Page 81: Installation Precautions
3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.3 Specifications on page 2-6  Installation Near Sources of Heat Implement measures to prevent temperature increases caused by radiant or convection heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions.
Page 82: Mounting Types And Orientation
3.2 Mounting Types and Orientation Mounting Types and Orientation The SERVOPACKs come in the following mounting types: base-mounted, rack-mounted, and duct-ventilated types. Regardless of the mounting type, mount the SERVOPACK vertically, as shown in the following figures. Also, mount the SERVOPACK so that the front panel is facing toward the operator. Note: Prepare two to four mounting holes for the SERVOPACK and mount it securely in the mounting holes.
Page 83: Mounting Hole Dimensions
3.3 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 SERVOPACK. ...
Page 84 R90F, 2R1F 3R8A, 5R5A, − 150±0.5 58±0.5 7R6A, 2R8F SGD7S- − 120A 150±0.5 80±0.5 180A, 200A, − 170±0.5 90±0.5 120A008 330A 238.5±0.5 110 100±0.5 100±0.5 470A, 550A, A special attachment is required. Contact your Yaskawa representative for details. 590A, 780A...
Page 85: Mounting Interval
3.4 Mounting Interval 3.4.1 Installing One SERVOPACK in a Control Panel Mounting Interval 3.4.1 Installing One SERVOPACK in a Control Panel Provide the following spaces around the SERVOPACK. 40 mm min. 0 mm min. 0 mm min. 40 mm min.* For this dimension, ignore items protruding from the main body of the SERVOPACK.
Page 86: Monitoring The Installation Environment
3.5 Monitoring the Installation Environment Monitoring the Installation Environment You can use the SERVOPACK Installation Environment Monitor parameter to check the operat- ing conditions of the SERVOPACK in the installation environment. You can check the SERVOPACK installation environment monitor with either of the following methods.
Page 87: Derating Specifications
3.6 Derating Specifications Derating Specifications If you use the SERVOPACK at a surrounding air temperature of 55°C to 60°C or at an altitude of 1,000 m to 2,000 m, you must apply the derating rates given in the following graphs. •...
Page 88: Emc Installation Conditions
The EMC installation conditions that are given here are the conditions that were used to pass testing criteria at Yaskawa. The EMC level may change under other conditions, such as the actual installation structure and wiring conditions. These Yaskawa products are designed to be built into equipment.
Page 89 3.7 EMC Installation Conditions • Single-Phase, 200 VAC hield box Brake power upply ERVOPACK Brake U, V, and W Power upply: Noi e L1 and L2 ingle-pha e, 200 VAC filter ervomotor L1C and L2C urge ab orber Encoder Clamp MECHATROLINK-III CN6A and CN6B Controller...
Page 90 3.7 EMC Installation Conditions • Single-Phase, 100 VAC hield box Brake power upply ERVOPACK Brake U, V, and W Power upply: Noi e L1 and L2 ingle-pha e, 100 VAC filter ervomotor L1C and L2C urge ab orber Encoder Clamp MECHATROLINK-III CN6A and CN6B Controller...
Page 91: Wiring And Connecting Servopacks
Wiring and Connecting SERVOPACKs This chapter provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices. Wiring and Connecting SERVOPACKs ..4-3 4.1.1 General Precautions ..... . 4-3 4.1.2 Countermeasures against Noise .
Page 92 Connecting Safety Function Signals ..4-41 4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . 4-41 4.6.2 I/O Circuits ......4-41 Connecting MECHATROLINK Communications Cables .
Page 93: 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 94  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 95 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 96: 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 97 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. ERVOPACK Noi e Filter ervomotor...
Page 98 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 99: 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 100: Basic Wiring Diagrams
Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
Page 101 4.2 Basic Wiring Diagrams Note: 1. You can use parameters to change the functions allocated to the /DEC, P-OT, N-OT, /EXT1, /EXT2, and / EXT3 input signals and the /SO1, /SO2, and /SO3 output signals. Refer to the following section for details. 6.1 I/O Signal Allocations on page 6-4 2.
Page 102: 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 103 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 VDC to 240 VDC, -15% to +10%, 50 Hz/ L1, L2 input terminals for AC 60 Hz...
Page 104 4.3 Wiring the Power Supply to the SERVOPACK 4.3.1 Terminal Symbols and Terminal Names • 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 105: Wiring Procedure For Main Circuit Connector
4.3 Wiring the Power Supply to the SERVOPACK 4.3.2 Wiring Procedure for Main Circuit Connector 4.3.2 Wiring Procedure for Main Circuit Connector • Required Items Required Item Remarks • Spring Opener SERVOPACK accessory Spring Opener or Flat- (You can also use model 1981045-1 from Tyco Electronics Japan G.K.) blade Screwdriver •...
Page 106: Power On Sequence
4.3 Wiring the Power Supply to the SERVOPACK 4.3.3 Power ON Sequence 4.3.3 Power ON Sequence Consider the following points when you design the power ON sequence. • The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply is turned ON.
Page 107: 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 ERVOPACK 1FLT +24 V...
Page 108 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 ERVOPACK 1FLT +24 V (For ervo alarm di play) − ervo power ervo power 1QF: Molded-ca e circuit breaker 1Ry: Relay 1FLT: Noi e Filter 1PL: Indicator lamp...
Page 109 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 ERVOPACK 1FLT AC/DC AC/DC +24 V (For ervo alarm di play) ervo power ervo power...
Page 110 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 ERVOPACK 1FLT AC/DC 1TRy AC/DC +24 V (For ervo alarm di play) − ervo power ervo power +24 V...
Page 111 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 ERVOPACK 1FLT +24 V (For ervo alarm di play) − ervo power ervo power 1Ry: Relay 1PL:...
Page 112 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 113: 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 114 4.3 Wiring the Power Supply to the SERVOPACK 4.3.5 Wiring Regenerative Resistors  SERVOPACK Models SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, and -330A Remove the lead from between the B2 and B3 terminals on the SERVOPACK. Connect the External Regenerative Resistor between the B1/⊕ and B2 terminals. Enlarged View Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistance).
Page 115: Wiring Reactors For Harmonic Suppression
Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistance) as required. • When using the Yaskawa-recommended Regenerative Resistor Unit, use the default settings for Pn600 and Pn603. • If you use any other external regenerative resistor, set Pn600 and Pn603 according to the specifica- tions of the regenerative resistor.
Page 116: 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 117: 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 118 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 119 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Absolute Linear Encoder from Renishaw PLC Ab olute linear encoder from ERVOPACK Reni haw PLC PG5V PG0V Connector hell Connector hell hield represents a shielded twisted-pair cable. ...
Page 120 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 erial Converter Unit Heidenhain Corporation ERVOPACK / IN...
Page 121 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 122 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  SL700, SL710, SL720, and SL730 • MJ620-T13 Interpolator Linear encoder Interpolator ERVOPACK Head Cable from Magne cale Co., Ltd. 12, 14, 16 PG0V +5 V Connector Connector External power upply hell hell hield...
Page 123: 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 124: 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 125 4.5 I/O Signal Connections 4.5.1 I/O Signal Connector (CN1) Names and Functions Output Signals Default settings are given in parentheses. Signal Pin No. Name Function Reference ALM+ Servo Alarm Output Turns OFF (opens) when an error is detected. page 6-8 ALM- /SO1+ You can allocate the output signal to use with...
Page 126: I/O Signal Connector (Cn1) Pin Arrangement
4.5 I/O Signal Connections 4.5.2 I/O Signal Connector (CN1) Pin Arrangement 4.5.2 I/O Signal Connector (CN1) Pin Arrangement The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings. General- Battery for /SO1+ purpose General-...
Page 127: I/O Signal Wiring Examples
Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
Page 128 Connect hield to connector hell. Frame ground represents twisted-pair wires. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Always use line receivers to receive the output signals. Note: 1. You can use parameters to change the functions allocated to the /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2, and /SO3 output signals.
Page 129: I/O Circuits
4.5 I/O Signal Connections 4.5.4 I/O Circuits 4.5.4 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 6 to 13. Examples for Relay Circuits Examples for Open-Collector Circuits ERVOPACK ERVOPACK Ω Ω 4.7 k 4.7 k 24 VDC 24 VDC...
Page 130 4.5 I/O Signal Connections 4.5.4 I/O Circuits Sequence Output Circuits Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail- ures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. Important This could damage the machine or cause an accident that may result in death or injury.
Page 131: Connecting Safety Function Signals
4.6 Connecting Safety Function Signals 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Connecting Safety Function Signals This section describes the wiring required to use a safety function. Refer to the following chapter for details on the safety function. Chapter 11 Safety Functions 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Pin No.
Page 132 4.6 Connecting Safety Function Signals 4.6.2 I/O Circuits  Input (HWBB) Signal Specifications Connector Type Signal Status Meaning Pin No. ON (closed) Does not activate the HWBB (normal operation). CN8-4 /HWBB1 Activates the HWBB (motor current shut-OFF CN8-3 OFF (open) request).
Page 133: Connecting Mechatrolink Communications Cables
4.7 Connecting MECHATROLINK Communications Cables Connecting MECHATROLINK Communications Cables Connect the MECHATROLINK-III Communications Cables to the CN6A and CN6B connectors. Note: The length of the cable between stations (L1, L2, ... Ln) must be 50 m or less. Use the following procedure to remove the MECHATROLINK-III Communications Cable con- nectors from the SERVOPACK.
Page 134: Connecting The Other Connectors
Refer to the following manual for the operating procedures for the SigmaWin+. AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Use the Yaskawa-specified cables. Operation will not be dependable due to low noise resistance with any other cable.
Page 135: Basic Functions That Require Setting Before Operation
Basic Functions That Require Setting before Operation This chapter describes the basic functions that must be set before you start servo system operation. It also describes the setting methods. Manipulating Parameters (Pn) ..5-4 5.1.1 Parameter Classification .
Page 136 Polarity Sensor Setting ....5-24 5.10 Polarity Detection ....5-25 5.10.1 Restrictions .
Page 137 Σ-V Compatible Function and Settings . . . 5-55 5.19 5.19.1 Setting the Communications Interface Compatibility Selection ....5-55 5.19.2 Setting the Encoder Resolution Compatibility Selection .
Page 138: 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 139: 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 8-24 8.7 Autotuning with a Host Reference on page 8-35 8.8 Custom Tuning on page 8-42...
Page 140: 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 141: 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 142 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 143 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 When Writ- Button in ing Is Pro- Reference SigmaWin+ Function Menu...
Page 144: Initializing Parameter Settings
5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Continued from previous page. SigmaWin+ Digital Operator When Writ- Button in ing Is Pro- Reference SigmaWin+ Function Menu Fn No. Utility Function Name hibited Name Dialog Box Cannot be Jogging Fn002 page 7-7 executed.
Page 145 5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Operating Procedure Use the following procedure to initialize the parameter settings. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Edit Parameters in the Menu Dialog Box. The Parameter Editing Dialog Box will be displayed.
Page 146: Mechatrolink-Iii Communications Settings
5.2 MECHATROLINK-III Communications Settings 5.2.1 Communications Settings MECHATROLINK-III Communications Settings The settings for MECHATROLINK-III communications are made with the DIP switch (S3). The station address is set using the rotary switches (S1 and S2). 5.2.1 Communications Settings Use the DIP switch (S3) to make the communications settings. Setting Default Pin No.
Page 147: 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 148: Single-Phase Ac Power Supply Input/Three-Phase Ac Power Supply Input Setting
5.3 Power Supply Type Settings for the Main Circuit and Control Circuit 5.3.2 Single-phase AC Power Supply Input/Three-phase AC Power Supply Input Setting 5.3.2 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 149: Automatic Detection Of Connected Motor
5.4 Automatic Detection of Connected Motor Automatic Detection of Connected Motor You can use a SERVOPACK to operate either a Rotary Servomotor or a Linear Servomotor. If you connect the Servomotor encoder to the CN2 connector on the SERVOPACK, the SER- VOPACK will automatically determine which type of Servomotor is connected.
Page 150: Motor Direction Setting
5.5 Motor Direction Setting Motor Direction Setting You can reverse the direction of Servomotor rotation by changing the setting of Pn000 = n.X (Direction Selection) without changing the polarity of the speed or position reference. This causes the rotation direction of the Servomotor to change, but the polarity of the signals, such as encoder output pulses, output from the SERVOPACK do not change.
Page 151: Setting The Linear Encoder Pitch
5.6 Setting the Linear Encoder Pitch Setting the Linear Encoder Pitch If you connect a linear encoder to the SERVOPACK through a Serial Converter Unit, you must set the scale pitch of the linear encoder in Pn282. If a Serial Converter Unit is not connected, you do not need to set Pn282. Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK.
Page 152: Writing Linear Servomotor Parameters
5.7 Writing Linear Servomotor Parameters Writing Linear Servomotor Parameters If you connect a linear encoder to the SERVOPACK without going through a Serial Converter Unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder. The motor parameters contain the information that is required by the SERVOPACK to operate the Linear Servomotor.
Page 153 5.7 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 154 5.7 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 155 5.7 Writing Linear Servomotor Parameters Click the Yes Button. 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.
Page 156: Selecting The Phase Sequence For A Linear Servomotor
5.8 Selecting the Phase Sequence for a Linear Servomotor Selecting the Phase Sequence for a Linear Servomotor You must select the phase sequence of the Linear Servomotor so that the forward direction of the Linear Servomotor is the same as the encoder’s count-up direction. Before you set the Linear Servomotor phase sequence (Pn080 = n.X), check the follow- ing items.
Page 157 5.8 Selecting the Phase Sequence for a Linear Servomotor Operating Procedure Use the following procedure to select the phase sequence for a Linear Servomotor. Set Pn000 to n.0 (Set a phase-A lead as a phase sequence of U, V, and W). This setting is to make following confirmation work easier to understand.
Page 158: Polarity Sensor Setting
5.9 Polarity Sensor Setting Polarity Sensor Setting The polarity sensor detects the polarity of the Servomotor. You must set a parameter to specify whether the Linear Servomotor that is connected to the SERVOPACK has a polarity sensor. Specify whether there is a polarity sensor in Pn080 = n.X (Polarity Sensor Selection). If the Linear Servomotor has a polarity sensor, set Pn080 to n.0 (Use polarity sensor) (default setting).
Page 159: Polarity Detection
5.10 Polarity Detection 5.10.1 Restrictions 5.10 Polarity Detection If you use a Linear Servomotor that does not have a polarity sensor, then you must detect the polarity. Detecting the polarity means that the position of the electrical phase angle on the electrical angle coordinates of the Servomotor is detected.
Page 160: Using The Sv_On (Servo On) Command To Perform Polarity Detection
5.10 Polarity Detection 5.10.2 Using the SV_ON (Servo ON) Command to Perform Polarity Detection Preparations Always check the following before you execute polarity detection. • Not using a polarity sensor must be specified (Pn080 = n.1). • The servo must be OFF. •...
Page 161: Using A Tool Function To Perform Polarity Detection
5.10 Polarity Detection 5.10.3 Using a Tool Function to Perform Polarity Detection 5.10.3 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 162: Overtravel And Related Settings
5.11 Overtravel and Related Settings 5.11.1 Overtravel Signals 5.11 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 163: Setting To Enable/Disable Overtravel
5.11 Overtravel and Related Settings 5.11.2 Setting to Enable/Disable Overtravel 5.11.2 Setting to Enable/Disable Overtravel You can use Pn50A = n.X (P-OT (Forward Drive Prohibit) Signal Allocation) and Pn50B = n.X (N-OT (Reverse Drive Prohibit) Signal Allocation) to enable and disable the overtravel function.
Page 164 5.11 Overtravel and Related Settings 5.11.3 Motor Stopping Method for Overtravel Stopping the Servomotor by Setting Emergency Stop Torque To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop Torque). If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the torque set in Pn406 as the maximum torque.
Page 165: Overtravel Warnings
5.11 Overtravel and Related Settings 5.11.4 Overtravel Warnings 5.11.4 Overtravel Warnings You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the servo is ON. This allows the SERVOPACK to notify the host controller with a warning even when the overtravel signal is input only momentarily.
Page 166: Holding Brake
5.12 Holding Brake 5.12.1 Brake Operating Sequence 5.12 Holding Brake A holding brake is used to hold the position of the moving part of the machine when the SERVOPACK is turned OFF so that moving part does not move due to gravity or an external force.
Page 167 5.12 Holding Brake 5.12.1 Brake Operating Sequence 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 SGM7G-03 to -20...
Page 168: Bk (Brake) Signal
5.12 Holding Brake 5.12.2 /BK (Brake) Signal 5.12.2 /BK (Brake) Signal The following settings are for the output signal that controls the brake. You can change the connector pin that is allocated. For details, refer to Allocating the /BK (Brake) Signal. The /BK signal is turned OFF (to operate the brake) when the servo is turned OFF or when an alarm is detected.
Page 169: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped
5.12 Holding Brake 5.12.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped 5.12.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped When the Servomotor is stopped, the /BK signal turns OFF as soon as the SV_OFF (Servo OFF) command is received.
Page 170 5.12 Holding Brake 5.12.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating The brake operates when either of the following conditions is satisfied: • When the Motor Speed Goes below the Level Set in Pn507 for a Rotary Servomotor or in Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped V_OFF ( ervo OFF) command input,...
Page 171: Motor Stopping Methods For Servo Off And Alarms
5.13 Motor Stopping Methods for Servo OFF and Alarms 5.13 Motor Stopping Methods for Servo OFF and Alarms You can use the following methods to stop the Servomotor when the servo is turned OFF or an alarm occurs. There are the following four stopping methods. Motor Stopping Method Meaning Stopping by Applying the...
Page 172: Stopping Method For Servo Off
5.13 Motor Stopping Methods for Servo OFF and Alarms 5.13.1 Stopping Method for Servo OFF 5.13.1 Stopping Method for Servo OFF Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Motor Stop- ping Method for Servo OFF and Group 1 Alarms). Servomotor Stop- Status after Servo- Classifi-...
Page 173 5.13 Motor Stopping Methods for Servo OFF and Alarms 5.13.2 Servomotor Stopping Method for Alarms Motor Stopping Method for Group 2 Alarms When a group 2 alarm occurs, the Servomotor will stop according to the settings of the follow- ing three parameters. The default setting is for zero clamping. •...
Page 174: Motor Overload Detection Level
5.14 Motor Overload Detection Level 5.14.1 Detection Timing for Overload Warnings (A.910) 5.14 Motor Overload Detection Level The motor overload detection level is the threshold used to detect overload alarms and over- load warnings when the Servomotor is subjected to a continuous load that exceeds the Servo- motor ratings.
Page 175: Detection Timing For Overload Alarms (A.720)
5.14 Motor Overload Detection Level 5.14.2 Detection Timing for Overload Alarms (A.720) 5.14.2 Detection Timing for Overload Alarms (A.720) If Servomotor heat dissipation is insufficient (e.g., if the heat sink is too small), you can lower the overload alarm detection level to help prevent overheating. To reduce the overload alarm detection level, change the setting of Pn52C (Base Current Der- ating at Motor Overload Detection).
Page 176: Electronic Gear Settings
5.15 Electronic Gear Settings 5.15 Electronic Gear Settings The minimum unit of the position data that is used to move a load is called the reference unit. The reference unit is used to give travel amounts, not in pulses, but rather in distances or other physical units (such as μm or °) that are easier to understand.
Page 177: Electronic Gear Ratio Settings
5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings 5.15.1 Electronic Gear Ratio Settings Set the electronic gear ratio using Pn20E and Pn210. The setting range of the electronic gear depends on the setting of Pn040 = n.X (Encoder Resolution Compatibility Selection). •...
Page 178 5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings  Encoder Resolution You can check the encoder resolution in the Servomotor model number. GM7J, GM7A, GM7P, GM7G - pecification Code Encoder Re olution 24-bit batteryle multiturn ab olute encoder 16,777,216 24-bit multiturn ab olute encoder 16,777,216 24-bit incremental encoder...
Page 179 5.15 Electronic Gear Settings 5.15.1 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 Type of Model of Serial Con- Manufac-...
Page 180 5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings 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 181: Electronic Gear Ratio Setting Examples
5.15 Electronic Gear Settings 5.15.2 Electronic Gear Ratio Setting Examples 5.15.2 Electronic Gear Ratio Setting Examples Setting examples are provided in this section. • Rotary Servomotors Machine Configuration Ball Screw Rotary Table Belt and Pulley Reference unit: 0.005 mm Reference unit: 0.01° Reference unit: 0.001 mm Load haft Step...
Page 182: Resetting The Absolute Encoder
5.16 Resetting the Absolute Encoder 5.16.1 Precautions on Resetting 5.16 Resetting the Absolute Encoder In a system that uses an absolute encoder, the multiturn data must be reset at startup. An alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder must be reset, such as when the power supply is turned ON.
Page 183: Applicable Tools
5.16 Resetting the Absolute Encoder 5.16.3 Applicable Tools 5.16.3 Applicable Tools The following table lists the tools that you can use to reset the absolute encoder and the appli- cable tool functions. Tool Function Reference Σ-7-Series Digital Operator Operating Digital Operator Fn008 Manual (Manual No.: SIEP S800001 5.16.4 Operating Procedure on page...
Page 184 5.16 Resetting the Absolute Encoder 5.16.4 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 185: Setting The Origin Of The Absolute Encoder
5.17 Setting the Origin of the Absolute Encoder 5.17.1 Absolute Encoder Origin Offset 5.17 Setting the Origin of the Absolute Encoder 5.17.1 Absolute Encoder Origin Offset The origin offset of the absolute encoder is a correction that is used to set the origin of the machine coordinate system in addition to the origin of the absolute encoder.
Page 186 5.17 Setting the Origin of the Absolute Encoder 5.17.2 Setting the Origin of the Absolute Linear Encoder Applicable Tools The following table lists the tools that you can use to set the origin of the absolute linear encoder and the applicable tool functions. Tool Function Reference...
Page 187 5.17 Setting the Origin of the Absolute Encoder 5.17.2 Setting the Origin of the Absolute Linear Encoder Click the Continue Button. Click the Cancel Button to cancel setting the origin of the absolute linear encoder. The previous dia- log box will return. Click the OK Button.
Page 188: 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 189: Σ-V Compatible Function And Settings
5.19 Σ-V Compatible Function and Settings 5.19.1 Setting the Communications Interface Compatibility Selection Σ-V Compatible Function and Settings 5.19 The Σ-V compatible function allows you to easily replace a Σ-V-Series SERVOPACK with a Σ-7- Series SERVOPACK in an existing servo system. As long as MECHATROLINK communications are used to communicate with the SERVOPACK from the host controller, the Σ-7-Series SERVOPACK can be used in the same way as the replaced Σ-V-Series SERVOPACK.
Page 190: Application Functions
Application Functions This chapter describes the application functions that you can set before you start servo system operation. It also describes the setting methods. I/O Signal Allocations ....6-4 6.1.1 Input Signal Allocations .
Page 191 Selecting Torque Limits ....6-28 6.7.1 Internal Torque Limits .....6-28 6.7.2 External Torque Limits .
Page 192 6.13 Forcing the Motor to Stop ......6-59 6.13.1 FSTP (Forced Stop Input) Signal ... . 6-59 6.13.2 Stopping Method Selection for Forced Stops .
Page 193 6.1 I/O Signal Allocations 6.1.1 Input Signal Allocations I/O Signal Allocations Functions are allocated to the pins on the I/O signal connector (CN1) in advance. You can change the allocations and the polarity for some of the connector pins. Function allocations and polarity settings are made with parameters.
Page 194: I/O Signal Allocations
6.1 I/O Signal Allocations 6.1.1 Input Signal Allocations  Relationship between Parameter Settings, Allocated Pins, and Polari- ties The following table shows the relationship between the input signal parameter settings, the pins on the I/O signal connector (CN1), and polarities. Parameter Pin No.
Page 195: Output Signal Allocations
6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations 6.1.2 Output Signal Allocations You can allocate the desired output signals to pins 1, 2, and 23 to 26 on the I/O signal connector (CN1). You set the allocations in the following parameters: Pn50E, Pn50F, Pn510, and Pn514. However, you can also force outputs on the servo command I/O signal (SVCMD_IO) command.
Page 196 6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations CN1 Pin No. Output Signal Name and Disabled (Not Output Signals Parameter Used) 1 and 2 23 and 24 25 and 26 Positioning Completion /COIN (default setting) Pn50E = n.X Speed Coincidence Detection /V-CMP (default setting)
Page 197: Alm (Servo Alarm) Signal
6.1 I/O Signal Allocations 6.1.3 ALM (Servo Alarm) Signal Forcing Outputs with MECHATROLINK-III Commands You can use the servo command I/O signal (SVCMD_IO) command through MECHATROLINK- III communications to force outputs on general-purpose sequence output 1 (SO1) to general- purpose sequence output 3 (SO3). Use Pn56A = n.XXX to set the output signal reference method for SO1 to SO3.
Page 198: Warn (Warning) Signal
6.1 I/O Signal Allocations 6.1.4 /WARN (Warning) Signal 6.1.4 /WARN (Warning) Signal Both alarms and warnings are generated by the SERVOPACK. Alarms indicate errors in the SERVOPACK for which operation must be stopped immediately. Warnings indicate situations that may results in alarms but for which stopping operation is not yet necessary. The /WARN (Warning) signal indicates that a condition exists that may result in an alarm.
Page 199: S-Rdy (Servo Ready) Signal
6.1 I/O Signal Allocations 6.1.6 /S-RDY (Servo Ready) Signal 6.1.6 /S-RDY (Servo Ready) Signal The /S-RDY (Servo Ready) signal turns ON when the SERVOPACK is ready to accept the SV_ON (Servo ON) command. The /S-RDY signal is turned ON under the following conditions. •...
Page 200: V-Cmp (Speed Coincidence Detection) Signal
6.1 I/O Signal Allocations 6.1.7 /V-CMP (Speed Coincidence Detection) Signal 6.1.7 /V-CMP (Speed Coincidence Detection) Signal The /V-CMP (Speed Coincidence Output) signal is output when the Servomotor speed is the same as the reference speed. This signal is used, for example, to interlock the SERVOPACK and the host controller.
Page 201: Coin (Positioning Completion) Signal
6.1 I/O Signal Allocations 6.1.8 /COIN (Positioning Completion) Signal 6.1.8 /COIN (Positioning Completion) Signal The /COIN (Positioning Completion) signal indicates that Servomotor positioning has been completed during position control. The /COIN signal is output when the difference between the reference position output by the host controller and the current position of the Servomotor (i.e., the position deviation as given by the value of the deviation counter) is equal to or less than the setting of the positioning com- pleted width (Pn522).
Page 202: Near (Near) Signal
6.1 I/O Signal Allocations 6.1.9 /NEAR (Near) Signal Setting the Output Timing of the /COIN (Positioning Com- pletion Output) Signal You can add a reference input condition to the output conditions for the /COIN signal to change the signal output timing. If the position deviation is always low and a narrow positioning completed width is used, change the setting of Pn207 = n.X...
Page 203: Speed Limit During Torque Control
6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control /NEAR (Near) Signal Setting You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer- ence position and the current position (i.e., the position deviation as given by the value of the deviation counter) is equal to or less than the setting of the near signal width (Pn524).
Page 204 6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control Selecting the Speed Limit The smaller of the external speed limit and internal speed limit will be used. Parameter Meaning When Enabled Classification   Reserved setting (Do not use.) Use the speed limit from the VLIM (Limit Pn002 After restart...
Page 205: 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 206: 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 207 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 208: Setting The Motor Maximum Speed
6.4 Setting the Motor Maximum Speed Setting the Motor Maximum Speed You can set the maximum speed of the Servomotor with the following parameter. • Rotary Servomotors Speed Position Torque Maximum Motor Speed Setting Range Setting Unit Default Setting When Enabled Classification Pn316 0 to 65,535...
Page 209: 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 210 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Output Phase Forms Forward rotation or movement Reverse rotation or movement (phase B leads by 90°) (phase A leads by 90°) 90° 90° Pha e A Pha e A Pha e B Pha e B Pha e C...
Page 211 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  Precautions When Using a Linear Incremental Encoder from Magnes- cale Co., Ltd.  Encoder Divided Phase-C Pulse Output Selection You can also output the encoder’s phase-C pulse for reverse movement. To do so, set Pn081 to n.1.
Page 212 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When First Passing the Origin Signal in the Forward Direction and Returning after Turning ON the Power Supply The encoder’s phase-C pulse (CN1-21 and CN1-22) is output when the origin detection posi- tion is passed for the first time in the forward direction after the power supply is turned ON.
Page 213 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi- tion in the Reverse Direction after Turning ON the Power Supply The encoder’s phase-C pulse is not output when the origin detection position is passed for the first time in the reverse direction after the power supply is turned ON.
Page 214: 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 215 6.5 Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output Encoder Divided Pulse Output When Using a Linear Servomotor If you will use a Linear Servomotor, set the encoder output resolution (Pn281). Speed Position Force Encoder Output Resolution Pn281 Setting Range Setting Unit...
Page 216: Software Limits
6.6 Software Limits 6.6.1 Setting to Enable/Disable Software Limits Software Limits You can set limits in the software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.
Page 217: Selecting Torque Limits
6.7 Selecting Torque Limits 6.7.1 Internal Torque Limits Selecting Torque Limits You can limit the torque that is output by the Servomotor. There are four different ways to limit the torque. These are described in the following table. Limit Method Outline Control Method Reference...
Page 218: External Torque Limits
6.7 Selecting Torque Limits 6.7.2 External Torque Limits • Linear Servomotors Speed Position Force Forward Force Limit Pn483 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 Immediately Setup Speed Position Force Reverse Force Limit Pn484 Setting Range Setting Unit Default Setting When Enabled...
Page 219 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Setting the Torque Limits The parameters that are related to setting the torque limits are given below. • Rotary Servomotors If the setting of Pn402 (Forward Torque Limit), Pn403 (Reverse Torque Limit), Pn404 (Forward External Torque Limit), or Pn405 (Reverse External Torque Limit) is too low, the torque may be insufficient for acceleration or deceleration of the Servomotor.
Page 220 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Changes in the Output Torque for External Torque Limits The following table shows the changes in the output torque when the internal torque limit is set to 800%. • Rotary Servomotors In this example, the Servomotor direction is set to Pn000 = n.0 (Use CCW as the forward direction).
Page 221: Clt (Torque Limit Detection) Signal
6.7 Selecting Torque Limits 6.7.3 /CLT (Torque Limit Detection) Signal 6.7.3 /CLT (Torque Limit Detection) Signal This section describes the /CLT signal, which indicates the status of limiting the motor output torque. Type Signal Connector Pin No. Signal Status Meaning The motor output torque is being ON (closed) limited.
Page 222: Absolute Encoders
6.8 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 an origin return operation when the power supply to the sys- tem is turned ON.
Page 223: Connecting An Absolute Encoder
6.8 Absolute Encoders 6.8.1 Connecting an Absolute Encoder 6.8.1 Connecting an Absolute Encoder You can get the position data from the absolute encoder with MECHATROLINK communications. Therefore, it is not necessary to wire the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals. If they need to be wired, refer to the following section.
Page 224: Output Ports For The Position Data From The Absolute Encoder
6.8 Absolute Encoders 6.8.3 Output Ports for the Position Data from the Absolute Encoder 6.8.3 Output Ports for the Position Data from the Absolute Encoder You can read the position data of the absolute encoder from the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.
Page 225: Reading The Position Data From The Absolute Encoder
6.8 Absolute Encoders 6.8.4 Reading the Position Data from the Absolute Encoder 6.8.4 Reading the Position Data from the Absolute Encoder The SENS_ON (Turn ON Sensor) command is used to read the position data from the absolute encoder. The sequence for using the SENS_ON command to read the position data from the absolute encoder of a Rotary Servomotor is given below.
Page 226: Transmission Specifications
6.8 Absolute Encoders 6.8.5 Transmission Specifications 6.8.5 Transmission Specifications The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal are given in the following table. The PAO signal sends only the multiturn data. Refer to the following section for the timing of sending the position data from the absolute encoder. 6.8.4 on page 6-36 Reading the Position Data from the Absolute Encoder...
Page 227: Alarm Output From Output Ports For The Position Data From The Absolute Encoder
6.8 Absolute Encoders 6.8.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder Setting or Unit Encoder Divided Pulse Absolute Encoder Symbol Meaning Output (PAO and PBO) Position Output (PSO) Signals Signal Encoder output pulses Position data for the current position of the (encoder pulses x setting Encoder pulses absolute encoder...
Page 228: Multiturn Limit Setting
6.8 Absolute Encoders 6.8.8 Multiturn Limit Setting 6.8.8 Multiturn Limit Setting The multiturn limit is used in position control for a turntable or other rotating body. For example, consider a machine that moves the turntable shown in the following diagram in only one direction.
Page 229: Multiturn Limit Disagreement Alarm (A.cc0)
6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Default Setting Not Default Setting + 2,767 etting of Pn205 Rever e Rever e Forward Forward Multiturn data Multiturn data Number of Number of rotation rotation - 2,768 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 230 6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Operating Procedure Use the following procedure to adjust the multiturn limit setting. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Multiturn Limit Setting in the Menu Dialog Box. The Multiturn Limit Setting Dialog Box will be displayed.
Page 231 6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Turn the power supply to the SERVOPACK OFF and ON again. An A.CC0 alarm (Multiturn Limit Disagreement) will occur because setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK. Display the Multiturn Limit Setting in the Menu Dialog Box.
Page 232: Absolute Linear Encoders
6.9 Absolute Linear Encoders 6.9.1 Connecting an Absolute Linear Encoder Absolute Linear Encoders The absolute linear encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute linear encoder, the host controller can monitor the current position.
Page 233: Output Ports For The Position Data From The Absolute Linear Encoder
6.9 Absolute Linear Encoders 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder You can read the position data of the absolute linear encoder from the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.
Page 234: Reading The Position Data From The Absolute Linear Encoder
6.9 Absolute Linear Encoders 6.9.5 Transmission Specifications Control power upply * Main circuit power upply ALM output ignal No alarm / -RDY ignal V_ON command Power not upplied. Motor power tatu Power upplied. EN _ON command * Upper 16-bit po ition Lower 20-bit po ition data Incremental pul e Undefined.
Page 235: Calculating The Current Position In Machine Coordinates
6.9 Absolute Linear Encoders 6.9.6 Calculating the Current Position in Machine Coordinates 6.9.6 Calculating the Current Position in Machine Coordinates With an absolute linear encoder, you must set the position of the origin (i.e., the origin of the machine coordinate system). The host controller reads the coordinate from the origin of the encoder coordinate system.
Page 236: Alarm Output From The Output Ports For The Position Data From The Absolute Linear Encoder
6.9 Absolute Linear Encoders 6.9.7 Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder Continued from previous page. Setting or Unit Encoder Divided Pulse Absolute Encoder Symbol Meaning Output (PAO and PBO) Position Output (PSO) Signals Signal ’...
Page 237: Software Reset
6.10 Software Reset 6.10.1 Preparations 6.10 Software Reset You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and changing the settings of parameters that normally require turning the power supply to the SERVOPACK OFF and ON again. This can be used to change those parameters without turning the power supply to the SERVOPACK OFF and ON again.
Page 238: Operating Procedure
6.10 Software Reset 6.10.3 Operating Procedure 6.10.3 Operating Procedure There are the following two methods that you can use to perform a software reset. • Direct connection to the SERVOPACK • Connection through a controller The procedure for each method is given below. Direct Connection to the SERVOPACK Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+.
Page 239 6.10 Software Reset 6.10.3 Operating Procedure Connection through a Controller Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Software Reset in the Menu Dialog Box. The Software Reset Dialog Box will be displayed. Click the Execute Button.
Page 240: Initializing The Vibration Detection Level
6.11 Initializing the Vibration Detection Level 6.11.1 Preparations 6.11 Initializing the Vibration Detection Level You can detect machine vibration during operation to automatically adjust the settings of Pn312 or Pn384 (Vibration Detection Level) to detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration) more precisely.
Page 241: Applicable Tools
6.11 Initializing the Vibration Detection Level 6.11.2 Applicable Tools 6.11.2 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 (Manual Digital Operator Fn01B No.: SIEP S800001 33)
Page 242 6.11 Initializing the Vibration Detection Level 6.11.3 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. 6-53...
Page 243: Related Parameters
6.11 Initializing the Vibration Detection Level 6.11.4 Related Parameters 6.11.4 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 244: Adjusting The Motor Current Detection Signal Offset
6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment 6.12 Adjusting the Motor Current Detection Signal Offset The motor current detection signal offset is used to reduce ripple in the torque. You can adjust the motor current detection signal offset either automatically or manually. 6.12.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
Page 245 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 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 246: Manual Adjustment
6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment 6.12.2 Manual Adjustment You can use this function if you automatically adjust the motor current detection signal offset and the torque ripple is still too large. If the offset is incorrectly adjusted with this function, the Servomotor characteristics may be adversely affected.
Page 247 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment Operating Procedure Use the following procedure to manually adjust the motor current detection signal offset. Operate the Servomotor at approximately 100 min Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box.
Page 248: Forcing The Motor To Stop
6.13 Forcing the Motor to Stop 6.13.1 FSTP (Forced Stop Input) Signal 6.13 Forcing the Motor to Stop You can force the Servomotor to stop for a signal from the host controller or an external device. To force the motor to stop, you must allocate the FSTP (Forced Stop Input) signal in Pn516 = n.X.
Page 249 6.13 Forcing the Motor to Stop 6.13.2 Stopping Method Selection for Forced Stops Stopping the Servomotor by Setting Emergency Stop Torque (Pn406) To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop Torque). If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the torque set in Pn406 as the maximum torque.
Page 250: Resetting Method For Forced Stops
6.13 Forcing the Motor to Stop 6.13.3 Resetting Method for Forced Stops 6.13.3 Resetting Method for Forced Stops This section describes the reset methods that can be used after stopping operation for an FSTP (Forced Stop Input) signal. If the FSTP (Forced Stop Input) signal is OFF and the SV_ON (Servo ON) command is sent, the forced stop state will be maintained even after the FSTP signal is turned ON.
Page 251: 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 252: 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 253: Trial Operation And Actual Operation
Trial Operation and Actual Operation This chapter provides information on the flow and proce- dures for trial operation and convenient functions to use during trial operation. Flow of Trial Operation ....7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .
Page 254: 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 255 7.1 Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power upply 7.3 Trial Operation for the Servomotor without a Load on page 7-7 ecure the motor flange to the machine.
Page 256: Flow Of Trial Operation For Linear Servomotors
7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors 7.1.2 Flow of Trial Operation for Linear Servomotors The procedure for trial operation is given below. • Preparations for Trial Operation Step Meaning Reference Installation Install the Servomotor and SERVOPACK according to the installation conditions.
Page 257 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power upply 7.3 Trial Operation for the Servomotor without a Load on page 7-7 Trial Operation with MECHATROLINK-III Communications...
Page 258: 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 259: Trial Operation For The Servomotor Without A Load
7.3 Trial Operation for the Servomotor without a Load 7.3.1 Preparations Trial Operation for the Servomotor without a Load You use jogging for trial operation of the Servomotor without a load. Jogging is used to check the operation of the Servomotor without connecting the SERVOPACK to the host controller.
Page 260: Applicable Tools
7.3 Trial Operation for the Servomotor without a Load 7.3.2 Applicable Tools • Linear Servomotors Speed Position Force Jogging Speed Pn383 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10,000 1 mm/s Immediately Setup Speed Soft Start Acceleration Time Pn305 Setting Range Setting Unit...
Page 261 7.3 Trial Operation for the Servomotor without a Load 7.3.3 Operating Procedure Check the jogging speed and then click the Servo ON Button. The display in the Operation Area will change to Servo ON. To change the speed, click the Edit Button and enter the new speed. Information Click the Forward Button or the Reverse Button.
Page 262: Trial Operation With Mechatrolink-Iii Communications
7.4 Trial Operation with MECHATROLINK-III Communications Trial Operation with MECHATROLINK-III Communications A trial operation example for MECHATROLINK-III communications is given below. Refer to the following manual for command details. Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP S800001 31) Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 con- nector).
Page 263 7.4 Trial Operation with MECHATROLINK-III Communications While operation is in progress for step 10, confirm the following items. Confirmation Item Reference Confirm that the rotational direction of the Servomotor agrees with the forward or reverse reference. If they do not agree, cor- 5.5 Motor Direction Setting on page 5-16 rect the rotation direction of the Servomo- tor.
Page 264: 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 265: Operating Procedure
7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.3 Operating Procedure 7.5.3 Operating Procedure Enable the overtravel signals. 5.11.2 Setting to Enable/Disable Overtravel on page 5-29 Make the settings for the protective functions, such as the safety function, overtravel, and the brake.
Page 266: Convenient Function To Use During Trial Operation
7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Convenient Function to Use during Trial Operation This section describes some convenient operations that you can use during trial operation. Use them as required. 7.6.1 Program Jogging You can use program jogging to perform continuous operation with a preset operation pattern, travel distance, movement speed, acceleration/deceleration time, waiting time, and number of movements.
Page 267 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Continued from previous page. Setting Setting Operation Pattern of Pn530 Number of movement (Pn5 6) peed 0 Movement peed (Waiting time Travel Travel Travel Rotary ervomotor: → Reverse di tance di tance di tance by travel dis-...
Page 268 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging If Pn530 is set to n.0, n.1, n.4, or n.5, you can set Pn536 (Program Information Jogging Number of Movements) to 0 to perform infinite time operation. You cannot use infinite time operation if Pn530 is set to n.2 or n.3. If you perform infinite time operation from the Digital Operator, press the JOG/SVON Key to turn OFF the servo to end infinite time operation.
Page 269 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging • Linear Servomotors Speed Position Force Program Jogging-Related Selections Pn530 Setting Range Setting Unit Default Setting When Enabled Classification − 0000 to 0005 0000 Immediately Setup Speed Position Force Program Jogging Travel Distance Pn531 Setting Range...
Page 270 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Operating Procedure Use the following procedure for a program jog operation. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select JOG Program in the Menu Dialog Box. The Jog Program Dialog Box will be displayed.
Page 271: Origin Search
7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Click the Servo ON Button and then the Execute Button. The program jogging operation will be executed. CAUTION  Be aware of the following points if you cancel the program jogging operation while the Ser- vomotor is operating.
Page 272 7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Preparations Always check the following before you execute an origin search. • The parameters must not be write prohibited. • The main circuit power supply must be ON. • There must be no alarms. •...
Page 273: Test Without A Motor
7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Click the Forward Button or the Reverse Button. An origin search will be performed only while you hold down the mouse button. The motor will stop when the origin search has been completed. This concludes the origin search procedure.
Page 274 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Motor Information and Encoder Information The motor and encoder information is used during tests without a motor. The source of the information depends on the device connection status. •...
Page 275 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor • Related Parameters Parameter Meaning When Enabled Classification n.0 When an encoder is not connected, start as SERVOPACK for Rotary Servomotor. (default setting) Pn000 After restart Setup When an encoder is not connected, start as n.1...
Page 276 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Restrictions The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal Refer to the following section for information on confirming the brake output signal. 9.2.3 I/O Signal Monitor on page 9-5 •...
Page 277 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Continued from previous page. SigmaWin+ Digital Operator Executable? Button in Reference SigmaWin+ Function Motor Not Motor Menu Fn No. Utility Function Name Name Connected Connected Dialog Box Display Servomotor ...
Page 278: Operation Using Mechatrolink-Iii Commands
7.7 Operation Using MECHATROLINK-III Commands Operation Using MECHATROLINK-III Commands Refer to the following manual for information on MECHATROLINK-III commands. Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP S800001 31) 7-26...
Page 279: Tuning
Tuning This chapter provides information on the flow of tuning, details on tuning functions, and related operating proce- dures. Overview and Flow of Tuning ... 8-4 8.1.1 Tuning Functions ......8-5 8.1.2 Diagnostic Tool .
Page 280 Autotuning without Host Reference ..8-24 8.6.1 Outline ....... .8-24 8.6.2 Restrictions .
Page 281 8.12 Additional Adjustment Functions ..8-66 8.12.1 Gain Switching ......8-66 8.12.2 Friction Compensation .
Page 282: 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 283: Tuning Functions
8.1 Overview and Flow of Tuning 8.1.1 Tuning Functions 8.1.1 Tuning Functions The following table provides an overview of the tuning functions. Applicable Con- Tuning Function Outline Reference trol Methods This automatic adjustment function is designed to enable stable operation without servo tuning. This Speed control or Tuning-less Function function can be used to obtain a stable response...
Page 284: Diagnostic Tool
8.1 Overview and Flow of Tuning 8.1.2 Diagnostic Tool 8.1.2 Diagnostic Tool You can use the following tools to measure the frequency characteristics of the machine and set notch filters. Applicable Diagnostic Tool Outline Reference Control Methods The machine is subjected to vibration to detect Speed control, Mechanical Analysis resonance frequencies.
Page 285: 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 286: 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 287 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 peed [min Encoder re olution Pn210 × × × (1.2 to 2) Pn520 >...
Page 288: Vibration Detection Level Setting
8.3 Precautions to Ensure Safe Tuning 8.3.4 Vibration Detection Level Setting Related Warnings Warning Number Warning Name Meaning Position Deviation This warning occurs if the position deviation exceeds the specified A.900 Overflow percentage (Pn520 × Pn51E/100). 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) when vibration is detected during machine operation.
Page 289: Setting The Position Deviation Overflow Alarm Level At Servo On
8.3 Precautions to Ensure Safe Tuning 8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON Related Alarms Alarm Number Alarm Name Alarm Meaning Position Deviation This alarm occurs if the servo is turned ON after the position devia- A.d01 Overflow Alarm at tion exceeded the setting of Pn526 (Position Deviation Overflow...
Page 290: Tuning-Less Function
8.4 Tuning-less Function 8.4.1 Application Restrictions Tuning-less Function The tuning-less function performs autotuning to obtain a stable response regardless of the type of machine or changes in the load. Autotuning is started when the servo is turned ON. CAUTION  The tuning-less function is disabled during torque control. ...
Page 291: 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 292: 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 293: 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 294: 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 295: Applicable Tools
8.5 Estimating the Moment of Inertia 8.5.3 Applicable Tools • When proportional control is used Note:If you specify calculating the moment of inertia, an error will occur if V_PPI in the servo command output signals (SVCMD_IO) changes to specify the proportional action during moment of inertia estimation. •...
Page 296 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed. Click the Cancel Button to cancel tuning. Click the Execute Button.
Page 297 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure 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 298 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure  Confirm Button Click this button to display the Reference Confirmation Dialog Box.  Detailed Setting Area You can change the settings by moving the bars or directly inputting the settings to cre- ate the required reference pattern.
Page 299 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure  Back Button This button returns you to the Condition Setting Dialog Box. It is disabled while data is being transferred.  Next Button This button is enabled only when the data has been transferred correctly. You cannot use it if an error occurs or if you cancel the transfer before it is completed.
Page 300 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Repeat steps 9 to 11 until the Next Button is enabled. Measurements are performed from 2 to 7 times and then verified. The number of measurements is displayed in upper left corner of the dialog box. A progress bar at the bottom of the dialog box will show the progress of the transfer each time.
Page 301 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Execute Button. If the setting of the moment of inertia ratio (Pn103) was changed, the new value will be saved and the Tuning Dialog Box will be displayed again. This concludes the procedure to estimate the moment of inertia ratio.
Page 302: 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 303: Restrictions
8.6 Autotuning without Host Reference 8.6.2 Restrictions Rated motor peed Movement  2/ peed Reference Time t Re pon e Rated motor peed  2/ Motor rated torque: Approx. 100% ERVOPACK Travel Di tance ervomotor Time t Motor rated torque: Note: Execute autotuning without a ho t reference after jogging to Approx.
Page 304: 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 305 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure 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+. Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed.
Page 306: Operating Procedure
8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Set the conditions in the Switching the load moment of inertia (load mass) identifica- tion Box, the Mode selection Box, the Mechanism selection Box, and the Distance Box, and then click the Next Button. •...
Page 307 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Servo ON Button. Click the Start tuning Button. 8-29...
Page 308: 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 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 309 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 310: 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 311 8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings Parameter Function When Enabled Classification Do not adjust vibration suppression automati- cally during execution of autotuning without a   host reference, autotuning with a host refer- ence, and custom tuning. Pn140 Immediately Tuning...
Page 312: 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 313: 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 314: 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 315 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure 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+. Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed.
Page 316 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 317 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 318: 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 319: 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 320: Custom Tuning
8.8 Custom Tuning 8.8.1 Outline Custom Tuning This section describes custom tuning. 8.8.1 Outline You can use custom tuning to manually adjust the servo during operation using a speed or position reference input from the host controller. You can use it to fine-tune adjustments that were made with autotuning.
Page 321: Applicable Tools
8.8 Custom Tuning 8.8.3 Applicable Tools 8.8.3 Applicable Tools The following table lists the tools that you can use to perform custom tuning and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Digital Operator Fn203 Manual (Manual No.: SIEP S800001 33) −...
Page 322 8.8 Custom Tuning 8.8.4 Operating Procedure Click the Execute Button. 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 323 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 324 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 325 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. 8-47...
Page 326 8.8 Custom Tuning 8.8.4 Operating Procedure Vibration Suppression Functions  Notch Filters and Automatic Anti-resonance Setting If the vibration frequency that occurs when you increase the servo gains is at 1,000 Hz or higher, notch filters are effective to suppress vibration. If the vibration is between 100 Hz and 1,000 Hz, anti-resonance control is effective.
Page 327: Automatically Adjusted Function Settings
8.8 Custom Tuning 8.8.5 Automatically Adjusted Function Settings 8.8.5 Automatically Adjusted Function Settings You cannot use vibration suppression functions at the same time. Other automatic function set- tings are the same as for autotuning without a host reference. Refer to the following section. 8.6.6 Automatically Adjusted Function Settings on page 8-32 8.8.6 Tuning Example for Tuning Mode 2 or 3...
Page 328: Related Parameters
8.8 Custom Tuning 8.8.7 Related Parameters 8.8.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute custom tuning. Do not change the settings while custom tuning is being executed. Parameter Name Automatic Changes Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant...
Page 329: 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 330: 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 331 8.9 Anti-Resonance Control Adjustment 8.9.4 Operating Procedure Perform steps 1 to 8 of the procedure for custom tuning. Refer to the following section for details. 8.8.4 Operating Procedure on page 8-43 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.
Page 332: 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 333 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 334: 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 335: Preparations
8.10 Vibration Suppression 8.10.2 Preparations The vibration frequencies that are automatically detected may vary somewhat with each posi- Information tioning operation. Perform positioning several times and make adjustments while checking the effect of vibration suppression. 8.10.2 Preparations Always check the following before you execute vibration suppression. •...
Page 336 8.10 Vibration Suppression 8.10.4 Operating Procedure Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies. If a vibration frequency is not detected, pro- vide a means of measuring the vibration frequency. Important Click the Set Button.
Page 337: Setting Combined Functions
8.10 Vibration Suppression 8.10.5 Setting Combined Functions 8.10.5 Setting Combined Functions You can also use the feedforward function when you execute vibration suppression. In the default settings, feedforward (Pn109), the speed feedforward input (VFF), and the torque feedforward input (TFF) are disabled. To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model fol- lowing control from the host controller in the system, set Pn140 to n.1...
Page 338: 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 339 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 340 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Edit Button. Enter the jogging speed in the Input Value Box and click the OK Button. Click the Servo ON Button. 8-62...
Page 341 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 jogging.
Page 342: 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 Completed Button.
Page 343 8.11 Speed Ripple Compensation 8.11.3 Setting Parameters peed reference/ feedback peed etting of Pn427 or Pn49F (Ripple Compen ation Time Enable peed) Ripple Di abled Enabled Di abled Enabled Di abled compen ation 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 344: Additional Adjustment Functions
8.12 Additional Adjustment Functions 8.12.1 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 Applicable Control Methods Reference Gain Switching...
Page 345: Gain Switching
8.12 Additional Adjustment Functions 8.12.1 Gain Switching Manual Gain Switching With manual gain switching, you use G-SEL in the servo command output signals (SVCMD_IO) to change between gain settings 1 and gain settings 2. Type Command Name Value Meaning Changes the gain settings to gain settings 1. G-SEL in the servo command output sig- Input nals (SVCMD_IO)
Page 346 8.12 Additional Adjustment Functions 8.12.1 Gain Switching  Relationship between the Waiting Times and Switching Times for Gain Switching In this example, an ON /COIN (Positioning Completion) signal is set as condition A for auto- matic gain switching. The position loop gain is changed from the value in Pn102 (Position Loop Gain) to the value in Pn106 (Second Position Loop Gain).
Page 347 8.12 Additional Adjustment Functions 8.12.1 Gain Switching Continued from previous page. Position Second Position Loop Gain Pn106 Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20,000 0.1/s Immediately Tuning Speed Position Torque First Stage Second Torque Reference Filter Time Constant Pn412 Setting Range Setting Unit...
Page 348: Friction Compensation
8.12 Additional Adjustment Functions 8.12.2 Friction Compensation 8.12.2 Friction Compensation Friction compensation is used to compensate for viscous friction fluctuations and regular load fluctuations. You can automatically adjust friction compensation with autotuning without a host reference, autotuning with a host reference, or custom tuning, or you can manually adjust it with the fol- lowing procedure.
Page 349 8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Operating Procedure for Friction Compensation Use the following procedure to perform friction compensation. CAUTION  Before you execute friction compensation, set the moment of inertia ratio (Pn103) as accu- rately as possible. If the setting greatly differs from the actual moment of inertia, vibration may occur.
Page 350: 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. ervomotor Holding brake When the brake i relea ed, the gravity...
Page 351: Current Control Mode Selection
8.12 Additional Adjustment Functions 8.12.4 Current Control Mode Selection Required Parameter Settings The following parameter settings are required to use gravity compensation. Parameter Description When Enabled Classification  Disable gravity compensation. (default setting) Pn475 After restart Setup  Enable gravity compensation. Gravity Compensation Torque Speed Position...
Page 352: Current Gain Level Setting
8.12 Additional Adjustment Functions 8.12.5 Current Gain Level Setting 8.12.5 Current Gain Level Setting You can set the current gain level to reduce noise by adjusting the parameter for current control inside the SERVOPACK according to the speed loop gain (Pn100). The noise level can be reduced by decreasing the current gain level (Pn13D) from its default setting of 2,000% (dis- abled).
Page 353: Backlash Compensation
8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation 8.12.8 Backlash Compensation Outline If you drive a machine that has backlash, there will be deviation between the travel distance in the position reference that is managed by the host controller and the travel distance of the actual machine.
Page 354 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation • The backlash compensation value is restricted by the following formula. Backlash compensa- tion is not performed if this condition is not met. Important Maximum motor peed [min Pn210   Encoder re olution*  0.00025 Pn2 1 ≤...
Page 355 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation CAUTION  The encoder divided pulse output will output the number of encoder pulses for which driv- ing was actually performed, including the backlash compensation value. If you use the encoder output pulses for position feedback at the host controller, you must consider the backlash compensation value.
Page 356 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation  Operation When the Servo Is OFF Backlash compensation is not applied when the servo is OFF (i.e., when power is not supplied to motor). Therefore, the reference position POS is moved by only the backlash compensation value.
Page 357 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation MECHATROLINK Monitor Information This section describes the information that is set for the MECHATROLINK monitor information (monitor 1, monitor 2, monitor 3, and monitor 4) and the backlash compensation operation. Monitor Abbreviation Description Unit Remarks Code...
Page 358 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation  Related Monitoring Diagrams The following symbols are used in the related monitoring diagrams. [A]: Analog monitor [U]: Monitor mode (Un monitor) [O]: Output signal [T]: Trace data [M]: MECHATROLINK monitor information [U] [M]: Input reference pul e [A] [T]: peed feedforward counter [A] [T]: Po ition reference peed...
Page 359: Manual Tuning
8.13 Manual Tuning 8.13.1 Tuning the Servo Gains 8.13 Manual Tuning This section describes manual tuning. 8.13.1 Tuning the Servo Gains Servo Gains Po ition control loop peed control loop peed peed peed pattern Movement ervomotor reference reference peed control Current Deviation Po ition...
Page 360 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Precautions Vibration may occur while you are tuning the servo gains. We recommend that you enable vibration alarms (Pn310 = n.2) to detect vibration. Refer to the following section for infor- mation on vibration detection. 6.11 Initializing the Vibration Detection Level on page 6-51 Vibration alarms are not detected for all vibration.
Page 361 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 362 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 363 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 364 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Set the machine vibration frequencies in the notch filter parameters. Speed Position Torque First Stage Notch Filter Frequency Pn409 Setting Range Setting Unit Default Setting When Enabled Classification 50 to 5,000 1 Hz 5,000 Immediately Tuning...
Page 365 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 366 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  When Pn10B = n.0 (PI Control) Guidelines are given below for gain settings 1. The same guidelines apply to gain settings 2 (Pn104, Pn105, Pn106, and Pn412). • Speed Loop Gain (Pn100 [Hz]) and Position Loop Gain (Pn102 [/s]) Stable gain: Pn102 [/s] ≤...
Page 367 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 368 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 369 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 370: 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 371 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 372 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 373 PI control Position Integral The position integral is the integral function of the position loop. It is used for the electronic cams and electronic shafts when using the SERVOPACK with a Yaskawa MP3000-Series Machine Controller. Position Position Integral Time Constant...
Page 374: 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 375: Mechanical Analysis
8.14 Diagnostic Tools 8.14.1 Mechanical Analysis 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 376: Easy Fft
8.14 Diagnostic Tools 8.14.2 Easy FFT 8.14.2 Easy FFT The machine is made to vibrate and a resonance frequency is detected from the generated vibration to set notch filters according to the detected resonance frequencies. This is used to eliminate high-frequency vibration and noise. During execution of Easy FFT, a frequency waveform reference is sent from the SERVOPACK to the Servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rota- tion, thus causing the machine to vibrate.
Page 377: Easy Fft
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 378 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 379 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 380: 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 381: 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 The items that you can monitor in the SigmaWin+ Product Information Window are listed below. Monitor Items • Model/Type • Serial Number •...
Page 382: 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 383 9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations • Motion Monitor Window Monitor Items • Current Alarm State • Power Consumption • Motor Speed • Consumed Power • Speed Reference • Cumulative Power Consumption • Internal Torque Reference • DB Resistor Consumption Power •...
Page 384: 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 385: 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 386: 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) Operating Procedure Click the...
Page 387 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 388: Using The Analog Monitors
9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using the Analog Monitors Description Parameter Monitor Signal Output Unit Remarks n.00 • Rotary Servomotor: 1 V/1,000 min (default Motor Speed – • Linear Servomotor: 1 V/1,000 mm/s setting of Pn007) •...
Page 389 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 390: Using The Analog Monitors
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 adju tment...
Page 391 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 9-12 put Adjustment...
Page 392: Monitoring Product Life
9.4 Monitoring Product Life 9.4.1 Items That You Can Monitor Monitoring Product Life 9.4.1 Items That You Can Monitor Monitor Item Description The operating status of the SERVOPACK in terms of the installation envi- ronment is displayed. Implement one or more of the following actions if the SERVOPACK Installation Envi- monitor value exceeds 100%.
Page 393: 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 394: Preventative Maintenance
9.4 Monitoring Product Life 9.4.3 Preventative Maintenance 9.4.3 Preventative Maintenance You can use the following functions for preventative maintenance. • Preventative maintenance warnings • /PM (Preventative Maintenance Output) signal The SERVOPACK can notify the host controller when it is time to replace any of the main parts. Preventative Maintenance Warning An A.9b0 warning (Preventative Maintenance Warning) is detected when any of the following service life prediction values drops to 10% or less: SERVOPACK built-in fan life, capacitor life,...
Page 395: 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 396: 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 397: Fully-Closed System
10.1 Fully-Closed System 10.1 Fully-Closed System With a fully-closed system, an externally installed encoder is used to detect the position of the controlled machine and the machine’s position information is fed back to the SERVOPACK. High-precision positioning is possible because the actual machine position is fed back directly. With a fully-closed system, looseness or twisting of mechanical parts may cause vibration or oscillation, resulting in unstable positioning.
Page 398: 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 399 10.2 SERVOPACK Commissioning Procedure Continued from previous page. Con- Required Parameter Step Description Operation trolling Settings Device Perform a program jog- Perform a program jogging opera- ging operation. tion and confirm that the travel dis- Items to Check tance is the same as the reference Pn530 to Pn536 (program SERVO- Does the fully-closed...
Page 400: Parameter Settings For Fully-Closed Loop Control
10.3 Parameter Settings for Fully-Closed Loop Control 10.3.1 Control Block Diagram for Fully-Closed Loop Control 10.3 Parameter Settings for Fully-Closed Loop Control This section describes the parameter settings that are related to fully-closed loop control. Position Speed Torque Parameter to Set Setting Reference Control...
Page 401: Setting The Motor Direction And The Machine Movement Direction
10.3 Parameter Settings for Fully-Closed Loop Control 10.3.2 Setting the Motor Direction and the Machine Movement Direction 10.3.2 Setting the Motor Direction and the Machine Movement Direction You must set the motor direction and the machine movement direction. To perform fully-closed loop control, you must set the motor rotation direction with both Pn000 = n.X (Direction Selection) and Pn002 = n.X...
Page 402: Setting The Number Of External Encoder Scale Pitches
10.3 Parameter Settings for Fully-Closed Loop Control 10.3.3 Setting the Number of External Encoder Scale Pitches 10.3.3 Setting the Number of External Encoder Scale Pitches Set the number of external encoder scale pitches per Servomotor rotation in Pn20A. Number of external encoder Setting Example pitche per ervomotor rotation External encoder...
Page 403: External Absolute Encoder Data Reception Sequence
10.3 Parameter Settings for Fully-Closed Loop Control 10.3.5 External Absolute Encoder Data Reception Sequence If the setting is 20 and the speed is 1,600 mm/s, the output frequency would be 1.6 Mpps Example 1600 mm/s = 1,600,000 = 1.6 Mpps 0.001 mm Because 1.6 Mpps is less than 6.4 Mpps, this setting can be used.
Page 404: Alarm Detection Settings
10.3 Parameter Settings for Fully-Closed Loop Control 10.3.7 Alarm Detection Settings 10.3.7 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 405: Analog Monitor Signal Settings
10.3 Parameter Settings for Fully-Closed Loop Control 10.3.8 Analog Monitor Signal Settings 10.3.8 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 406 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 407: 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 408: Hard Wire Base Block (Hwbb)
11.2 Hard Wire Base Block (HWBB) 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 409: Risk Assessment
11.2 Hard Wire Base Block (HWBB) 11.2.1 Risk Assessment 11.2.1 Risk Assessment When using the HWBB, you must perform a risk assessment of the servo system in advance to confirm that the safety level of the standards is satisfied. Refer to the following section for details on the standards.
Page 410: Hard Wire Base Block (Hwbb) State
11.2 Hard Wire Base Block (HWBB) 11.2.2 Hard Wire Base Block (HWBB) State 11.2.2 Hard Wire Base Block (HWBB) State The SERVOPACK will be in the following state if the HWBB operates. If the /HWBB1 or /HWBB2 signal turns OFF, the HWBB will operate and the SERVOPACK will enter a HWBB state.
Page 411: Resetting The Hwbb State
11.2 Hard Wire Base Block (HWBB) 11.2.3 Resetting the HWBB State 11.2.3 Resetting the HWBB State Normally, after the SV_OFF (Servo OFF: 32h) command is received and power is no longer sup- plied to the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVOPACK will enter the HWBB state.
Page 412: Related Commands
11.2 Hard Wire Base Block (HWBB) 11.2.4 Related Commands 11.2.4 Related Commands If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the ESTP bit in the servo command input signal monitor (SVCMD_IO) will change to 1. The host controller can monitor this bit to determine the status.
Page 413: Operation Without A Host Controller
11.2 Hard Wire Base Block (HWBB) 11.2.7 Operation without a Host Controller 11.2.7 Operation without a Host Controller The HWBB will operate even for operation without a host controller. However, if the HWBB operates during execution of the following functions, leave the execution mode for the function and then enter it again to restart operation.
Page 414: Bk (Brake Output) Signal
11.2 Hard Wire Base Block (HWBB) 11.2.9 /BK (Brake Output) Signal 11.2.9 /BK (Brake Output) Signal If the HWBB operates when the /HWBB1 or /HWBB2 signal is OFF, the /BK (Brake) signal will turn OFF. At that time, the setting in Pn506 (Brake Reference - Servo OFF Delay Time) will be disabled.
Page 415: 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 416: 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 417: Procedure
11.4 Applications Examples for Safety Functions 11.4.3 Procedure 11.4.3 Procedure Reque t i received to open the guard. If the ervomotor i operating, a top command i received from the ho t controller, the ervomotor top , and the ervo i turned OFF. The guard i opened.
Page 418: 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 419: 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 afety Jumper Connector between your afety Jumper finger and remove it.
Page 420: Maintenance
Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 12.1 Inspections and Part Replacement ..12-2 12.1.1 Inspections ......12-2 12.1.2 Guidelines for Part Replacement .
Page 421: Inspections And Part Replacement
After an examination of the part in question, we will determine whether the part should be replaced. The parameters of any SERVOPACKs that are sent to Yaskawa for part replacement are reset to the factory settings before they are returned to you. Always keep a record of the parameter set- tings.
Page 422: Replacing The Battery
12.1 Inspections and Part Replacement 12.1.3 Replacing the Battery 12.1.3 Replacing the Battery If the battery voltage drops to approximately 2.7 V or less, an A.830 alarm (Encoder Battery Alarm) or an A.930 warning (Absolute Encoder Battery Error) will be displayed. If this alarm or warning is displayed, the battery must be replaced.
Page 423 12.1 Inspections and Part Replacement 12.1.3 Replacing the Battery  When Using an Encoder Cable with a Battery Case Turn ON only the control power supply to the SERVOPACK. If you remove the Battery or disconnect the Encoder Cable while the control power supply to the SERVOPACK is OFF, the absolute encoder data will be lost.
Page 424: Alarm Displays
12.2 Alarm Displays 12.2.1 List of Alarms 12.2 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. However, if - appears on the panel display, the display will indicate a SERVOPACK communications error.
Page 425: List Of Alarms
12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Parameter Combination The combination of some parameters exceeds A.042 Gr.1 the setting range. Error Semi-Closed/Fully-Closed The settings of the Option Module and Pn002 = A.044...
Page 426 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal Temperature Error The surrounding temperature of the control PCB A.7A1 1 (Control Board Tempera- Gr.2 is abnormal.
Page 427 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal program error 4 occurred in the SERVO- A.bF4 System Alarm 4 Gr.1 PACK. Internal program error 5 occurred in the SERVO- A.bF5 System Alarm 5...
Page 428 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method If position deviation remains in the deviation counter, the setting of Pn529 or Pn584 (Speed Position Deviation Over- Limit Level at Servo ON) limits the speed when A.d02...
Page 429 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The Servomotor did not operate or power was Servomotor Main Circuit not supplied to the Servomotor even though the A.F50 Gr.1 Cable Disconnection...
Page 430: Troubleshooting Alarms
12.2.2 Troubleshooting Alarms 12.2.2 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
Page 431 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in faulty. Replace the – – the SERVOPACK. gram error SERVOPACK.
Page 432 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio page 5-43 detection conditions...
Page 433 12.2 Alarm Displays 12.2.2 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 434 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the regenerative load ratio in the Sig- The regenerative pro- maWin+ Motion Monitor Recheck the operating cessing capacity was Tab Page to see how conditions and load.
Page 435 12.2 Alarm Displays 12.2.2 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 There is a short-circuit across cable phases U, The cable may be short-...
Page 436 12.2 Alarm Displays 12.2.2 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 437 12.2 Alarm Displays 12.2.2 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 438 12.2 Alarm Displays 12.2.2 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 439 12.2 Alarm Displays 12.2.2 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 440 12.2 Alarm Displays 12.2.2 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 441 12.2 Alarm Displays 12.2.2 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 442 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- page 3-7 perature is too high.
Page 443 12.2 Alarm Displays 12.2.2 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 444 12.2 Alarm Displays 12.2.2 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 445 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature – the Servomotor is too Servomotor to 40°C or A.860: around the Servomotor.
Page 446 12.2 Alarm Displays 12.2.2 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 447 12.2 Alarm Displays 12.2.2 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- External Encoder –...
Page 448 12.2 Alarm Displays 12.2.2 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.bF4: A failure occurred in ON again. If an alarm still – –...
Page 449 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Fine-tune the mounting of Check the voltage of The linear encoder the scale head. Or, the linear encoder sig- – signal level is too low. replace the linear nal.
Page 450 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Scale Check the linear Pitch) and Pn080 = The parameter set- encoder specifications n.X (Motor Phase page 5-17, tings are not correct.
Page 451 12.2 Alarm Displays 12.2.2 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 4-37 position.
Page 452 12.2 Alarm Displays 12.2.2 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 453 12.2 Alarm Displays 12.2.2 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 454 12.2 Alarm Displays 12.2.2 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 455 12.2 Alarm Displays 12.2.2 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 456 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Position Deviation deviation while the tion Overflow...
Page 457 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the setting of the station address of the Check rotary switches The station address is host controller, and reset S1 and S2 to see if the outside of the setting rotary switches S1 and S2 station address is...
Page 458 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove the cause of The MECHATROLINK Check the setting of the transmission cycle fluctu- transmission cycle MECHATROLINK trans- – ation at the host control- A.E61: fluctuated.
Page 459 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the Safety Option the Safety Option – – A.E74: Module. Module. Unsupported Safety Option An unsupported Refer to the catalog of Connect a compatible Module...
Page 460 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The three-phase Check the power sup- Make sure that the power power supply wiring is page 4-12 ply wiring. supply is correctly wired. not correct.
Page 461 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Disconnect the Digital Operator and then con- nect it again. If an alarm A failure occurred in – still occurs, the Digital –...
Page 462: Resetting Alarms
12.2 Alarm Displays 12.2.3 Resetting Alarms 12.2.3 Resetting Alarms If there is an ALM (Servo Alarm) signal, use one of the following methods to reset the alarm after eliminating the cause of the alarm. Be sure to eliminate the cause of an alarm before you reset the alarm. If you reset the alarm and continue operation without eliminating the cause of the alarm, it may result in damage to the equipment or fire.
Page 463: Displaying The Alarm History
12.2 Alarm Displays 12.2.4 Displaying the Alarm History 12.2.4 Displaying the Alarm History The alarm history displays up to the last ten alarms that have occurred in the SERVOPACK. Note: The following alarms are not displayed in the alarm history: A.E50 (MECHATROLINK Synchronization Error), A.E60 (Reception Error in MECHATROLINK Communications), and FL-1 to FL-5.
Page 464: Clearing The Alarm History
12.2 Alarm Displays 12.2.5 Clearing the Alarm History 12.2.5 Clearing the Alarm History You can clear the alarm history that is recorded in the SERVOPACK. The alarm history is not cleared when alarms are reset or when the SERVOPACK main circuit power is turned OFF.
Page 465: Resetting Alarms Detected In Option Modules
12.2 Alarm Displays 12.2.6 Resetting Alarms Detected in Option Modules 12.2.6 Resetting Alarms Detected in Option Modules If any Option Modules are attached to the SERVOPACK, the SERVOPACK detects the pres- ence and models of the connected Option Modules. If it finds any errors, it outputs alarms. You can delete those alarms with this operation.
Page 466 12.2 Alarm Displays 12.2.6 Resetting Alarms Detected in Option Modules Click the OK Button. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to reset alarms detected in Option Modules. 12-47...
Page 467: Resetting Motor Type Alarms
12.2 Alarm Displays 12.2.7 Resetting Motor Type Alarms 12.2.7 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 468: Warning Displays
12.3 Warning Displays 12.3.1 List of Warnings 12.3 Warning Displays If a warning occurs in the SERVOPACK, a warning number will be displayed on the panel dis- play. Warnings are displayed to warn you before an alarm occurs. This section provides a list of warnings and the causes of and corrections for warnings. 12.3.1 List of Warnings The list of warnings gives the warning name and warning meaning in order of the warning num-...
Page 469 12.3 Warning Displays 12.3.1 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number Data Setting Warning 4 Automatically A.94d The data sizes do not match. reset.* (Parameter Size) Data Setting Warning 5 A.94E A latch mode error was detected. Required.
Page 470: Troubleshooting Warnings
12.3.2 Troubleshooting Warnings 12.3.2 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause Confirmation...
Page 471 12.3 Warning Displays 12.3.2 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 472 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status page 3-7 the SERVOPACK installa- high.
Page 473 12.3 Warning Displays 12.3.2 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 474 12.3 Warning Displays 12.3.2 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 475 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name A.95A: The command Check the command Send the command after Command Warning page 12- conditions are not that caused the warn- the command conditions 1 (Unsatisfied Com- satisfied.
Page 476 • Implement countermea- sures against noise. One of the con- A.9b0: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- page 9-15 reached the end tive for replacement. nance Warning of its service life. 12-57...
Page 477: Monitoring Communications Data During Alarms Or Warnings
12.4 Monitoring Communications Data during Alarms or Warnings 12.4 Monitoring Communications Data during Alarms or Warnings You can monitor the command data that is received when an alarm or warning occurs, such as a data setting warning (A.94) or a command warning (A.95) by using the following parame- ters.
Page 478: Troubleshooting Based On The Operation And Conditions Of The Servomotor
12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Problem Possible Cause Confirmation...
Page 479 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Turn ON the FSTP signal. • If you will not use the function to force the The FSTP (Forced Stop motor to stop, set Check the FSTP signal.
Page 480 12.5 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 – system. – SERVOPACK. Replace the SERVO- PACK.
Page 481 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Reduce the load so that the moment of inertia ratio or mass ratio is within the allow- able value, or increase the load level or reduce the rigidity level in the The Servomotor vibrated...
Page 482 12.5 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 483 12.5 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 – system. – Serial Converter Unit. Replace the Serial Con- Abnormal verter Unit.
Page 484 12.5 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 485 12.5 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 – system. – Absolute encoder. Replace the Servomo- Encoder tor or linear encoder.
Page 486 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the servo OFF Select a Servomotor stopping method set in stopping method other Pn001 = n.X or than coasting to a stop. The selection of the Servo- Pn001 = n.X.
Page 487 12.5 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 488: Parameter Lists
Parameter Lists This chapter provides information on the parameters. 13.1 List of Servo Parameters ....13-2 13.1.1 Interpreting the Parameter Lists ... . 13-2 13.1.2 List of Servo Parameters .
Page 489: List Of Servo Parameters
13.1 List of Servo Parameters 13.1.1 Interpreting the Parameter Lists 13.1 List of Servo Parameters 13.1.1 Interpreting the Parameter Lists The type of ervomotor to which the parameter applie . All: The parameter i u ed for both Rotary ervomotor and Linear ervomotor . Indicates when a change to the Rotary: The parameter i u ed for only Rotary ervomotor .
Page 490: List Of Servo Parameters
13.1 List of Servo Parameters 13.1.2 List of Servo Parameters 13.1.2 List of Servo 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 •...
Page 491 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – 0011h – Setup – Selections 2 4213 restart MECHATROLINK Command Position and Speed Control...
Page 492 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h Immedi- page – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection...
Page 493 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h Immedi- page – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection...
Page 494 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – 0010 Tuning – Selections 9 0121 restart ...
Page 495 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – 0000 Setup – Selections B 1121 restart Operator Parameter Display Selection...
Page 496 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After – 0000 Setup – Selections F 2011 restart Preventative Maintenance Warning Selection...
Page 497 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h After page – 0000 Setup Selections 81 1111 restart 6-22...
Page 498 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Mode Switching Level Immedi- page Pn10D 0 to 10,000 Rotary Tuning 1 min for Speed Reference...
Page 499 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- 0000h Immedi- – 0100 Tuning – trol-Related Selections 1121 ately Model Following Control Selection...
Page 500 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Control-Related Selec- 0000h After – 0021 Tuning – tions 0021 restart Model Following Control Type Selection Reference...
Page 501 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Tuning-less Function- 0000h page – 1401 – Setup Related Selections 2711 8-12 When...
Page 502 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Fully-closed Control 0000h After page – 0000 Rotary Setup Selections 1003 restart 10-10...
Page 503 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000h Immedi- page – 0000 Setup Selections 0002 ately 6-51 Vibration Detection Selection...
Page 504 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000h – 0000 – Setup – tion Selections 1111 When Notch Filter Selection 1...
Page 505 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000h Immedi- page – 0000 Setup tion Selections 2 1111 ately 8-86...
Page 506 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque Feedforward Immedi- Pn426 Average Movement 0 to 5,100 0.1 ms Setup –...
Page 507 13.1 List of Servo Parameters 13.1.2 List of Servo 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- − Pn488 50 to 500 1 ms Linear Tuning ence Waiting Time...
Page 508 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8882h Setup – FFFFh restart N-OT (Reverse Drive Prohibit) Signal Allocation...
Page 509 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000h to After – 0000h Setup – tions 1 6666h restart...
Page 510 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000h to Output Signal Selec- After – 0000h Setup – tions 3 restart 0666h...
Page 511 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Inverse 0000h to After page – 0000h Setup Settings 1111h restart...
Page 512 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup – FFFFh restart FSTP (Forced Stop Input) Signal Allocation...
Page 513 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Base Current Derating After page Pn52C at Motor Overload 10 to 100 Setup restart 5-41...
Page 514 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Reference 0000h to After page – 0000h Setup Method Selections 1 1111h restart...
Page 515 6-62 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 516 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000h to Immedi- – 1040h Setup – trols 1FF3h ately MECHATROLINK Communications Check Mask for Debugging...
Page 517 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence -1,073,741,823 1 refer- -10737 Immedi- page Pn806 Reverse Software Limit ence Setup 41823...
Page 518 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Monitor 0000h to Immedi- – 0000h Setup Selections 7777h ately IO12 Signal Mapping...
Page 519 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000h to Immedi- – 0000h – Setup tion FFFFh...
Page 520 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Setting Monitor Applicable Motors Communications Module Only Previous value of latched feedback position (LPOS1) [reference 0080h units] Pn824...
Page 521 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 1D1Ch Setup 1F1Fh restart V_PPI Allocation (Option) Allocate bit 0 to V_PPI.
Page 522 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Setup 1F1Ch restart BANK_SEL1 Allocation (Option) Allocate bits 0 to 3 to BANK_SEL1.
Page 523 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Setup 1D1Fh restart ...
Page 524 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn83C Setup ence Deceleration Constant 2 20,971,520...
Page 525 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000h to Immedi- – 0000h Setup Settings 3333h...
Page 526 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Input Signal 0000h to Immedi- – 0000h Setup Monitor Allocations 2 1717h ately Input Signal Monitor Allocation for CN1-8 (SVCMD_IO)
Page 527 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Output Sig- 0000h to Immedi- nal Monitor Allocations – 0000h Setup 1717h...
Page 528 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) The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function. Enabled only when Pn61A is set to n.2 or n.3.
Page 529: List Of Mechatrolink-Iii Common Parameters
13.2 List of MECHATROLINK-III Common Parameters 13.2.1 Interpreting the Parameter Lists 13.2 List of MECHATROLINK-III Common Parameters 13.2.1 Interpreting the Parameter Lists Indicate when a change to the The type of ervomotor to which the parameter applie . parameter will be effective. All: The parameter i u ed for both Rotary ervomotor and Linear ervomotor .
Page 530: List Of Mechatrolink-Iii Common Parameters
13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device.
Page 531 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After – (Numerator) 1,073,741,824 restart PnA42...
Page 532 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Position Base Unit (Set the value of n After from the following –...
Page 533 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication 1,000 to 0.001 Hz Immedi- Speed Loop Gain 40000 2,000,000 [0.1 Hz]...
Page 534 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Immedi- Monitor Select 2 0h to Fh – ately PnB10 0000 to...
Page 535 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Monitor Select for Immedi- 0h to 9h – SEL_MON2 ately PnB14...
Page 536 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SVCMD_STAT bit 0FFF3F33 Enabled/Disabled – – – (read only) Bit 0 CMD_PAUSE_CMP (1: Enabled) Bit 1...
Page 537 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication I/O Bit Enabled/Dis- FF0FFEFE abled (Input) (read – –...
Page 538: Parameter Recording Table
13.3 Parameter Recording Table 13.3 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter When Default Setting Name Enabled Pn000 0000h Basic Function Selections 0 After restart Application Function Selec- Pn001 0000h After restart tions 1 Application Function Selec- Pn002...
Page 539 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Mode Switching Level for Pn10F Immediately Position Deviation Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately sation Gain Friction Compensation Pn123 Immediately...
Page 540 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Anti-Resonance Damping Pn163 Immediately Gain Anti-Resonance Filter Time Pn164 Immediately Constant 1 Correction Anti-Resonance Filter Time Pn165 Immediately Constant 2 Correction Anti-Resonance Damping Pn166 Immediately Gain 2 Tuning-less Function- Pn170 1401h...
Page 541 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pn385 Maximum Motor Speed After restart First Stage First Torque Pn401 Reference Filter Time Con- Immediately stant Pn402 Forward Torque Limit Immediately Pn403 Reverse Torque Limit Immediately Forward External Torque Pn404...
Page 542 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Ripple Compensa- Pn423 0000h tion Selections Torque Limit at Main Circuit Pn424 Immediately Voltage Drop Release Time for Torque Pn425 Limit at Main Circuit Voltage Immediately Drop Torque Feedforward Aver-...
Page 543 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Momentary Power Interrup- Pn509 Immediately tion Hold Time Pn50A 1881h Input Signal Selections 1 After restart Pn50B 8882h Input Signal Selections 2 After restart Pn50E 0000h Output Signal Selections 1 After restart Pn50F...
Page 544 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Power Consumption Moni- Pn55A Immediately tor Unit Time Residual Vibration Detec- Pn560 Immediately tion Width Pn561 Overshoot Detection Level Immediately Output Signal Reference Pn56A 0000h After restart Method Selections 1 Pn56B 0000h...
Page 545 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Immedi- Exponential Acceleration/ Pn810 Deceleration Bias ately Immedi- Exponential Acceleration/ Pn811 Deceleration Time Constant ately Immedi- Pn812 Movement Average Time ately Immedi- External Positioning Final Pn814 Travel Distance ately Immedi-...
Page 546 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled POSING Command Scurve Immedi- Pn846 Acceleration/Deceleration ately Rate Number of Latch Pn850 Immediately Sequences Continuous Latch Pn851 Immediately Sequence Count Latch Sequence 1 to 4 Set- Pn852 0000h Immediately...
Page 547 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled − − Motor Type (read only) PnA04 Semi-closed/Fully-closed − − Type (read only) PnA06 − − Rated Speed (read only) PnA08 Maximum Output Speed − − (read only) PnA0A −...
Page 548 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Torque Base Unit After restart PnA90 − 0601011Fh Supported Unit (read only) PnA92 40000 Speed Loop Gain Immediately PnAC2 Speed Loop Integral Time 20000 Immediately Constant PnAC4 40000 Position Loop Gain...
Page 549 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled SVCMD_ STAT bit Enabled/ − 0FFF3F33h Disabled (read only) PnB22 I/O Bit Enabled/Disabled − 007F01F0h (Output) (read only) PnB24 I/O Bit Enabled/Disabled − FF0FFEFEh (Input) (read only) PnB26 The enable timing depends on the digit that is changed.
Page 550: Appendices
Appendices The appendix provides information on interpreting panel displays, and tables of corresponding SERVOPACK and SigmaWin+ function names. 14.1 Interpreting Panel Displays ....14-2 14.1.1 Interpreting Status Displays ....14-2 14.1.2 Alarm and Warning Displays .
Page 551: Interpreting Panel Displays
14.1 Interpreting Panel Displays 14.1.1 Interpreting Status Displays 14.1 Interpreting Panel Displays You can check the Servo Drive status on the panel display of the SERVOPACK. Also, if an alarm or warning occurs, the alarm or warning number will be displayed. 14.1.1 Interpreting Status Displays The status is displayed as described below.
Page 552: Corresponding Servopack And Sigmawin+ Function Names
14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.1 Corresponding SERVOPACK Utility Function Names 14.2 Corresponding SERVOPACK and SigmaWin+ Function Names This section gives the names and numbers of the utility functions and monitor display functions used by the SERVOPACKs and the names used by the SigmaWin+. 14.2.1 Corresponding SERVOPACK Utility Function Names SigmaWin+...
Page 553: Corresponding Servopack Monitor Display Function Names
14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Un000 Motor Speed [min Motor Speed [min Un001 Speed Reference [min Speed Reference [min...
Page 554 14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Backlash Compensation Value Set- Backlash Compensation Value Setting Limit Un031 ting Limit [0.1 reference units] [0.1 reference units]...
Page 555 Index Index - - - - - - - - - - - - - - - - - - - 8-75 backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - xi base block (BB) battery Symbols...
Page 556 Index - - - - - - - - - - - - - - - - - - - - - - - -5-42 electronic gear , 10-7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 - - - - - - - - - - - - 6-20 jogging encoder divided pulse output...
Page 557 Index - - - - - - - - - - - - - - - - - - - - - - 6-17 SEMI F47 function , 10-7 - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 - - - - - - - - - - - - - 4-44 Serial Communications Connector - - - - - - - - - - - -13-51...
Page 558 Index - - - - - - - -4-12 three-phase, 200-VAC power supply input - - - - - - - - - - - - - - - - - - - -8-84 torque reference filter trial operation - - - - - - - - -7-10 MECHATROLINK-III communications - - - - - - - - - - - - - - - - - - 12-11 troubleshooting alarms...
Page 559 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 28C <2>-1 WEB revision number Revision number Published in Japan September 2014 Date of publication Date of Rev.
Page 560 Date of Rev. Rev. Section Revised Contents Publication October 2015 <5> All chapters Revision: Information on SigmaWin+ procedures Preface, Addition: Information on SGMMV Rotary Servomotors Chapter 1 Preface, 9.4.1 Partly revised. 1.5.2 Addition: Information on Direct Drive Servomotors (SGMCV-16D and -35D) Newly added.
Page 561 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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